we assume that the force changing by U^4

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we assume that the force changing by U^4

We Assume That The Force Changing By U 4 1 (46.8 KiB) Viewed 32 times

Designing an automotive suspension system is a fascinating and difficult control problem. When designing the suspension system, a 1/4 model (one of the four wheels) is used to reduce the problem to a 1-D multiple spring-damper system. This system is a model represents an active suspension system with an actuator that can generate the control force U to control the motion of the vehicle body. Body Mass System parameter: *4 (M1): 1/4 vehicle body mass (M2): suspension mass Suspension Mass M. (K1): spring constant of suspension system (K2): spring constant of wheel and tire (b1): damping constant of suspension system (b2): damping constant of wheel and tire (U): control force Figure 4: model of 1/4 suspension system From the picture above and Newton's law, we can obtain the dynamic equations as the following: ΣF = Ma M₁X₁ + K₁ (X₁ - X2) + b₁(X₁-X₂) = U (1) M₂ X₂ +K1(X₂-X1) +K₂ (X₂ - W) +b1(X2- X1) + b2(X2 - W) + U = 0 (2) 4