טכניון מכון טכנולוגי לישראל
הטכניון מכון טכנולוגי לישראל - בית הספר ללימודי מוסמכים  
M.Sc Thesis
M.Sc StudentShuster Sergey Guy
SubjectDesign of Suspension System for an Off-Road Vehicle under
Uncertainty of the Terrain
DepartmentDepartment of Mechanical Engineering
Supervisor Professor Oleg Gendelman
Full Thesis text - in Hebrew Full thesis text - Hebrew Version


Abstract

A vehicle riding over a rough terrain is subjected to uncertain excitations, especially when it comes to military tactical vehicles riding on unmeasured and unfamiliar terrains.

In this work our goal is to develop a methodology of designing the vehicle suspension under uncertainty of the terrain.  In order to deal with the uncertainty of the terrain the “Info- gap theory” was used. 

In the present work three different dynamical models were studied. The first model   consists of a mass connected through a spring and a damper to a fixed platform. Direct force of a constant and uncertain magnitude is applied on the mass for a known time period. The second model represents one wheel of a vehicle and it consists of a mass connected through spring and damper to a vibrating wheel.

The third model is more complex model which represents half a vehicle. For the second and the third models the input of the terrain is assumed to be of a sinusoidal form with a known frequency and uncertain amplitude. In addition, for the second model a multiple frequency input with uncertain amplitudes is also studied. The performance requirement was defined as the vertical displacement of the center of mass and for the half vehicle model, another demand on the tilt angle was included.

The first model served as an introduction to the concept on which we based the rest of the research providing a logical basis for the next more reasonable models.

Using the derived immunity functions according to the info-gap analysis, robust optimal springs and dampers were selected under different conditions.