新型消防机器人悬挂系统建模与仿真分析
|
摘要
为提高消防机器人的平稳性和可靠性,利用动力学软件ADAMS建立某新型消防机器人单轮悬挂系统动力学模型。基于履带式移动机器人动力学与冲击碰撞原理,在MATLAB/Simulink中建立随机路面激励模型,简化平面数学模型建立基础,并对单轮悬挂系统进行参数化分析。在D级随机仿真路面条件下进行运动学分析与动力学仿真分析,研究扭杆-液气减振器对消防机器人悬挂系统性能影响。结果表明:扭杆-液气减振器悬挂系统模型简单、平稳、可靠,具有非线性、变阻尼等特性。
In order to improve the stability and reliability of fire-fighting robot, a dynamic model of a new fire-fighting robot with single wheel suspension system was established by using the ADAMS. Based on the dynamics and impact collision principle of track-type mobile robot, a stochastic pavement excitation model was established in MATLAB/Simulink, the plane mathematical model was simplified to build foundation and parameterizing analysis for the single-wheel suspension system was made. The kinematic analysis and dynamic simulation analysis under D-class stochastic simulation pavement conditions were carried out to study the influence of the torsion bar-liquid damper on the performance of fire-fighting robot suspension system. The results show that the torsion bar-liquid damper suspension system model is simple, stable and reliable, with nonlinear, variable damping and other characteristics.
In order to improve the stability and reliability of fire-fighting robot, a dynamic model of a new fire-fighting robot with single wheel suspension system was established by using the ADAMS. Based on the dynamics and impact collision principle of track-type mobile robot, a stochastic pavement excitation model was established in MATLAB/Simulink, the plane mathematical model was simplified to build foundation and parameterizing analysis for the single-wheel suspension system was made. The kinematic analysis and dynamic simulation analysis under D-class stochastic simulation pavement conditions were carried out to study the influence of the torsion bar-liquid damper on the performance of fire-fighting robot suspension system. The results show that the torsion bar-liquid damper suspension system model is simple, stable and reliable, with nonlinear, variable damping and other characteristics.
引文
[1] 汪明德,赵毓芹,祝嘉光.坦克行驶原理[M].北京:国防工业出版社,1983.
[2] 马星国,李方贵,尤小梅.履带车辆悬挂系统当量化及车辆平面数学模型建立[J].机械工程学报,2015,51(18):144-145.MA X G,LI F G,YOU X M.Equivalent Method of Suspension System and the Establishing of Plane Mathematical Modeling of Tracked Vehicle[J].Journal of Mechanical Engineering,2015,51(18):144-145.
[3] 吴大林,马吉胜,董自卫.基于ADAMS的自行火炮悬挂装置振动分析[J].振动与冲击,2005,24(5):39-41.WU D L,MA J S,DONG Z W.Vibration Analysis of Suspension System of Self-propelled Gun Based on ADAMS[J].Journal of Vibration and Shock,2005,24(5):39-41.
[4] 陈辛波,王伟,万钢.双横臂扭杆弹簧悬架系统刚度与阻尼特性分析的新方法[J].机械工程学报,2006,42(9):103-106.CHEN X B,WANG W,WAN G.New Method for Analyzing Rigidity and Damping Characteristics of Double Wishbone Suspension with Torsion Bar[J].Journal of Mechanical Engineering,2006,42(9):103-106.
[5] 丁法乾.履带式装甲车辆悬挂系统动力学[M].北京:国防工业出版社,2004.
[6] 王良曦,王红岩.车辆动力学[M].北京:国防工业出版社,2008.
[7] 陈杰平,陈无畏,祝辉,等.基于Matlab/Simulink 的随机路面建模与不平度仿真[J].农业机械学报,2010,41(3): 11-15.CHEN J P,CHEN W W,ZHU H,et al.Modeling and Simulation on Stochastic Road Surface Irregularity Based on Matlab/Simulink[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(3):11-15.
[8] 马星国,张刃,尤小梅,等.履带车辆单轮悬挂系统建模及仿真研究[J].振动与冲击,2005,33(20):82-85.MA X G,ZHANG R,YOU X M,et al.Research on the Modeling and Simulating of a Tracked Vehicle’s Single-wheel Suspension[J].Journal of Vibration and Shock,2005,33(20):82-85.
[2] 马星国,李方贵,尤小梅.履带车辆悬挂系统当量化及车辆平面数学模型建立[J].机械工程学报,2015,51(18):144-145.MA X G,LI F G,YOU X M.Equivalent Method of Suspension System and the Establishing of Plane Mathematical Modeling of Tracked Vehicle[J].Journal of Mechanical Engineering,2015,51(18):144-145.
[3] 吴大林,马吉胜,董自卫.基于ADAMS的自行火炮悬挂装置振动分析[J].振动与冲击,2005,24(5):39-41.WU D L,MA J S,DONG Z W.Vibration Analysis of Suspension System of Self-propelled Gun Based on ADAMS[J].Journal of Vibration and Shock,2005,24(5):39-41.
[4] 陈辛波,王伟,万钢.双横臂扭杆弹簧悬架系统刚度与阻尼特性分析的新方法[J].机械工程学报,2006,42(9):103-106.CHEN X B,WANG W,WAN G.New Method for Analyzing Rigidity and Damping Characteristics of Double Wishbone Suspension with Torsion Bar[J].Journal of Mechanical Engineering,2006,42(9):103-106.
[5] 丁法乾.履带式装甲车辆悬挂系统动力学[M].北京:国防工业出版社,2004.
[6] 王良曦,王红岩.车辆动力学[M].北京:国防工业出版社,2008.
[7] 陈杰平,陈无畏,祝辉,等.基于Matlab/Simulink 的随机路面建模与不平度仿真[J].农业机械学报,2010,41(3): 11-15.CHEN J P,CHEN W W,ZHU H,et al.Modeling and Simulation on Stochastic Road Surface Irregularity Based on Matlab/Simulink[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(3):11-15.
[8] 马星国,张刃,尤小梅,等.履带车辆单轮悬挂系统建模及仿真研究[J].振动与冲击,2005,33(20):82-85.MA X G,ZHANG R,YOU X M,et al.Research on the Modeling and Simulating of a Tracked Vehicle’s Single-wheel Suspension[J].Journal of Vibration and Shock,2005,33(20):82-85.