ME 131 Vehicle Dynamics & Control HW 7: Quarter-car suspension analysis Due Friday, 27 April at 12PM in Lecture (The last

one!) All MATLAB work (scripts, functions (use type command), models, gures, etc.) must be printed as a published MATLAB document and emailed to your GSI as a compressed .zip le. If working together, note your collaborators.

This HW will only be accepted between 12:00PM and 12:15PM, so you better show up to class and on time! Absolutely no HW will be accepted late, it will be burned in your face! Yo face! :D
1 Quarter-car suspension without unsprung mass
zs Fa zr
Figure 1: A quarter-car model without an unsprung mass.

ms ks bs

1.1
For the system shown in Fig. 1, there exists a transfer function of the form
2 ks n 2 + 2n s + n

H(s) =

s2

(1)

What output and input correspond to this transfer function? Show how you derive your answer.

1.2
Show that the natural frequency of this system is n = damped frequency is
ks ms ks ms ,

the damping ratio of the system is =

bs 2 ms ks

and the

1 4

bs ms

1.3
Assume we use Fig. 1 as a quater-car model (not advised). If the mass of a vehicle is m = 1180 kg, and its weight is distributed evenly among its four tires, what should the suspension stiness ks and suspension damping bs values be such that the natural frequency is 1.25 Hz and the damping ratio is 0.4? Show your work.

1.4
Derive the following transfer function: the response of the vehicle vertical acceleration zs (output) to the road vertical displacement velocity zr (input)

1.5
Plot the frequency response of the vehicle vertical acceleration zs for the parameters specied above. 1.5.1 Relevant MATLAB Command(s)

bodemag - plots the magnitude of the frequency response of the linear system tf - creates a continuous-time transfer function

1.6
At what frequency is the response the strongest? Why this frequency? How would you use this information in suspension design?

1.7
Increase and decrease the original suspension stiness ks value by a factor of 10 and plot the frequency responses of the transfer function. What happens to the resonant mode? Name 2 tradeos being made when the suspension stiness ks value is changed. NOTE: to plot multiple transfer functions on one plot use the syntax bodemag(tf1,tf2,tf3,...). 1.7.1 Deliverables

1 gure, with legend, dierent line styles, showing clearly the eect of suspension stiness ks value adjustment.

1.8
Increase and decrease the original suspension damping bs value by a factor of 2 and plot the frequency response of the transfer function. What happens to the resonant mode? Name 2 tradeos being made when the suspension damping bs value is changed. 1.8.1 Deliverables

1 gure, with legend, dierent line styles, showing clearly the eect of suspension damper bs value adjustment.

Quarter-car suspension with unsprung mass

We will now include unsprung mass in the system, as shown in Fig. 2.

2.1
Derive the following transfer functions: the response of the vehicle vertical acceleration zs (output) to the road vertical displacement velocity zr (input) the response of the vehicle rattle space zs zu (output) to the road vertical displacement velocity zr (input) the response the vehicle tire deection zu zr (output) to the road vertical displacement velocity zr (input)

2.2
Plot the frequency responses of these transfer functions. Use the following values of parameters typical for a passenger sedan: ks = 16000 N/m, bs = 1000 N-s/m, ms = 250 kg, mu = 45 kg, kt = 160000 N/m, and bt = 0 N-s/m.

ms ks bs mu kt bt Fa

zs

zu

zr
Figure 2: A quarter-car model with unsprung mass.

2.3
How many resonant modes are there in this system? What do these modes represent?

2.4
Increase and decrease the original suspension stiness ks value by a factor of 10 and plot the frequency responses of each transfer function. What happens to the resonant modes? Name 2 tradeos being made when the suspension stiness ks value is changed. 2.4.1 Deliverables

3 gures total, 1 for each transfer function, with legends, dierent line styles, showing clearly the eect of suspension stiness ks value adjustment.

2.5
Increase and decrease the original suspension damping bs value by a factor of 2 and plot the frequency responses of each transfer function. What happens to the resonant modes? Name 2 tradeos being made when the suspension damping bs value is changed. 2.5.1 Deliverables

3 gures total, 1 for each transfer function, with legends, dierent line styles, showing clearly the eect of suspension damper bs value adjustment.

2.6
Increase and decrease the original tire stiness kt value by a factor of 10 and plot the frequency responses of each transfer function. What happens to the resonant modes? Name 2 tradeos being made when the tire stiness kt value is changed. 2.6.1 Deliverables

3 gures total, 1 for each transfer function, with legends, dierent line styles, showing clearly the eect of tire stiness kt value adjustment.