HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF INTERNATIONAL EDUCATION

GRADUATION PROJECT

SIMULATION SUSPENSION SYSTEM
IN HEV MODEL ON MATLAB SIMULINK

TÔ HOÀI NAM
STUDENT ID: 20145420
NGUYỄN HÀ GIA HUY
STUDENT ID: 20145450
Major: AUTOMOTIVE ENGINEERING
Supervisor: NGUYỄN MẠNH CƯỜNG, PhD.

Ho Chi Minh City, 2024

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF INTERNATIONAL EDUCATION

GRADUATION PROJECT

SIMULATION SUSPENSION SYSTEM
IN HEV MODEL ON MATLAB SIMULINK

TÔ HOÀI NAM
STUDENT ID: 20145420
NGUYỄN HÀ GIA HUY
STUDENT ID: 20145450
Major: AUTOMOTIVE ENGINEERING
Supervisor: NGUYỄN MẠNH CƯỜNG, PhD.

Ho Chi Minh City, 2024

THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom– Happiness



GRADUATION PROJECT ASSIGNMENT
Student name: Tô Hoài Nam

Student ID: 20145420

Student name: Nguyễn Hà Gia Huy

Student ID: 20145450

Major: Automotive Engineering Technology

Class: 2014CLA34

Supervisor: Nguyễn Mạnh Cường, PhD.

Phone number: 0982911198

Date of assignment: _____________________ Date of submission: _____________

1. Project title: Simulation Suspension System in HEV Model on Matlab Simulink

2. Initial materials provided by supervisor: ___________________________________
3. Content of the project:
- Chapter 1: INTRODUCTION
- Chapter 2: THEORETICAL BASIS
- Chapter 3: MODELING AND SIMULATING
- Chapter 4: RESULT AND DISCUSSION
- CONCLUSION
4. Final product: Control Modeling and data evaluation, Graduation Thesis contains
analyzation

CHAIR OF THE PROGRAM
(Sign with full name)

SUPERVISOR
(Sign with full name)

Nguyễn Mạnh Cường

THE SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom– Happiness



EVALUATION SHEET OF DEFENSE COMMITTEE
MEMBER
Student name: Tô Hoài Nam

Student ID: 20145420

Student name: Nguyễn Hà Gia Huy

Student ID: 20145450

Major:
................................................................................................................................................
Project title:
................................................................................................................................................
................................................................................................................................................
Name of Defense Committee Member:
..............................................................................................................................................
...

...
anb, Performance Analysis of Half Car
Suspension Model with 4 DOF using PID, LQR, FUZZY and ANFIS Controllers,
2017.

[10] M. Yu, S. A. Evangelou, and D. Dini, “Advances in active suspension systems for
road vehicles,” Engineering, Oct. 2023.
[11] Mouleeswaran, S. “Design and development of PID Controller-Based Active
Suspension System for Automobiles”. In InTech eBooks. 2021.
[12] Hai Quan, Vu &amp Hữu Chúc, Le. “Mô hình hóa và điều khiển hệ thống treo tích
cực cho mô hình toàn xe – simulation and control of active suspension for a full
car model”, 2021.
[13] Chen H.Y., Huang S.J., 2005. Adaptive Control for Active Suspension System.
International Conference on Control and Automatic. June. Budapest, Hungary.
[14] William D.L., Hadad W.M., 1997. Active Suspension Control to Improve Vehicle
Ride and Handling. Vehicle System Dynamic. 28: 1-24 70.
[15] Hyvarinen J.P., 2004. The Improvement of Full Vehicle Semi-Active Suspension
through Kenimatical Model. Master Science Disertation. Oulu of University
Findland

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MATLAB CODE:
%parameter for half-car model suspension system
mb = 1320

%Body Mass (kg)

Ib = 1890

%Body moment of intertia (kg.m^2)

m1 = 45

%Front suspension mass (m)

m2 = 45

%Rear suspension mass (m)

df = 1.22

%Front displacement from CG (m)

dr = 1.58

%Rear displacement from CG (m)

Kf = 17900 %Front spring suspension stiffness (N/m)
Kr = 16400 %Rear spring suspension Stiffness (N/m)
Cf = 1320

%Front damping rate (N.s/m)

Cr = 1120

%Rear damping rate (N.s/m)

Ktf = 185000 %Front tire spring stiffness (N/m)
Ktr = 165000 %Rear tire spring stiffness (N/m)
Ctf = 0

%Damping coefficients for the front wheel

Ctr = 0

%Damping coefficients for the rear wheel

Cmax = 2000

% Mass matrix M
M = diag([mb, Ib, m1, m2])

% Stiffness matrix K
K = [(Kf + Kr),

(df*Kf - dr*Kr),

-Kf,

-Kr

(df*Kf - dr*Kr), (df^2*Kf + dr^2*Kr), -df*Kf,
-Kf,

-df*Kf,

(Kf + Ktf), 0

-Kr,

dr*Kr,

0,

dr*Kr

(Ktr + Kr)]

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% Damping matrix C
C_damp = [(Cf + Cr),

(df*Cf - dr*Cr),

-Cf,

(df*Cf - dr*Cr), (df^2*Cf + dr^2*Cr), -df*Cf,
-Cf,

-df*Cf,

(Ctf + Cf), 0

-Cr,

dr*Cr,

0,

-Cr
dr*Cr

(Ctr + Cr)]

% Inverse of the mass matrix
M_inv = inv(M)

% State-space matrix A (8x8)
A = [zeros(4), eye(4) -M_inv * K, -M_inv * C_damp]

% Input matrix B (8x4)
B = [zeros(4) M_inv]

% Output matrix C
C = [eye(4) zeros(4) zeros(4) eye(4) -M_inv*K -M_inv*C_damp]

% Feedthrough matrix D (12x4)
D = [zeros(4) zeros(4) M_inv ]

95