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BACHELOR OF ENGINEERING
With Specialization in
AUTOMOBILE ENGINEERING
Submitted by
Shubham Kushwah (0902AU131052)
Nitish Malik (0902AU131032)
Rahul Shukla (0902AU131041)
Ravi Nagar (0902AU131045)
Session: 2013-2017
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Tekanpur, Gwalior-475005
Session:2013-2017
RECOMMENDATION
We are pleased to recommend that work submitted by Mr. Shubham Kushwah, Mr.Nitish
Malik, Mr.Rahul Shukla and Mr. Ravi Nagar entitled Vibration and Frequency
Response Analysis of Suspension System of Hatch back and BAJA SAE Vehicle may be
accepted towards the partial fulfillment of the degree of Bachelor of Engineering in
Automobile Engineering.
H.O.D:
Mr. Abhishek Chakraborty
Asst. Professor and Head
Automobile Engineering Department
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CERTIFICATE
2013-2017
This is to certify that minor project entitled, Vibration and Frequency Response Analysis
of Suspension System of Hatch back and BAJA SAE Vehicle which is being submitted in
the partial fulfillment of the requirement for the award of degree of Bachelor of Engineering
in Automobile Engineering, is a record of own work carried out by Mr. Shubham
Kushwah (0902AU131052), Mr. Nitish Malik (0902AU131032), Mr. Rahul Shukla
(0902AU131041) and Mr. Ravi Nagar (0902AU131045) under the guidance of Mr. Anand
Baghel, Department of Automobile Engineering, Rustamji Institute of Technology, BSF
Academy Tekanpur, Gwalior, (M.P.).
Guide:- H.O.D:-
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Mr. Anand Baghel Mr. Abhishek Chakraborty
Asst. Professor Asst. Professor and Head
ACKNOWLEDGEMENT
I would like to express proud privilege to work under Mr. Anand Baghel, Asst.
Professor Automobiles Engineering Department, RJIT, Tekanpur, Gwalior, and express my
indebtedness and sincere gratitude, for his valuable guidance, generous help and constant
encouragement at every stage in the preparation of this work
.
I take this opportunity to thank Mr. Abhishek Chakraborty, Asst. Professor and
Head of Department and other faculty members of Automobile Engineering Department,
R.J.I.T Tekanpur, Gwalior, for their help and valuable suggestions.
Last but not the least, it is our principal sir, whose thorough guidance and vision has
brought the encouragement in me to plan and execute this research work. I thank him for
everything.
Finally, I express my love and respect towards my parents and family members for
their moral support and continuous encouragement while carrying out this study and my
friends who are my strength in every work I do.
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DECLARATION
I hereby declare that the work, which is being presented in the minor project, entitled
Vibration and Frequency Response Analysis of Suspension System of Hatch back and
BAJA SAE Vehicle in the partial fulfillment of the requirement for the award of degree of
Bachelor of Engineering in Automobile Engineering, submitted in the department of
Automobile Engineering of Rustam Ji Institute of Technology, Tekanpur, Gwalior is record of
my own work carried under the guidance of Mr. Anand Baghel. I have not submitted the
matter embodied in this report for awarded of any other degree.
