一种用于小型电控越野机器人的克里斯蒂悬挂特性研究  

Study on Christy Suspension Characteristics of a Small Electronically Controlled Off-road Robot

作　　者：黄嘉昕 金承珂 郑驰远 温秀平[1] 朱鸿斌 HUANG Jiaxin;JIN Chengke;ZHENG Chiyuan;WEN Xiuping;ZHU Hongbin(College of Innovation and Entrepreneurship,Nanjing Institute of Technology,Nanjing 211167,China;School of Automation,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院创新创业学院,江苏南京211167 [2]南京工程学院自动化学院,江苏南京211167

出　　处：《机械制造与自动化》2023年第1期181-183,188,共4页Machine Building & Automation

基　　金：国家级大学生创新创业训练计划支持项目(202111276009Z)。

摘　　要：针对小型电控越野机器人的应用需求,采用一种克里斯蒂悬挂形式的机械结构,结合力学模型与非线性规划来求解悬挂中几何结构参数最优解,利用动态微分方程分析悬挂弹簧处的时间与位移调节过程,解决悬挂系统的特性参数选取问题。根据与动态响应仿真结果的对比,选取临界阻尼进行悬挂弹簧系统的参数调整,得到相应的弹簧刚度系数与黏性阻尼系数,实现悬挂系统特性参数的优化。For small electric off-road robot application requirements,Christian hanging in the form of mechanical structure is used and mechanics model is combined with the nonlinear programming to solve the optimal solution to the geometric structure parameters of the suspension.With the dynamic differential equation,the time and displacement adjusting process of the suspension spring are analyzed to select the characteristic parameters of the suspension system.Compared with the simulation results of dynamic response,the critical damping is selected to adjust the parameters of the suspension spring system,and the corresponding spring stiffness coefficient and viscous damping coefficient are obtained to realize the optimization of the suspension system characteristic parameters.

关 键 词：越野机器人 克里斯蒂悬挂 非线性规划 动态响应 临界阻尼 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]