NORSURYANI BINTI ZAINAL ABIDIN KGZ130009 Introduction Increase comfort of passengers on bumpy roads. Eliminates transmitted dynamic impact. Vehicle oscillation caused by road disturbance such as pothole. Only vertical force of suspension reaction is important.
Design Requirements Should not oscillate roughly Should dissipates quickly Design Requirements Difficult to measure X1 - W Deformation of tire ( X2 W ) is negligible Distance X1 X2 will be used as output As step input, road disturbance (W) will be used This step is represented as a bus coming out from pothole
Design Requirements Percentage overshot should be less than 5% Settling time shorter than 5 seconds 2 requirements Design Requirements Parameter Symbol Typical value Body mass M 1 2500 kg Suspension mass M 2 320 kg Spring constant of suspension system K 1 80,000 N/m Spring constant of wheel and tire K 2 500,000 N/m Damping constant of suspension system b 1 350 Ns/m Damping constant of wheel and tire b 2 15,020 Ns/m Control force u Force from controller Continuous Time Transfer Function
Continuous Time Transfer Function Continuous Time Transfer Function Substituting the values into Matlab, we have : State Space Realization of Continuous Time
A = 0 1 1 -(b1*b2)/(m1*m2) 0 ((b1/m1)*((b1/m1)+ (b1/m2)+(b2/m2)))-(k1/m1) 1 -(b1/m1) b2/m2 0 -((b1/m1)+(b1/m2)+(b2/m2)) 1 k2/m2 0 -((k1/m1)+(k1/m2)+(k2/m2)) 0 State Space Realization of Continuous Time B = 0 0 1/m1 (b1*b2)/(m1*m2)
0 -(b2/m2) (1/m1)+(1/m2 ) -(k2/m2) State Space Realization of Continuous Time C = 0 0 1 0 D = 0 0 State Space Realization of Continuous Time a = 0 x 1 X 2 x 3 x 4 x 1 0 0 0 1 x 2 x 3 x 4 -6.571 0 0 0 46.94 1563 -25.26 -48.17 -1845 -0.14 -6.571 0 State Space Realization of Continuous Time
b = 0 u 1 x 1 0 6.571 -46.94 x 2 x 3 -1563 x 4 c = 0 x 1 y 1 0 x 2 x 3 x 4 0 0 1 d = 0 u 1 y 1 0 Discreet Time Transfer Function of Linearized System (ZOH) Discreet Time Transfer Function of Linearized System (ZOH) a = x 1 x 2 x 3 x 4 x 1 x 2 x 3 x 4 1
-0.003461
0.02338
0.7705
0.0005
1
5.852e -6
0.7705
-3.126e e -6
-0.01244
0.976
-0.9112
0.000494
0.9998
-1.802e -6
-7.313e -6
Discreet Time Transfer Function of Linearized System (ZOH) b = u 1 x 1 x 2 x 3 x 4 u 2 4.999e -11
1.999e -7
4.375e -10
1.762e -6
8.506e -7
0.003461
-0.02338
-0.7705
c = y 1 0
x 1 x 2 x 3 x 4 0
1
0
d = y 1 0
u 1 u 2 0
Discreet Time Transfer Function of Linearized System (ZOH) Transfer function from input 1 to output : G 1 (s) = 4.375e -10 z 3 + 4.375e -10 z 2 - 4.312e -10 z
+ 4.332e -10
z -4 + 3.976 z 3 + 5.928 z 2 - 3.928 z 2 + 0.9762
Transfer function from input 2 to output : G 2 (s) = - 0.02338 z 3 + 0.06976 z 2 + 0.06937 z 2 + 0.02299 z -4 + 3.976 z 3 + 5.928 z 2 - 3.928 z 2 + 0.9762 Sampling time: 0.0005 State Space Realization of Discrete Time Transfer Function Step Response of the Open Loop Linearized Systems System is under-damped. Passenger who sits in the bus will feel small amount of oscillation. Steady-state error is about 0.013mm. Large settling time Step Response of the Open Loop Linearized Systems Step Response of the Open Loop Linearized Systems Selecting Sampling Time Discrete time controller converts continuous plant to its discreet time equivalent.
Selection of sampling time is important since a step in the road surface very quickly affects the output.
Suspension mass is low, spring is stiff, resulting suspension mass to rise quickly and X2 increase immediately.
Sampling time must be short, so output (X1 to X2) will not exceed 5% of the requirement in one sampling period
Experiment been conducted to select sampling time from 0s to 0.0005s. Selecting Sampling Time Result: Design with a PID Controller K p = 208025 K d = 832100 K i = 624075 Design with a PID Controller K p = 208025 * 2 K d = 832100 * 2 K i = 624075 * 2 Design with a PID Controller Design requirements are met ! Percentage overshoot less than 5% Settling time is 2 seconds
(Advances in Industrial Control) M. Chidambaram, Nikita Saxena (Auth.) - Relay Tuning of PID Controllers - For Unstable MIMO Processes-Springer Singapore (2018) PDF