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Abstract
The suspension system of every vehicle needs to be adaptive, durable, efficient, and relatively
inexpensive . The vehicle must be able to withstand the harsh environment of off-road
competition and recreational driving. The vehicle needs to traverse over large rocks, downed
logs, mud holes, steep inclines, jumps, and off camber turns. In order to meet the demands of
the race course, the suspension kinetics should be analysed and examined carefully. In
suspension kinetics vehicles loads absorbing capacity, resonant frequency, ride quality and
handling performance has been analysed using quarter car and bicycle car model. Ride
quality and handling performance of the vehicle can also be optimised by varying damping
ratio and frequency ratio through frequency response analysis
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Table of Contents
Recommendation ................................................................................................................2
Certificate............................................................................................................................3
Acknowledgement ..............................................................................................................4
Declaration...........................................................................................................................5
Abstract ...............................................................................................................................6
Table of Contents.................................................................................................................7
List of Figures .....................................................................................................................8
1 - Introduction................................................................................................................... 9
1.1 Kinematics And Kinetics.............................................................................................. 9
1.2 Suspension Kinetics...................................................................................................... 9
1.3 Vehicle Ride Modeling (Vertical Dynamics)................................................................10
2. Quater Car Model..........................................................................................................10
2.1 Mathematical Model.....................................................................................................11
2.2 Natural Frequency And Mode Shapes Of Suspension System Baja Sae Vehicle ......12
3. Bicycle Car And Body Pitch Model ............................................................................13
3.1 Mathematical Model.....................................................................................................14
3.2 Pitch Frequency And Wheel Hoop Frequency Of A Hatch Back Car.........................15
4. Frequency Response Of Vibrating Systems.................................................................17
4.1 Significance Of Frequency Response In Off Road Vehicle .........................................18
4.2 Base Excitation..............................................................................................................19
4.3 Wavy Road And Excitation Frequency..........................................................................21
4.3.1Mathematical Formulation Of Wavy Road .................................................................21
4.3.2Mathematical Equation Of Track Of Suspension & Traction....................................22
4.4 Frequency Response Analysis Of Baja Sae Vehicle......................................................22
4.5 REFERENCES.............................................................................................................23
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List of Figure
Figure 1: Vehicle Axis System.......................................................................................... 10
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1. Introduction To Suspension :-
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ride problems arise from the vibrations of the vehicle body (chassis). One
of the main objectives of the suspension system is to control the
vibrations of the vehicle body in order to provide a comfortable ride for
the driver.
As BAJA SAE is an off road vehicle which has to encounter various uneven surfaces whic
may impose excessive vibrations to the vehicle . Mechanical vibrations in a vehicle represent
a very complex field, and usually require multiple degrees of freedom to accurately predict
the vertical performance of the vehicle. However, there exist two simplified models which
when combined give an accurate approximation as to the ride quality of the vehicle. These
include the quarter car model (used to predict the motion of a single suspension unit) and the
bounce/pitch model (used to predict the motions of the sprung mass of the vehicle). These
models combined produce the half car model (four degrees of freedom model). The vertical
performance of the vehicle is directly linked to the sprung mass, the unsprung mass, the pitch
inertia, the suspension stiffness, the tire stiffness, the damping in the tires, the damping in the
suspension units, and the excitation frequency. The quarter car model is a model that models
the motion of a single suspension system (it models one corner of the car) (Figure 2: The
quarter car model). The sprung mass in this model represents some portion of the total sprung
mass of the system. The tire is excited because of the shape of the path it is following (the
shape is not flat, especially for an off road track). By the application of Newtons 2nd law of
motion the equations of motion that govern the quarter car model can be determined
The most employed and useful model of a vehicle suspension system is a quarter car model,
shown in Figure 2. We introduce, examine, and optimize the quarter car model to find out the
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natural frequency and corresponding mode shapes of the suspension system of BAJA SAE
vehicle . The vibrational analysis of the BAJA SAE vehicle has been done by using
mathematical model of quarter car model.
We may represent the vertical vibration of a vehicle using a quarter car model made of two
solid masses ms and mu denoted as sprung and unsprung masses, respectively. The sprung
mass ms represents 1/4 of the body of the vehicle, and the unsprung mass mu represents one
wheel of the vehicle. A spring of stiffness ks, and a shock absorber with viscous damping
coefficient cs, support the sprung mass and are called the main suspension. The unsprung
mass mu is in direct contact with the ground through a spring ku, representing the tire
stiffness. The governing differential equations of motion for the quarter car model are given
below
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[ ms 0
0 mu ] [] [
s
u +
cs c s
c s c s +c u ] [] [
s
u +
ks k s
k s k s +k u ] [] [
xs
xu =
0
k u y+ c u y ]
(2.6)
[ ms 0
0 mu ] [] [
s
u +
ks k s
k s k s +k u ] []
xs
xu = 0............
