Higher Colleges of Technology

MCE 4603 – Control Systems

Faculty of Engineering Technology and Science

Academic Year 2019 – 2020
Semester ☐ Fall ☐ Spring ☒ Summer
Course Code - Name MCE 4603 – Control System
Program Mechanical Engineering Technology
Instructor Name Fouad Koudsi
Lab Instructor Akram Habib
Project Title
Date

Students HCT ID Student Names

CRN 30908

Individual Project: Control Systems Page 1 of 11

 Higher Colleges of Technology
MCE 4603 – Control Systems

List of Resources

 Simulink
 Class Notes

Objective:

Quarter vehicles have been extensively used to simulate vibrations and ride quality of vehicles, it simulates the
vertical vibration of the car thru modeling the car with the appropriate mathematical model.

R(t): The road disturbance

Y(t): The vehicle displacement (Sprung mass displacement).

N
k: spring rate / factor.
m

N
c: damper coefficient
m/s

m: The sprung mass (vehicle mass) (kg)

d: The car tire diameter = 0.6 m

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 Higher Colleges of Technology
MCE 4603 – Control Systems

Part 1: (10 marks)

A. Derive the transfer functionG ( s ) .which represent the mathematical model of the quarter vehicle (system).
Show your detailed work.

B. For the given values related to your case, copy and paste them in the report and substitute them to calculate the
transfer function derived in the previous step. Your related values are mentioned at the end of this document in
page 10.

# Student ID Car Mass Spring factor Speed of Lower Damping Optimal Damping High Damping Overdamped Damping
(m-kg) (N/m) the Car
(Km/h)
N coefficient (c) coefficient (c) coefficient (c)
coefficient (c)
m/ s

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 Higher Colleges of Technology
MCE 4603 – Control Systems

Part 2: (25 marks)

If the car is traveling on the road with speed V and passes over a road pit as shown below:

A. Design a control loop that incorporate the road disturbance shown below and shows the position of the
vertical movement of the car
B. Simulate the performance of the car with different types of suspension systems, where the value of the
damping changes as given to you.
C. Show all simulations for different types of dampers, copy paste them in your report with the appropriate
names and plotting properties.

1. Without damping c=0

2. Lower Damping coefficient
3. Optimal Damping coefficient
4. High Damping coefficient
5. Overdamped Damping coefficient

D. Discuss the results you got in the previous step (C), showing the different parameters of the response
(settling time, overshoot percentage, peak time…..etc)

E. Calculate the maximum force that can be transmitted to the vehicle body (driver) in the worst case
scenario.
Hint: Force will be equal to the vehicle mass multiplied by the maximum bouncing acceleration

Part 3: (15 marks)

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 Higher Colleges of Technology
MCE 4603 – Control Systems

If the control is to be changed by adding a PID controller, as shown below, which can attenuate the vibration as
fast as possible.

A. Design a PID controller that considers the two worst case scenarios obtained in part 2/C. Show your
detailed work.

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 Higher Colleges of Technology
MCE 4603 – Control Systems

Part 4: (10 marks)

A. Plot the Bode plot for the second order transfer function for the optimal damping coefficient.
B. Discuss the stability of the system.

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 Higher Colleges of Technology
MCE 4603 – Control Systems

Part 5: (15 marks)

If the car is traveling on sine wave road with an amplitude of 0.1 m and frequency of 4 rad/sec. investigate the
following:

A. Simulate the performance of the car with different types of suspension systems, where the value of the
damping changes as given to you.
B. Show all simulations for different types of dampers, copy paste them in your report with the appropriate
names and plotting properties.

1. Without damping c=0

2. Lower Damping coefficient
3. Optimal Damping coefficient
4. High Damping coefficient
5. Overdamped Damping coefficient

C. Discuss the results you got in the previous step (B) making suggestion of what damping system you
recommend for the car.

Part 6: (25 marks)

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 Higher Colleges of Technology
MCE 4603 – Control Systems

If the car has to be modeled as 2 DOF, as shown below, where the tire is modeled as well:

Do your research to:

A. Get the new transfer function for the model above from any source
B. Explore the different control strategies that can be used for the purpose of attenuating the vibration by
controlling the damper coefficient.

Keywords: 2 DOF (two degrees of freedom) quarter vehicle model, control strategy, damping

C. Write three pages to cover A & B with respecting professional scientific report writing and stating the
references.

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 Higher Colleges of Technology
MCE 4603 – Control Systems

Report Requirements:

A. Report must be typed in word file. It must include cover page. It must be neat with
appropriate editing, font types and size
B. Report must include all details required in the preceding questions.
C. Report must include simulation results, Graphs with measurement and title / grid / legends
shown.

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 Higher Colleges of Technology
MCE 4603 – Control Systems

Pick the value that correspond to your ID #

# Student ID Car Mass Spring factor Speed of the Lower Damping Optimal Damping High Damping Overdamped Damping
(m-kg) (N/m) Car (Km/h) N coefficient (c) coefficient (c) coefficient (c)
coefficient (c)
m/ s
1 h0035360 934 509 119 10 102 526 1583
8
2 h0033262 944 428 101 20 109 508 1575
4
3 h0035784 906 587 109 13 109 428 1459
7
4 h0029269 962 450 109 18 120 562 1411
3
5 h0035782 935 564 112 15 112 524 1404
3
6 h0037416 994 545 109 14 108 497 1485
4
7 h0032984 933 490 107 19 115 526 1450
8
8 h0035575 954 538 107 19 116 596 1514
1
9 h0032752 931 597 117 13 112 556 1440
8
10 h0032754 956 423 117 17 115 582 1431
4
11 h0029533 903 404 100 15 115 517 1474
7
12 h0034905 965 496 118 15 117 436 1407
0
13 h0034887 949 489 120 15 108 415 1592
4
14 h0035598 964 457 102 19 107 527 1575
9
15 h0027928 964 454 103 15 104 560 1599
7
16 h0032748 955 487 118 20 118 475 1403
0
17 h0032563 933 541 109 13 101 422 1545
9
18 h0032336 961 574 113 19 110 549 1532
6
19 h0032346 918 416 107 13 118 416 1422
4
20 h0037785 981 592 111 18 111 499 1489
1
21 h0037430 997 483 117 12 102 404 1584
1
22 h0029219 956 455 116 12 107 527 1420
9
23 h0035519 951 449 113 11 117 497 1509
5
24 h0032300 904 464 107 16 120 481 1475
0
25 h0036054 900 425 107 19 102 535 1548
9
26 h0030451 998 542 106 17 119 556 1453
4
27 h0027978 954 563 101 15 109 519 1456
5
28 h0035551 963 583 105 12 120 599 1513
2

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MCE 4603 – Control Systems

29 h0035624 939 443 112 423 1586

2 18 120
30 h0033323 976 591 104 18 109 494 1467
8

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