![]() ![]() The closed-loop system is the following, which will be discussed in much more detail in the controller design sections. ![]() The solution to these problems is to add a feedback controller into the system to improve the performance. Sitting in the bus will not be comfortable with such an oscillation due to the large overshoot and long settling time. The road, the bus body will oscillate for an unacceptably long time(~50 seconds) with an initial amplitude of 8 cm. Now enter the following commands to see the response for a step disturbance The steady state (the settling time is very large). In particular I need to speed up the following loop: t 1:100000 coverage double (rand (size (t)) > 0.9) for j1: (length (t)-1) nsteps (j)0 while coverage (j+nsteps (j)+1)0 & j+nsteps. I defined two same size vectors t and coverage in Matlab, and I need to define a third vector nsteps. Moreover, the bus takes an unacceptably long time to reach How to speed up a for while loop in Matlab. Sitting in the bus will feel very small amount of oscillation. Note that the step command will generate the unit step inputs for each input. Add the followingĬommands into the m-file and run it in the MATLAB command window to see the response of unit step actuated force input, U(s). We can use MATLAB to display how the original open-loop system performs (without any feedback control). Of +/- 5 mm and return to a smooth ride within 5 seconds. For example, when the bus runs onto a 10-cm step, the bus body will oscillate within a range We want to design a feedback controller so that the output (X1-X2) has an overshoot less than 5% and a settling This step could represent the bus coming out ofĪ pothole. The road disturbance (W) in this problem will be simulated by a step input. ![]() Keep in mind that this is an approximation. Since the distance X1-W is veryĭifficult to measure, and the deformation of the tire (X2-W) is negligible, we will use the distance X1-X2 instead of X1-WĪs the output in our problem. pot holes, cracks, and uneven pavement),theīus body should not have large oscillations, and the oscillations should dissipate quickly. When the bus is experiencing any road disturbance (i.e. System parameters (M1) 1/4 bus body mass 2500 kg (M2) suspension mass 320 kg (K1) spring constant of suspension system 80,000 N/m (K2) spring constant of wheel and tire 500,000 N/m (b1) damping constant of suspension system 350 N.s/m (b2) damping constant of wheel and tire 15,020 N.s/m (U) control force Design requirementsĪ good bus suspension system should have satisfactory road holding ability, while still providing comfort when riding overīumps and holes in the road. The state-space and transfer function models of the bus suspension problem were derived in the Suspension: System Modeling page. ![]()
0 Comments
Leave a Reply. |
Details
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |