Modeling, simulating and assessing active suspension system of half car model

MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION THESIS AUTOMOTIVE ENGINEERING MODELING, SIMULATING AND ASSESSING ACTIVE SUSPENSION SYSTEM OF HALF-CAR MODEL ADVISOR : Ph.D NGUYEN MANH CUONG STUDENTS: NGUYEN TRONG VU NGUYEN HOANG VU SKL010772 Ho Chi Minh City, July 2023 HO CHI MINH UNIVERSITY OF TECHNOLODY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION THESIS MODELING, SIMULATING AND ASSESSING ACTIVE SUSPENSION SYSTEM OF HALF-CAR MODEL STUDENT NAME: STUDENT ID NGUYEN TRONG VU 19145006 NGUYEN HOANG VU 19145135 School year: 2019 - 2023 Major: Automotive Engineering Technology SUPERVISOR: Ph.D NGUYEN MANH CUONG Ho Chi Minh city, July 2023 THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness Ho Chi Minh City, July , 2023 GRADUATION PROJECT ASSIGNMENT Student name: _ Student ID: _ Student name: Student ID: _ Student name: Student ID: _ Major: Class: Advisor: Phone number: _ Date of assignment: _ Date of submission: _ Project title: _ Initial materials provided by the advisor: _ Content of the project: _ Final product: CHAIR OF THE PROGRAM ADVISOR (Sign with full name) (Sign with full name) i THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness Ho Chi Minh City, July , 2023 ADVISOR’S EVALUATION SHEET Student name: Student ID: Student name: Student ID: Student name: Student ID: Major: Project title: Advisor: EVALUATION Content of the project: Strengths: Weaknesses: Approval for oral defense? (Approved or denied) Overall evaluation: (Excellent, Good, Fair, Poor) Mark:……………….(in words: ) Ho Chi Minh City, month day, year ADVISOR (Sign with full name) ii THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness Ho Chi Minh City, July , 2023 PRE-DEFENSE EVALUATION SHEET Student name: Student ID: Student name: Student ID: Student name: Student ID: Major: Project title: Name of Reviewer: EVALUATION Content and workload of the project Strengths: Weaknesses: Approval for oral defense? (Approved or denied) Overall evaluation: (Excellent, Good, Fair, Poor) Mark:……………….(in words: ) Ho Chi Minh City, month day, year REVIEWER (Sign with full name) iii THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness EVALUATION SHEET OF DEFENSE COMMITTEE MEMBER Student name: Student ID: Student name: Student ID: Student name: Student ID: Major: Project title: Name of Defense Committee Member: EVALUATION Content and workload of the project Strengths: Weaknesses: Overall evaluation: (Excellent, Good, Fair, Poor) Mark:……………….(in words: ) Ho Chi Minh City, month day, year COMMITTEE MEMBER (Sign with full name) iv ACKNOWLEDGMENT We would like to express our sincere gratitude to all those who have supported and contributed to the successful completion of our graduation thesis titled "Modeling, simulating, and assessing of PID controller-based active suspension system for a halfcar model." With deep gratitude, we would like to express our thanks: • First and foremost, we are deeply indebted to our thesis advisor, PhD Nguyen Manh Cuong, for his invaluable guidance, expertise, and unwavering support throughout the entire research process His deep understanding of the subject matter and insightful suggestions have been instrumental in shaping this thesis and enhancing its quality • We would also like to extend our appreciation to the Faculty for High Quality training Their comprehensive curriculum, rigorous academic standards, and intellectual environment have provided us with a solid foundation upon which we have built our research • Furthermore, we are grateful to the teachers in the examination committee for their comments so that we can improve the writing in the best way Their cooperation and enthusiasm have greatly contributed to the robustness and reliability of the results • Additionally, I would like to thank my friends and family for their constant encouragement, understanding, and support throughout this challenging endeavor Their unwavering belief in my abilities has been a constant source of motivation • Finally, I would like to express my heartfelt appreciation to the numerous researchers, authors, and scholars whose works have formed the basis of my literature review Their pioneering contributions to the field have inspired me and shaped my understanding of the subject matter This graduation thesis, titled "Modeling, simulating, and assessing of PID controller-based active suspension system for a half-car model," is the result of original research conducted by Nguyen Trong Vu and Nguyen Hoang Vu at Ho Chi Minh University of Technology and Education The intellectual property rights and copyright of this thesis are owned by Nguyen Trong Vu and Nguyen Hoang Vu All materials and data presented in this thesis, including textual content, figures, tables, and simulations, are protected under copyright laws No part of this thesis may be reproduced, distributed, or transmitted in any form or by any means, including electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of the author v INTRODUCTION − The Urgency of the Topic: The topic of modeling, simulating, and assessing a PID controller-based active suspension system for a half-car model holds significant importance in the field of automotive engineering With the constant evolution of vehicle technologies and the increasing demand for improved ride comfort and handling performance, the development of efficient suspension systems has become a pressing concern A welldesigned suspension system not only ensures passenger comfort but also plays a crucial role in vehicle stability, road handling, and overall safety Therefore, it is imperative to explore and optimize suspension control strategies to meet the ever-growing expectations of vehicle performance and safety − Research Objectives: The primary objectives of this