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Quarter Car Suspension Modeling

1. The document describes a quarter car suspension (QCS) system and develops bond graph models to analyze it. 2. It presents a physical model of a QCS and defines the variables used in the bond graph model. 3. It then shows the word bond graph and bond graph models of the QCS, and describes deriving the state space model matrices from the bond graph model. It provides the state space model and matrix equations.

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El Ghafraoui
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295 views2 pages

Quarter Car Suspension Modeling

1. The document describes a quarter car suspension (QCS) system and develops bond graph models to analyze it. 2. It presents a physical model of a QCS and defines the variables used in the bond graph model. 3. It then shows the word bond graph and bond graph models of the QCS, and describes deriving the state space model matrices from the bond graph model. It provides the state space model and matrix equations.

Uploaded by

El Ghafraoui
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Enset of the UM5 Rabat, Morocco Student Name: ESSABBAR MOHAMMED

Electrical Engineering Department,

Bond Graph modeling and simulation of a Quarter Car Suspension System


A Practical Activity

1. QUARTER CAR SUSPENSION MODEL

ms v s m sv , y
s s

ks bs
ks bs mu v u , y u
kt bt
vr
vr , yr
Figure 1 Physical models of a quarter car suspension system: simplified QCS
model (a) and a QCS Model taking into account the tire dynamics

2. WORD BOND GRAPH OF A QCS SYSTEM


The variables used to denote the flows and efforts of the different components Figure 3. Bond Graph Model of a QCS system
are defined as follows

Table 2 The QCS variables definition 4. STATE SPACE MODEL OF A QCS SYSTEM
Designation Symbol Given the BG developed in section 3, the state space model of
The vertical moment of the sprung mass ps a QCS system assumed to be linear can be written as :
The relative generalized displacement of the δs
suspension spring. ẋ (t )= Ax(t )+ Bvr (t )+w (t )
The vertical moment of the unsprung mass pu y(t )=Cx (t )
The relative generalized displacement of the δu
T
suspension spring. x=[ ps δs pu δu ]
The road vertical velocity vr where with
δ s =l s −( y s − y u ) and δ u=l u −( y u− y r )
Question 1:Put the Word Bond Graph of the QCS in the
figure 2 below: l l
where s and u designate the length of the spring and of
the tire at rest, and where A, B, and C designate the state,
input and output matrices of the state space model
Amortisseur 1 Amortisseur 2 respectively.
Question 3: By considering the gravity g as a constant
perturbation, determine the matrices A, and B By using
Vr ms mu Vs the BG model of the QCS developed in Question 2

−b s bs
Masse 1 Masse 2 ks 0

( )
ms mu
−1 1
0 0
ms mu
Figure 2. Word Bond Graph of a QCS system
A=
bs −b s+ bt
−k s kt
ms mu
2. BOND GRAPH OF QCS SYSTEM −1
0 0 0
Question 2: Develop and put the Bond Graph model of the mu
QCS in the figure 3 below: repos rest
Enset of the UM5 Rabat, Morocco Student Name: ESSABBAR MOHAMMED
Electrical Engineering Department,

B=( 0 0 bt 1 )T

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