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Damping Mass in
Mountain Bike
Suspension
Mark Sleith
In this paper we discuss the problems posed by quantitative mathematical models of a physical
system and their solution. The model in question is the design and control of the damping for the
suspension of a mountain bike. The behaviour of such dynamic systems is best described using
ordinary differential equations applying Laplace transform methods. We will discuss the springmass-damper system and observe its inputs and outputs in order to obtain relationships within its
components and subsystems in the form of transfer functions. We will then demonstrate their
behaviour using graphs and block diagrams for which we can graphically depict interconnections in a
convenient way for designing and analysing control diagrams. We conclude by applying these
methods to the real-life problem of the suspension of a mountain bike.
1. Contents ...................................................................................................................................... i
1.1 Table of Contents ..................................................................................................................... i
1.2 Table of Figures ..................................................................................................................... iii
1.3 Table of Tables....................................................................................................................... iii
1.4 Table of Equations.................................................................................................................. iii
Definition ................................................................................................................... 3
2.3.2
2.3.3
2.3.4
2.3.5
2.3.6
Definition ................................................................................................................... 7
2.4.2
Derivation .................................................................................................................. 8
3.1.2
3.2.1.1
3.2.1.2
Add One Integrator per State, Label Inputs and Outputs ............................................ 11
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3.2.1.3
3.2.1.4
5. References ............................................................................................................................... 21
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Equation 2.22 .................................................................................................................................... 7
Equation 2.23 .................................................................................................................................... 7
Equation 2.24 .................................................................................................................................... 7
Equation 2.25 .................................................................................................................................... 8
Equation 2.26 .................................................................................................................................... 8
Equation 2.27 .................................................................................................................................... 8
Equation 3.1 .................................................................................................................................... 11
Equation 3.2 .................................................................................................................................... 11
Equation 4.1 .................................................................................................................................... 15
Equation 4.2 .................................................................................................................................... 15
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Equation 2.1
Mark Sleith
2.2 The Spring-Mass-Damper System
For our investigation we are interested in the simple spring-mass-damper system shown in Figure 2.2
as described by Newtons second law of motion, shown by Equation 2.1 on page 1. This system will
represent our shock absorbers within a mountain bikes suspension. A free body diagram of mass is
shown in Figure 2.3. It should be noted however, that the knowledge one gains within the mechanical
system, is equally applicable to electrical, fluid and thermodynamic systems.
In this spring-mass-damper example, the wall friction is modelled as a viscous damper; meaning that
the frictional force is linearly proportional to the velocity of the mass . In a more realistic example
friction may behave more like dry friction. Dry friction, also known as a coulomb damper, is a
nonlinear function of the mass velocity and possesses a discontinuity around zero velocity. However,
for our example a well-lubricated system, the viscous friction is appropriate.
Summing the forces acting on
differential equation:
( )
( )
( )
( )
()
Equation 2.2
is the spring constant of the
Since
is a 2nd order differential equation with respect to position. It is clear that such a simple
equation can be used for prediction i.e. to know ( ). In general if we can write the equations of rate
of change we often can solve the equation and make predictions.
Definition
The ability to obtain linear approximations of physical systems allows the analyst to consider the use
of the Laplace transformation as mentioned in our introduction. The Laplace transform allows us to
take a complex differential equation and turn it into easily solvable algebraic equations. Thus,
allowing us to solve these complex systems with simple arithmetic. The time response solution is
obtained as follows:
1. Obtain the differential equations
2. Obtain the Laplace transformation of the differential equations
3. Solve the resulting algebraic transform of the variable of interest
Signals that are physically realizable will always have a Laplace transform. The Laplace
transformation for a function of time ( ) is:
( )
( )
( )
Equation 2.3
( )
Equation 2.4
The transformation integrals have been used to derive tables of Laplace transforms that are often used
for the great majority of problems. A list of the Laplace transform pairs which relate to spring-massdamping systems can be found in Table 2.1. A more complete table goes beyond the scope of this
paper but can be found online.
Time Domain
()
( )
()
Laplace Domain
( )
( )
( )
Mark Sleith
2.3.2
We will now demonstrate the usefulness of the Laplace transformation and all of the steps involved in
the system analysis with respect to our spring-mass-damper system described by Equation 2.2 as
shown on page 2.