research are twofold Firstly, it aims to develop a comprehensive model of a half-car system, encompassing the dynamics of the vehicle body, suspension components, and tire-road interaction This model will serve as the basis for studying the behavior of the active suspension system under various operating conditions Secondly, the research aims to design and evaluate a PID controller-based active suspension system for the half-car model The focus will be on optimizing the controller parameters to achieve improved ride comfort and enhanced handling performance − Research Content: The research will be divided into several key areas: • Firstly, a detailed review of the existing literature will be conducted to understand the fundamental principles and state-of-the-art techniques related to active suspension systems and PID control This literature review will lay the foundation for the subsequent stages of the research • Next, a dynamic model of the half-car system will be developed, considering the vehicle body, suspension subsystems, and tire dynamics This model will incorporate the various mechanical and electrical components that constitute the active suspension system, enabling a comprehensive analysis of its behavior • Subsequently, a PID controller will be designed to regulate the suspension system's response and enhance its performance The tuning of the PID controller parameters will be carried out using appropriate optimization algorithms to achieve the desired objectives of ride comfort and handling performance • To validate the effectiveness of the developed active suspension system, simulations will be performed under different road conditions and driving scenarios The performance metrics, such as suspension deflection, body acceleration, tire deflection, and road holding, will be evaluated and compared with those of traditional passive vi suspension systems − Research Methods: The research will primarily employ a combination of theoretical analysis, computer simulations, and experimental validation Theoretical analysis will involve studying the principles and mathematical models of active suspension systems, PID control, and vehicle dynamics Computer simulations using specialized software tools will be conducted to evaluate the performance of the active suspension system under various scenarios and to optimize the controller parameters − Limitations of the Topic: • It is essential to acknowledge certain limitations associated with this research Firstly, the focus will be primarily on a half-car model, which represents only a simplified representation of a full vehicle While this approach allows for more manageable analysis and simulation, it may not capture all the complexities and interactions present in real-world situations Additionally, the research will assume ideal conditions and perfect sensor measurements, which may not accurately reflect the practical implementation challenges and limitations • Moreover, the research will primarily concentrate on the PID control strategy, which is a widely used and well-established approach However, other advanced control techniques and strategies, such as model predictive control or adaptive control, which may offer further improvements, will not be extensively explored within the scope of this study • Lastly, the research will be limited to a theoretical and simulation-based investigation While efforts will be made to validate the findings through experimental testing, the real-world application and implementation of the active suspension system may introduce additional factors and uncertainties that are beyond the scope of this research Despite these limitations, this research endeavors to contribute to the existing knowledge base in the field of active suspension systems and PID control, providing insights and guidelines for the design and implementation of improved suspension systems that offer enhanced ride comfort and handling performance In conclusion, the urgency of this research topic lies in the growing demand for advanced suspension systems that can optimize ride comfort and handling performance in vehicles By developing a comprehensive model, designing a PID controller-based active suspension system, and evaluating its performance, this research aims to contribute to the advancement of automotive engineering and promote safer and more comfortable rides for passengers vii TABLE OF CONTENT ACKNOWLEDGMENT V INTRODUCTION VI TABLE OF FIGURES X OVERVIEW 1.1 Overview of automotive: 1.2 Overview of Camry models of Toyota: 1.3 Overview of suspension system: 10 1.3.1 Objective of the suspension system: 10 1.3.2 Requirements of suspension system: 12 1.3.3 Structure of suspension system: 13 1.3.4 Classification based on assembly: 14 1.3.4.1 Dependent suspension: 14 1.3.4.1.1 Twist-beam suspension (Torsion suspension): 14 1.3.4.1.2 Solid axle suspension (Live axle): 16 1.3.4.2 Independent suspension: 17 1.3.4.2.1 MacPherson strut (single control arm): 18 1.3.4.2.2 Double-wishbone suspension (Double-A Arm suspension): 19 1.3.4.2.3 Multi-link suspension: 21 1.3.4.3 Advantages and disadvantages of dependent and independent suspension: 22 1.3.5 Classification based on the level of control and adjustability: 24 1.3.5.1 Passive Suspension: 24 1.3.5.2 Semi-Active Suspension: 24 1.3.5.3 Active Suspension: 25 1.3.6 Working principle of suspension system: 25 CHAPTER 27 THEORETICAL BASIS 27 2.1 Full car model of active suspension system 27 2.2 Quarter-car model of active suspension system: 29 2.3 Half-car model of active suspension system 31 2.4 Introduction to PID controller: 36 CHAPTER 38 INTRODUCTION TO SOFTWARES 38 3.1 Introduction to matlab/Simulink 38 3.1.1 What is Matlab/Simulink? 38 3.1.2 Basic use of Matlab/Simulink 40 3.2 Introduction to CarSim 42 3.2.1 What is CarSim? 42 3.2.2 Basic use of Carsim 42 viii