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Assignment 1

The quarter-car suspension model is used to analyze vehicle ride comfort and handling. It consists of two mass bodies representing the vehicle body and wheel connected by spring and damping elements. The model allows deriving equations of motion and determining how parameters like stiffness and damping influence ride quality. The bicycle model simplifies a vehicle to two wheels and is used to analyze cornering and handling by deriving equations relating lateral motion and yaw to factors such as mass distribution and tire characteristics.

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George Reang
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7 views

Assignment 1

The quarter-car suspension model is used to analyze vehicle ride comfort and handling. It consists of two mass bodies representing the vehicle body and wheel connected by spring and damping elements. The model allows deriving equations of motion and determining how parameters like stiffness and damping influence ride quality. The bicycle model simplifies a vehicle to two wheels and is used to analyze cornering and handling by deriving equations relating lateral motion and yaw to factors such as mass distribution and tire characteristics.

Uploaded by

George Reang
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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A) Explain the quarter car suspension model as a tool for analyzing

vehicle ride comfort and handling. Illustrate the model with a free body
diagram depicting the essential components: the sprung mass, unsprung
mass, damper, and spring. Derive the dynamic equations governing the
vertical motion of both masses. Discuss how these equations are used to
analyze the impact of road irregularities on ride quality and how
damping and spring constants influence the system’s dynamic response.

> The dynamics of the suspension of a vehicle can be analysed by running simulations through a mathematical model. The
simplest model of a vehicle’s suspension is called quarter-car suspension model.

The model consists of two mass bodies, quarter vehicle and wheel, and lumped parameters for stiffness and damping, for
both suspension and tyre.

we have determined the system of differential equations for the quarter-car suspension model as:

where:

m1 [kg] – the mass of a quarter of the vehicle body


m2 [kg] – the mass of the wheel and suspension
k1 [N/m] – spring constant (stiffness) of the suspension system
c1 [N·s/m] – damping constant of the suspension system
k2 [N/m] – spring constant (stiffness) of the wheel and tire
c2 [N·s/m] – damping constant of the wheel and tire
z1 [m] – displacement of the vehicle body (output)
z2 [m] – displacement of the wheel (output)
u [m] – road profile change (input)

Considering all initial conditions being zero and applying Lapace’s transform to equations (1) gives:
From the system of equations (1) we can determine two transfer functions, depending on which displacement (z1 or z2) we
consider as the output of the system.

Let’s consider the displacement of the quarter vehicle mass z1 as the output of the system. From equation (2) we
extract Z2(s) as:

Replacing (4) in (3) and after doing the necessary simplification gives the first transfer function:

where displacement of the quarter vehicle body mass z1(t) is considered the output and the road irregularities u(t) the input.

Let’s consider the displacement of the wheel mass z2 as the output of the system. From equation (2) we extract Z1(s) as:

Replacing (5) in (3) and after doing the necessary simplification gives the first transfer function:

where displacement of the quarter vehicle body mass z2(t) is considered the output and the road irregularities u(t) the input.

B) Explain the bicycle model used in vehicle dynamics for analyzing


cornering and handling. Describe how the model simplifies a four-wheeled
vehicle into a two-wheeled model and discuss its assumptions.
Illustrate with a diagram the forces acting on the vehicle during a
turning maneuver and derive the dynamic equations that describe the
lateral motion and yaw rate of the vehicle. Highlight the importance of
parameters such as the center of mass, yaw inertia, and tire
characteristics in these equations.

> 2D bicycle model can be expressed as a simplified car model. This is a classic model that does very well at
capturing vehicle motion in normal driving conditions.
C) Describe the functioning of an Anti-lock Braking System (ABS) in modern
vehicles. Provide a detailed explanation of how ABS prevents wheel
lock-up during severe braking conditions. Sketch a free body diagram
showing the forces acting on a braking wheel under ABS control.
Formulate the dynamic equations that describe the relationship between
wheel slip, braking force, and vehicle deceleration. Discuss how ABS
sensors and controllers interact to maintain optimal braking performance
and vehicle stability.

> The Anti-lock Braking System, commonly known as ABS, is an essential automobile safety feature
designed to prevent wheel locking and uncontrolled skidding during braking. The purpose of anti-lock
braking system is to allow greater manoeuvrability in emergency braking situations by enabling steering
control while braking. The key advantages of ABS lie in providing enhanced vehicle control and reducing
stopping distances on both dry and slippery surfaces.

Key Components of ABS:

Speed Sensors: These sensors are mounted on each wheel to continuously monitor the wheel's rotational
speed.

Electronic Control Unit (ECU): This central controller processes the data from the speed sensors and
determines if any wheel is about to lock up.

Hydraulic Valves: These are integrated into the brake lines of each wheel and modulate the brake pressure.
ABS Pump: This pump restores hydraulic pressure to the brake lines after it has been released by the valves.

How ABS Works to Prevent Wheel Lock-Up:

Normal Braking: When the driver applies the brakes under normal conditions, hydraulic pressure is
uniformly applied to all wheels, causing the vehicle to slow down.

Detection of Potential Lock-Up: During severe or emergency braking, if one or more wheels start to
decelerate much faster than the others, indicating they are about to lock up, the speed sensors detect this
rapid deceleration.

Signal Processing by ECU: The sensors send data to the ECU, which quickly analyzes the wheel speed
information. If the ECU detects a potential lock-up, it takes corrective action.

Pressure Reduction by Valves: The ECU signals the hydraulic valves to reduce the brake pressure on the
affected wheel(s). This is achieved by partially or fully releasing the brake pressure, allowing the wheel to
regain rotational speed and preventing lock-up.

Pressure Restoration by Pump: Once the wheel begins to rotate normally again, the ECU activates the
ABS pump to restore the hydraulic pressure in the brake line, ensuring continued effective braking.

Continuous Adjustment: This process of detecting wheel lock-up, reducing pressure, and restoring
pressure occurs many times per second. The rapid cycling of pressure adjustments allows the vehicle to
maintain optimal braking force without wheel lock-up.
N (Normal Force)
↑
|
|
----- Wheel
| | ← F_f (Friction Force)
| |
| | v (Vehicle Velocity)
----- ---------------------->
| (Direction of motion)
|
|
↓
W (Weight)

Weight (W): The downward force due to gravity acting on the wheel.

Normal Force (N): The upward force exerted by the ground, balancing the weight of the vehicle.

Friction Force (F_f): The horizontal force exerted by the road on the tire, opposite to the direction of
motion, providing the braking force.

Vehicle Velocity (v): The direction in which the vehicle is moving.

Dynamic Equations for Wheel Slip, Braking Force, and Vehicle Deceleration:

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