We wish to obtain the response
follows:
( )
( )
( )
()
Equation 2.5
Laplace transform
(
( )
( )
))
( )
( )
Equation 2.6
when
( )
and
and
we have
( )
( )
( )
Equation 2.7
Since we now have the Laplace transform of the differential equation where
corresponds to the 2nd
derivative, is a derivative and ( ) is the transform of the function that we are looking for.
2.3.3
Equation 2.8
then
( )
Equation 2.9
We can then get a neater version by dividing the top and bottom by
( )
This equation can now be used simply by plugging in the corresponding parameters.
Equation 2.10
i.e. at
then
( )
Equation 2.11
)(
Equation 2.12
From a working knowledge of Laplace transforms we need to split ( ) into separate parts so that we
can use the look up table (Table 2.1) on page 3, to get the solution. We use partial fractions so that we
can get the following
( )
by multiplying by (
) and (
Equation 2.13
) we get
( )
(
(
)
)(
(
)
)
)(
Equation 2.14
by taking this a step further. The fully expanded partial fraction of Equation 2.12, we obtain
( )
)(
Equation 2.15
Equation 2.16
let
( )
i.e.
Equation 2.17
let
i.e.
Equation 2.18
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now
( )
2.3.6
Equation 2.19
Equation 2.20
Equation 2.21
Thus we can conclude we have found a solution ( ) is a sum of exponentials with different decay
constants. The choices of ratio to and to clearly indicate an underdamped system.
Definition
The damping ratio is a dimensionless measure describing how oscillations in a system decay after
disturbance. Using our spring-mass-damper model, Figure 2.2 on page 2, as an example. If we were to
pull down the mass and release it, the spring would cause the mass to bounce up and down as the
system attempts to return to equilibrium. The damping ratio is a measure of describing how quickly
the oscillations decay from one bounce to the next.
Equation 2.24
being the ratio of two coefficients of identical units, the damping ratio is dimensionless.
Mark Sleith
The damping ratio is also related to the logarithmic decrement
relation
Equation 2.25
where
This relation is only meaningful for underdamped systems because the logarithmic decrement is
defined as the natural log of the ratio of any two successive amplitudes, and only underdamped
systems exhibit oscillation.
2.4.2
Derivation
Equation 2.26
and the definition of the damping ratio as given above, we can rewrite this as:
Equation 2.27
Overdamped (
): The system returns (exponentially decays) to equilibrium without
oscillating. Larger values of the damping ratio return to equilibrium slower.
Critically damped (
): The system returns to equilibrium as quickly as possible without
oscillating. This is what we desire for a mountain bikes suspension.
Underdamped (
): The system oscillates (at reduced frequency compared to the
undamped case) with the amplitude gradually decreasing to zero.
Undamped (
): The system oscillates at its natural resonant frequency ( ).
Mark Sleith
3. Block Diagram Models
3.1 Models and Simulation
Understanding and testing the workings of a real life system would be tedious if we had to do the long
complicated maths and plot our findings onto a chart for every time step of the running simulation.
This would be made worse when we want to test and change different parameters to see what effects
this has to variables within our system. Luckily for us we can use a block diagram model to help us
when we are trying to represent a system in a simulation.
3.1.1
First we must ask ourselves what is a model? A model is a representation of the construction and
working of some system of interest. It is similar to but simpler than the system it represents. We will
use our model for the purpose of allowing us to analyse and predict the effect of changes to the
system. This means that our model will have to be dynamic and enable time-varying interactions
among variables.
3.1.2
Now that we have a simple understanding of what we mean by a model we now have to ask ourselves
what do we mean by simulation? A simulation of a system is the operation of a model of a system.
The model can be reconfigured and experimented with. Usually this is impossible, too expensive or
impractical to do so in the system it represents. The operation of the model can be studied, and hence,
properties concerning the behaviour of the actual system or its subsystem can be inferred. In its
broadest sense, simulation is a tool to evaluate performance of a system, existing or proposed, under
different configurations of interest and over long periods of time.
