自主导航集装箱转运车非线性复合悬架设计与优化

Design and optimization of nonlinear composite suspension for auto-guided container transfer vehicle(AGV)

本文以某款电驱动自主导航无人驾驶集装箱转运车辆(AGV)研究对象为,针对原车辆平顺性能欠佳和不能满足举升需求的问题,在原车基础上设计了一款橡胶弹簧和油气弹簧并联的复合悬架。根据车辆参数和悬架要求对两种弹簧分别进行了设计和选型。在MATLAB/Simulink里建立了车辆的动力学模型,利用遗传算法对复合悬架进行优化。既满足了设计要求,又最大限度的提高了车辆的平顺性。

In this paper, a composite suspension of an auto-guided container transfer vehicle （AGV） is studied. Based on the original vehicle, a new composite suspension with rubber spring and oil and gas spring in parallel is designed, aiming at the problem of the poor ride of the original vehicle and the lack of sufficient lift demand. Combined with vehicle parameters and suspension requirements, the two springs were de signed and selected respectively. In MATLAB/Simulink, a halfcar model of the vehicle was established, and the compound suspension was optimized by genetic algorithm. It not only satisfies the design require ments, but also improves the smoothness of the vehicle to the maximum extent.