![]() ![]() The equilibrium equations governing our suspension model are as follows: M y – pitch moment (torque) induced by vehicle acceleration Image: Vehicle suspension forces and torquesį f – front suspension vertical force Vehicle suspension mathematical modeling (equations)įrom the suspension schematic we can now draw the free body diagram which will depict the forces and torque acting on the vehicle body. The road irregularities (bumps) are considered as displacements along the vertical axis, characterised by u. The pitch angle θ is considered positive when rotating towards the front axle. The bouncing of the vehicle body is along the z direction and is positive downwards. Vehicle body moment of inertia around pitch axis Horizontal distance from center of gravity (CoG) to rear axle ![]() Horizontal distance from center of gravity (CoG) to front axle The parameters and degrees of freedom are summarised in the table below: Parameter ![]()
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