3.2 Modelling and Simulating with Simulink
Now that we understand what is meant by models and simulation we must decide on which software
we will implement for our model simulation of the mass-spring-damper system. For this we have
chosen Simulink. Simulink is an environment for multidomain simulation and Model-Based Design
for dynamic and embedded systems. It provides an interactive graphical environment and a
customizable set of block libraries that let you design, simulate, implement, and test a variety of timevarying systems, including communications, controls, signal processing, video processing, and image
processing.
Table 3.1 shows the different blocks and their meaning from the Simulink library which we will be
using to model our system.
Block
Description
The Gain block multiplies the input by a constant value (gain). The input and
the gain can each be a scalar, vector, or matrix.
The Integrator block outputs the integral of its input at the current time step.
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Equation 3.1
Equation 3.2
, and
),
velocity and position are the states of our system. When thinking about ordinary differential equations
in models, states are integrator blocks.
3.2.1.2 Add One Integrator per State, Label Inputs and Outputs
It is be good practice to annotate our model with our equations so that we can refer to it as we add
blocks to the canvas. Figure 3.1 shows the two integrator blocks for the mass-damping-system.
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4. Applying it all to a Mountain Bike Simulation
We now have a strong understanding of the spring-mass-damper system both mathematically and
within model simulations. We can now apply what we have learned to solve a real life problem, in our
case the spring mass damping system used for a mountain bikes suspension.
4.1 Identifying the Problem
A mountain bike requires suspension in order for the rider to have a more comfortable and safe ride
on the rough terrain. The bikes suspension system would be made up of springs or pistons with
compressed air similar to Figure 2.2 on page 2. We must investigate which values of the parameters in
Equation 3.2, when adjusted minimize the oscillations and the optimum values of
and are
selected for practical implementation.
Before we design our simulation we must first make assumptions about our bike model. We know that
mountain bikes have two sets of suspension for both the front and back, we will assume that both the
front and back suspension systems are the same with different values for the parameters. For the
purpose of our simulation we will assume that the mass
is restricted to move only in the vertical
direction and is connected to a fixed frame through a spring and a damper. We will assume that the
spring is rigid and the spring and damper are massless. We can also assume that weight distribution is
40:60 to the front and back respectively. The distance between wheel centres is 1m, tyre pressure and
wheel sizes are both negligible. For our tests we will make the weight of the rider 80kg and have an
average speed of 35km/h. See Figure 4.1.
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Equation 4.1
by inserting the known parameters we get,
Equation 4.2
Solving this we get
(notice we have converted from km/h to m/s). We now know that our
front mass damping system must return to equilibrium under 0.1s. With this in mind our system
should be critically damped or overdamped.
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4.3 Creating a Model Simulation
Developing on our model in Figure 3.3, we will make a more complex system by allowing us to
adjust the input and then store both the input and output to files to create more informative figures.
We will use this to simulate the front wheel before moving on to the rear wheel, adjusting the
parameters until we find the most optimum solution. Figure 4.3 shows our new model, the output
boxes are coloured green, these store the variables to a file.
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where is part of the damping ratio Equation 2.22 on page 7 and is the natural frequency. Plotting
the inputs and outputs from file we get the output as shown Figure 4.4. We see that the simulation
takes approximately 3seconds to return to equilibrium, not the solution that we are looking for,
however it is better than the solution shown in Figure 3.4 which took almost 50seconds.
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We see the rear wheel returning to equilibrium a lot more smoothly and slightly later than the front
wheel but because there is no other disturbance to the system the smoothness in which it returns is
more important for the control and stability of the system. We see this as a full and complete result
see Figure 4.7, we could use other values for the system which will allow for a smoother but slower
return to its original state however we must assume that the road does not only have one bump.
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5. Conclusion
Within this paper we have shown how to solve complex systems using quantitative mathematical
models. We have introduced the Laplace Transform along with how it can be used to solve the
Spring-Mass-Damper system of a mountain bike. We have shown that using complex math can be a
tedious process and with modern software solutions can be found more easily by creating a model of
the system within a simulation. Giving the example of the mountain bike problem, we have
demonstrated how simulations can help inform and find a solution to the problem.
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