面向车路耦合的6×6轮式机器人动力学分析  

Dynamic Analysis of 6 × 6 Wheeled Robot for Vehicle Coupling

作　　者：谢步庆 封硕 舒红 XIE Bu-qing;FENG Shuo;SHU Hong(School of Construction Machinery,School of Sciences,Xi'an 710064,China;Chang'an University,School of Construction Machinery,Xi'an 710064,China)

机构地区：[1]长安大学工程机械学院,西安710064 [2]长安大学理学院,西安710064

出　　处：《科学技术与工程》2019年第22期322-331,共10页Science Technology and Engineering

基　　金：省部级项目(211425180248);中央高校基本科研业务费专项资金(310825163407)资助

摘　　要：为了准确地描述采用6个轮边电机独立驱动的双减震轮式机器人的响应特性以及轮胎的动载荷,通过构造适合不同等级路面的6×6轮整车13自由度垂向动力学模型进行仿真.该模型包含了双边6个车轮垂向位移,车身质心垂向位移,车身四角垂向位移,车身俯仰运动以及车身侧倾运动,并且将左右轮在行驶过程中的相干性以及行驶过程中左右轮地面信号输入的不同的情况考虑在内;同时利用三角级数法构造并验证了仿真所需的各级路面时域信号,可以模拟在任何等级路面下的运动情况;建立了利用MATLAB/Simulink平台求解该动力学模型以获得响应特性及轮胎动载荷的研究方法.结果表明,在F级路面下的整车13自由度垂向动力学模型的可行性以及准确性.可见,该动力学模型可为以后6×6双减震轮式机器人相关参数(例如悬架优化,有限元分析,轻量化设计)的优化提供参考.In order to describe the response characteristics of a double-damping wheeled robot driven by six wheel motors independently and the dynamic load of the tire accurately,the simulation was performed by constructing a 13-DOF vertical dynamic model of 6×6 wheel vehicle model suitable for different grades of road surface.The model included six vertical displacements of the wheel,vertical displacement of vehicle body centroid,vertical displacement of the four corners of the car body,body pitching motion and body roll motion,and the coherence and different situations of ground signal input of the left and right wheels during driving were taken into account.Different situations of load signal input were also taken into account.Meanwhile,the trigonometric series method was used to construct and verify the road time domain signals required for the simulation,which can simulate the motion under any grade of road surface.A research method for obtaining response characteristics and tire dynamic load platform was established to use the MATLAB/Simulink to solve the dynamic model.The results show the feasibility and accuracy of the thirteen degrees of freedom vertical dynamics model of under the F-level road surface.It can be seen that the kinetic model can provide reference for the optimization of relevant parameters of the 6×6 double-damping wheeled robot(such as suspension optimization,finite element analysis,lightweight design).

关 键 词：六轮六驱 多自由度 动力学模型 路面时域信号 车路耦合 

分 类 号：U463[机械工程—车辆工程]