复杂环境下4WIDS平台转向-悬架系统设计及稳定性分析  

Design and stability study of 4WIDS platform steering-suspension system under complex environments

作　　者：李春友 彭育辉[1] 林军 陈文强 LI Chunyou;PENG Yuhui;LIN Jun;CHEN Wenqiang(School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou University,Fuzhou,Fujian 350108,China;Fujian Hantewin Intelligent Technology Co.,Ltd.,Fuzhou,Fujian 350007,China)

机构地区：[1]福州大学机械工程及自动化学院,福建福州350108 [2]福建汉特云智能科技有限公司,福建福州350007

出　　处：《福州大学学报(自然科学版)》2025年第1期61-68,共8页Journal of Fuzhou University(Natural Science Edition)

基　　金：福建省自然科学基金项目(2021J01559);福建省科技计划引导性项目(2022H0007)。

摘　　要：为解决复杂工作环境下,四轮独立驱动转向(four-wheel independent drive steering,4WIDS)移动平台车身失稳对感知层识别精度的影响,提出一种基于双斜臂式转向-悬架系统集成的设计方案,旨在减小底盘空间占用并提高其在复杂环境下的行驶稳定性.通过构建悬架-转向系统动力学模型,研究地面激励与车轮跳动之间的关系,运用零力矩点法,以稳定性阈值来评价车轮前后、左右非水平状态下的稳定性,最后模拟复杂行驶环境进行运动学仿真.研究结果表明,在前后、左右非水平路复杂环境下,稳定性阈值为正,悬架系统能满足行驶稳定性需求.In complex working environments,the instability of the body of the four-wheel independent drive steering(4WIDS)mobile platform has a significant negative impact on the accuracy of perception layer recognition.Therefore,a novel design featuring a double cantilevered arm suspension has been proposed,aiming to minimize chassis space requirements and improve its driving stability in complex operating conditions.Firstly,the dynamic models of the suspension and steering systems were developed to investigate the interplay between ground excitation and wheel bounce.Then,using the zero moment point method(ZMP),the stability threshold is proposed to evaluate the stability of mobile platform in non-horizontal states in front and back,as well as left and right wheel conditions.Subsequently,kinematic simulations were performed to validate the system's performance under complex conditions.The simulation results showed that in complex environments of non-horizontal states in front and back,as well as left and right wheel conditions,the stability threshold is positive,and the suspension system can meet the driving stability requirements.

关 键 词：转向-悬架系统 双斜臂式悬架 四轮独立驱动转向 复杂环境 稳定性 

分 类 号：TH128[机械工程—机械设计及理论]