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This article is originally created by Dr. Goddard. And re-edited by the author
It is greatly appreciated for Dr. Goddard's outstanding work! see the following
http://www.modeling-simulation-visualization.com/simulink-quarter-car-model.html#actuatormodel
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In this section, a quarter car model built in simulink is introduced for future research on vehicle dynamics.
Topic 1: tyre model
Standard Pacejk magic formula is used here; where λ is the wheel slip, and the coefficientsa,b andc change depending on the current road surface. This example assumes that the vehicle is being driven on dry asphalt and hence the coefficients area = 1.28,b = 23.99 andc = 0.52.
The implmentation for the tire model equations is shown in Figure 2.
Topic 2: quarter car model
It contains two continuous time states, and is described by the set of non-linear equations inEquation 2.
Name | Description | Value |
---|---|---|
ω | Angular Speed | Output Signal |
ν | Longitudinal Speed | Output Signal |
J | Inertia | 1 Kg m2 |
R | Wheel Radius | 0.32 m |
Tb | Brake Torque | Input Signal |
Fx | Longitudinal Force | Calculated |
λ | Longitudinal Wheel Slip | Calculated |
Fz | Vertical Force | Calculated |
μx | Road Friction Coefficient | Calculated |
m | Quarter Vehicle Mass | 450 Kg |
g | Gravitational Force | 9.81 ms-2 |
The implementation of quarter car equations is shown in Figure 3.
TOPIC 3: The Actuator Model
Actuator dynamics, and particular time delays, are often critical to the design of a sufficiently accurate control algorithm. This example uses a simple first order lag in series with a time delay to model the actuator. (In practice a second order model is almost always required, and often actuators have different responses when they are opening and closing, and hence need to be modeled in considerable more detail than is done here.)
The model for the actuator are given by Equation 3,
subject to the constraint that 0 < Tb < Tb_sat.
The following table lists the definition of the notation used in Equation 3.
Name | Description | Value |
---|---|---|
τ | Time Delay | 0.05 s |
a | Filter Pole Location | 70 |
Tb_sat | Saturation | 4000 |
The implementation of actuator equations is shown in Figure 4.
Note that the first order lag (transfer function) has been implemented using an integrator, gain and summation/negation block rather than aTransfer Funtion Block (from theContinuous library).This has been done as the Transfer Function block does not allow vector signals as an input, but the current implementation does. Hence the model being developed can more easily be expanded to allow for 4-channels, i.e. one for each wheel on a four wheeled vehicle. A Transfer Function Block would preclude that from happening (without replacing the block).
TOPIC 5: The Controller Model
There are many different potential implementations for the controller. Here a simple PI (proportional–integral) controller has been shown to be adequate.The implementation of controller is shown in Figure 5.
Note that the subsystem has been made atomic, and given a discrete sample rate ofTs = 5ms.
Controller gains that have been determined to work reasonably well for the configuration chosen here areKp = 1200 andKi = 100000.