带悬架的移动车体整体动力学建模分析及仿真  

Dynamics modeling analysis and simulation of mobile whole car body with suspension

作　　者：袁杰[1] 刘青松[1] 钱建华[1] 

机构地区：[1]中科华核电技术研究院有限公司,广东深圳518124

出　　处：《机械设计》2016年第6期36-40,共5页Journal of Machine Design

基　　金：国家863计划核反应堆专用机器人技术与应用资助项目(2011AA040201)

摘　　要：由于带悬架车体的1/4车动力学模型不能准确反映车体的运动,因此,车体整体的动力学模型建模分析是十分必要的。基于车辆动力学理论,建立带悬架整车动力学方程和路面输入模型方程,通过Matlab/Simulink仿真,比较带悬架和无悬架的车体整体的质心垂向加速度、侧倾角加速度和俯仰角加速度,定量分析了在加入悬架前后的轮式移动平台的稳定性,证明加入悬架对车体平台稳定性的重要意义及建立的整车动力学模型的正确性。Dynamic Modeling analysis of the whole car body was necessary because 1/4 carrier dynamic model with suspension could not reflect the body′s movement accurately. Based on body′s dynamic theory, dynamic equation of body with suspension and pavement input model equation were built. The Matlab/Simulink simulation was performed to compare the centroid vertical acceleration, roll Angle acceleration and pitching Angle acceleration of whole car body with suspension and without suspension. The stability of carrier platform stability was analyzed quantificationally after adding the suspension.Therefore, this proved that it was significant for carrier body′s platform stability while adding the suspension and the dynamic model of carrier body was validity.

关 键 词：悬架 随机路面 动力学仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]