(2.7)
Figure 3: CAD model of BAJA vehicle Figure 4: Equivalent Double A Arm Model
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ku = 77000N/m
ks = 14000N/m.
[
170 0
0 55
s
u ] [] [
+
14 000 14 000
14 000 0.91 105 ] [] xs
xu =0
The natural frequencies of the vehicle can be found by solving its characteristic
equation.
[
14 000 14 000
det [ [k] - 2 [m] ] = det 14 000 0.91 105 - 2 ]
170 0
0 55 [ ]
= det [ 14 000170 2
14 000
14 000
2 .28 10 55 5 2 ]
= 93504 3.953 1072 + 1.96 109
1 = 17.7096 rad/ s
2.82 Hz
2 = 109.74 rad/ s
17.4 Hz
To find the corresponding mode shapes, we use Equation
[[k] 21[m]]u1
= [[ 14 000 14 000
14 000 0 .91 10 ]
5 3054 . 7
170 0
0 55 [ ]] [ ] u11
u 12
= [[ 14 000 14 000
14 000 0.91 10 ]
5 78 .625
170 0
0 55 [ ]] [ ] u 21
u 22
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u1 = [ 1
3 . 1729 103 ]
u2 = [ 1
0 .157 58 ]
Therefore, the free vibrations of the quarter car is
n
[] [
xs
xu =
1
3 . 1729 103 ] (A1 sin 8.8671t + B1 cos 8.8671t) +
[ 1
0 .157 58 ] (A2 sin 55.269t + B2 cos 55.269t)
Quarter car model is excellent to examine and optimize the body bounce mode of vibrations.
However, we may expand the vibrating model of a vehicle to include pitch and other modes
of vibrations as well. Figure 5. illustrates a bicycle vibrating model of a vehicle. The
equations of motion for the bicycle vibrating model of a vehicle are as follow.
We may represent the angular and vertical vibration of a vehicle using a bicycle car model.
This model includes the body bounce x, body pitch , wheels hop x1 and x2 and independent
road excitations y1 and y2. There are two solid masses m1 and m2 denoted as front wheel
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and rear wheel masses, respectively. Iy is lateral mass moment of inertia. The governing
differential equations of motion for the bicycle car model are given below
.................................... (3.1)
.........................(3.2)
............................. (3.3)
............................. (3.4)
............................. (3.5)
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............................. (3.6)
............................. (3.7)
. .................... (3.8)
.................. (3.9)
............................. (3.10)
3.2 Pitch Frequency and Wheel Hoop Frequency of a Hatch Back Car:-
Natural frequencies and mode shapes of a bicycle car model of Hatch back car have been
determined by using the mathematical equations of the bicycle model. Following data of a
vehicle with a heavy solid axle in the rear and independent suspensions in front. the vehicle
are given below
m =840/2 kg
m1 = 53kg
m2 =152/2 kg
Iy = 1100 kgm2
a1 = 1.4m
a2 = 1.47m
k1 = 10000N/m
k2 = 13000N/m
kt1 = kt2 = 200000N/m
The natural frequencies of this vehicle can be found by using the undamped and free
vibration equations of motion. The characteristic equation of the system is
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Because
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4. Frequency Response of Vibrating Systems :-
Frequency response is the steady-state solution of equations of motion, when the system
is harmonically excited. Steady-state response refers to a constant amplitude oscillation,
after the effect of initial conditions dies out. A harmonic excitation is any combination of
sinusoidal functions that applies on a vibrating system. If the system is linear, then a
harmonic excitation generates a harmonic response with a frequency-dependent
amplitude. In frequency response analysis, we are looking for the steady-state amplitude
of oscillation as a function of the excitation frequency. A vast amount of vibrating
systems in vehicle dynamics can be modeled by a one-DOF system. Consider a one-DOF
mass-spring-damper system.
