CONTROL OF AN AUTOMOBILE SUSPENSION SYSTEM CONTENTS INTRODUCTION OBJECTIVE SYSTEM VARIABLES TECHNICAL SPECIFICATIONS DESIGN STATE SPACE REPRESENTATION 4.1 DIFFERENTIAL EQUATION STABILITY ANALYSIS BASED ON EIGEN VALUES LYAPUNOV FUNCTION SIMULATIONS USING MATLAB 6.1 MATLAB CODE FOR STEP RESPONSE CONCLUSION REFERNCES 1. INTRODUCTION: 1.1 OBJECTIVE: The Main Theme of the project is to take a control system from any source and make it stable by doing appropriate changes. After making the system stable, we have to do the stability analysis either by Eigen values or by lyapunov function and simulate the obtained transfer function to check for stability. We are going to use Mat lab for the …show more content…
Mass1 is the mass of the body, Mass2 is the Suspension mass of the wheel, C1 is the suspension damping constant and C2 is the damping constant of wheel and tire assembly, k1is the spring constant in the suspension system and k2 is the spring constant of the tire, Xr represents the road input force, X1 force acting on Mass1, X2 the force acting on Mass2 and f represents the control element. Body mass M1= 1350kg Suspension mass, M2 = 165 kg Spring suspension constant, K1 = 52000N/m Spring constant of wheel and tire, K2 = 380000N/m Damping suspension constant, C1 = 280 Ms/m Damping wheel and tire constant, C2 = 12010 Ms/m 3. DESIGN:The dynamic equations of a suspension system for the body mass is M1 X1 = -C1(X1-X2)-K1(X1-X2)+f And the dynamic equation for spring mass is given by M2 X2 = -C1(X1-X2) + K1(X1-X2) +C2(W-X2)+K2(W-X2) – f The above equations are at times when the initial conditions are considered , like a small pit on the road. These equations can be transformed into transfer function by using the laplace transform of above equations. By using the input conditions the output of the transfer function is as follows G(s) = 1+10S/(200S2+16.64S+2) 4.STATE SPACE REPRESENTATION: The state space equations are found out by using MatLab as follows [■((x_1 (t)) ̇@(x_2 (t)) ̇ )] = [■(-0.0817&-0.0103@1.000&0)]*[■(x_1 (t)@x_2 (t))]+[■(1@0)] * u (t) y(t) =
Considering the above governing equations of the plant model ((3), (4) and (5)), the open loop state
ECP software runs on an IBM PC or compatible computer and corresponds with ECP's digital signal processor (DSP) based real-time controller. Its primary functions are supporting the downloading of various control algorithm parameters (gains), specifying command trajectories, selecting data to be obtained, and specifying how data should be plotted. ECP Model 205 torsion apparatus represents a broad and important class of practical plants including: rigid bodies, flexibility in drives, and coupled discrete vibrating systems. It easily transforms into second, fourth, and sixth (optional) order plants with collocated or no collocated sensor / actuator control. This laboratory dealt with a single simple degree of freedom.
In this model, T2 is the orbital period squared, M is the mass ratio, L is the length of the string and g represents the acceleration due to gravity.
In one or more complete sentences, explain how natural laws apply to the following scenarios:
This system is derived
The purpose of this meeting is to review the facts of the two events which led up to Sean's initial suspension. Statements from each side will be presented for review and the decision to accept Sean back as a Midget Coach will be solely based on the facts of the evidence presented.
As the school year passes by, students tend get suspended for their behavior and actions they caused upon their school. Students get suspended for different kind of reasons. Some as a group,others as individuals. By that said, it is always debatable whether or not suspension can really work for students. Suspension always has its pros as well as its cons.
Q = Flow (m3/sec), f = Unit conversion factor = 1/3.6, C= Runoff coefficient, I= Rainfall intensity (mm/hr), A = Area (km2)
In a little over hundred years since automobile took hold of most people’s imagination, technologies design to make acceleration faster and reaching higher speeds have evolved. Despite charges, turbo charges, twin turbo charges or NOX, there are limits, which cannot be greater by land-based vehicle in terms of speed. Not the same can be said about the rather unseen parts of the automotive evolution. The only limitation to them is in connection with the human body ‘s ability to withstand rapid decelerations. It would be a lot easier to stop a car then to make it go faster otherwise. Whether they come in form of drum brakes or as disk, the brakes have been the horsepower’s companions throughout decades, each pulling
Throughout the “Suspension Trends” findings the authors stated that although suspension rates have declined over the past couple of years, they are still a problem. Within the past years, districts like LASUD have attempted to end willful defiance suspensions because they believed to only provide academic loss for the students. Although suspensions declined from “709,580 to 503,101”, Losen found that black students (went from “33% to 25.6%) still held the highest suspension rates in comparison to their white peers (who went from 3.4% to 1.8%). Thus, this raised the question of whether or not there were deeper problems, such as “emotional disturbances” within their private lives that may be affecting their ability to perform well in their academic
My mom rested her hands on her head, soothing her headache. "A week of in school suspension, Andreatta?" My mom asked, frustratedly. "Really!" She yelled.
In order to investigate how drivers interact with automated vehicles and their taking-over control behavior, a simulated automated vehicle platform was built using OpenDS driving simulator (see Figure 1). OpenDS is an open source and platform-independent driving simulator software with high performance scene graph based graphics API (OpenDS, 2016). The driving simulator was installed on a Dell Workstation (Precision T5810, Intel Xeon CPU E5-1607 v3 3.10GHz). The driving simulator includes an adjustable seat, wheel and pedal supports, Logitech Driving Force GT® steering wheel with force feedback (Logitech Inc, Fremont, CA), a throttle pedal, and a brake pedal. Driving scenario was presented on three LCD monitors with 3840×1024 pixel resolution.
C. To get moving onto the road there are some things that we have to do.