qemu-system-arm failed to load the arm kernel

I am using Ubuntu 19.10. I installed qemu-system-arm, gcc-arm-linux-gnueabi and all related toolkits through apt-get. I made an arm kernel by:

export ARCH=arm
export CROSS_COMPILE=arm-linux-gnueabi-
make vexpress_defconfig
make menuconfig
make bzImage -j8
make dtbs

However, when I load the kernel via:

qemu-system-arm -M vexpress-a9 -smp 4 -m 200M -kernel arch/arm/boot/zImage -dtb arch/arm/boot/dts/vexpress-v2p-ca9.dtb -nographic -append "console=ttyAMA0"

qemu just halts there, without any output. Is there any configuration I should take care in Ubuntu 19.10 (kernel version=5.3) when using qemu-system-arm?

Thanks a lot.