There are four types of one-DOF harmonically excited systems:
1 base excitation,
2 eccentric excitation,
3 eccentric base excitation,
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4 forced excitation.
These four systems are shown in Figure symbolically.
As BAJA vehicle come across lots of bump and ditches frequency response of the vehicle
plays a very significant role on vehicle handling and its performance over the course . From
this analysis we can also find out the force transmissibility and motion transmissibility .
Behaviour of the vehicle can also be determined over the complex course.
Various track conditions of NATRiP Pithampur Indore has
shown in fig 7 & 8. So it is our main concern to find out the response of the vehicle over such
conditions to take edge in the completion.
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Figure 7: Suspension & Traction track Figure 8: Suspension & Traction track
4.2Base Excitation :-
There are various harmonically excited systems but for the analysis of BAJA vehicle study of
base excited vibrating system is of great importance to us. Figure 9. illustrates a one-DOF
base excited vibrating system with a mass m supported by a spring k and a damper c. Base
excited system is a good model for vehicle suspension system or any equipment the is
mounted on a vibrating base. The absolute motion of m with respect to its equilibrium
position is measured by the coordinate x.
A sinusoidal excitation motion y = Y sin t is applied to the base of the suspension and
makes the system vibrate. The equation of motion for the system can be expressed by either
one of the following equations for the absolute displacement x
m+ c + kx = cY cost + kY sin t
+ 2n + 2n x = 2n Y cos t + 2n Y sin t
or either one of the following equations for the relative displacement z.
m z + c z + kz = m2 Y sin t
z + 2 z + 2 z = 2 Y sin t
n n
z=xy
The equations of motion generate the following absolute and relative frequency responses.
x = A2 sin t + B2 cos t
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= X sin (t x)
z = A3 sin t + B3 cos t
= Z sin (t z)
The frequency response of x has an amplitude X, and the frequency response of z has an
amplitude Z
X 1+(2 r)2 Z
=
r
2
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Figure 11: Frequency response
For the perfect analysis of handling & performance of the vehicle it is very necessary to
formulate the mathematical equation of the track.
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Figure 13: Wavy Road & Spring Mass System
Figure13 illustrates a 1/8 car model moving with speed v on a wavy road with length d1 and
peak-to-peak height d2. Assuming a stiff tire with a small radius compared to the road waves,
we may consider y as the fluctuation of the road. The required time to pass one length d1 is
the period of the excitation
d1
T= v
which can be used to find the frequency of excitation
2 2
= T = d1
Therefore, the excitation y = Y sin t is
d2 2 v
sin t
y= 2 d1
Following parametres of the NATRiP Suspension & Traction track are given below
d1= 0.7 m & d2= 0.3 m
The analysis has been done by considering that vehicle is moving velocity 30 km/hr
So ,
0.7 5
T= 30000 = 2.33 10
So the frequency of excitation
2
= 2.33 105 = 269664.6
Therefore, the excitation
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0.3
sin 269664.6 t
y= 2 = 0.15 sin 269964.6 t
n = k
m = 18.08 rad/ s 2.88Hz
c
= 2 km = 0.85
r= n = 93737.5.
The phases x and z for x and z are
2
2r
x = tan1 1r 2 +(2 r)2
= 1.25 rad = 71.6 deg
2r
1 = 1.813 rad = 106.48 deg
z = tan 1r
2
Therefore, the steady-state vibrations of the mass m can be expressed by the following
functions.
x = 2.7 106 sin (269964.6 t 1.25)
z = 0.15 sin (269964.6 t 1.8585)
4.5REFERENCES
1. V. E. Gough, Tires and Air Suspension, Advances in Automobile Engineering, G.
H.Tidbury Ed., Pergamon Press, 1963.
2. Reimpell & Stole Automotive chassis engineering principles
3. Thomas D. Gillespie Fundamental of Vehicle Dynamics.
4. Race car vehicle dynamics by Milliken & Milliken.
5. Tune to win by Carol Smith.
6. Springer Vehicle Dynamics.
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