PAM仿袋鼠腿悬架仿真建模及垂向参数特性研究

Modeling and Vertical Parameter Characteristics Study of PAM Bionic Kangaroo Leg Suspension

为了满足人们对高性能车辆悬架的追求,借鉴自然进化而来的袋鼠腿部结构,提出一种PAM仿袋鼠腿车用悬架。通过对袋鼠腿部肢体及其功能的剖析与提炼,构建出基于PAM的等骨骼比例仿袋鼠腿悬架结构;为了研究该悬架结构的减振性能和参数特性,建立其三连杆被--主动控制仿真模型。模仿袋鼠腿自适应调节功能,以悬架垂向性能参数为评价指标,制定出仿袋鼠腿悬架的模糊控制策略;以路面不平度为激励,通过控制PAM输出力实时调节悬架姿态,对该悬架垂向参数特性开展研究。以车身动位移、车身垂向加速度等参数为评价指标,在多种路面条件下,对该悬架的垂向性能进行被动、被-主动模式下的特性分析。结果表明,基于PAM仿袋鼠腿悬架可有效降低路面激励对车身的振动与冲击;相对于被动模式,该悬架在模糊控制下的被-主动模式具有较好的缓冲减振性能。研究结果可为高性能仿生车辆悬架的研发提供参考。

A PAM bionic kangaroo leg suspension was proposed to satisfy people’s pursuit of high-performance vehicle suspension system,which was referred to the leg structure of kangaroo evolving from long-term jumping. The suspension structure based on PAM and conforming to the proportion of kangaroo leg bones was constructed by analyzing and abstracting the lamb and its functions of kangaroo leg. A three-link vibration mechanical simulation model under the passive-active control was established to study the vibration performance and parameter characteristics of the suspension structure. The fuzzy control strategy of the bionic kangaroo leg suspension was developed by imitating kangaroo leg adaptive adjustment function and selecting the vertical performance parameters of the suspension as the evaluation index. Based on road excitation,the vertical parameter characteristics of the suspension were studied by controlling the PAM output force to achieve the real-time adjustment of the suspension state. In this paper,the characteristics of the suspension was analyzed in the passive mode and the passive-active mode under different road incentives,according to the evaluation indicators such as body dynamic displacement,body vertical acceleration. The results indicate that PAM bionic kangaroo leg suspension can reduce effectively the road vibration and shock to the car body. Contrast to the passive mode,the suspension in the fuzzy control of passive-active mode has better buffer damping performance. The study can provide a reference for the research and development of high performance bionic vehicle suspension.