基于Harris Hawk灭火机器人悬架系统参数优化

Parameter Optimization of Suspension System of Fire Fighting Robot Based on Harris Hawk

灭火机器人悬架系统的优化设计是提高车辆行驶平稳性的重要环节。以优化灭火机器人悬架的行驶稳定性为目标,通过Harris Hawk优化(HHO)算法对灭火机器人悬架系统进行了优化。首先,建立了灭火机器人悬架的半车动力学数学模型。在传统被动悬架的基础上,基于HHO算法对被动悬架的主要结构参数进行优化。仿真结果表明,在灭火机器人的悬架参数优化后,灭火机器人的行驶稳定性和平顺性都明显改善。

The optimal design of fire fighting robot suspension system is an important link to improve vehicle driving stability. The goal is to optimize the driving stability of the suspension system of fire fighting robot. The Harris Hawk optimization(HHO) algorithm was used to optimize the suspension system. Firstly, the half vehicle dynamics model of the fire extinguishing robot suspension system was established. Based on the traditional passive suspension system, the main structural parameters of the passive suspension system were optimized based on HHO algorithm. The results show that the driving stability and ride comfort of the fire fighting robot were significantly improved after the suspension system parameters were optimized.