泊车机器人气动悬架与举升系统设计与仿真分析

Design and Simulation Analysis of Pneumatic Suspension and Lifting System for Parking Robot

针对超低底盘的抱轮式泊车机器人无悬架系统和无举升机构的问题,设计了气动悬架与气动举升机构,将气动悬架与气动举升机构通过车架连接构成联动系统,使该联动系统具有安装高度低、能自适应不同负载工况和改变举升高度的优点。为提高泊车机器人搬运过程中的平稳性和安全性,建立了气动悬架与气动举升机构联动系统的动力学模型,并设计了车身高度自适应模糊PID控制策略,通过仿真实验结果表明,自适应模糊PID控制策略对负载垂向加速度的改善相较于被动控制达到了40.21%,对气动悬架动位移和负载动位移的改善分别达到了23.28%、14.22%,增强了气动悬架与气动举升机构联动系统对负载的缓冲效果,提高了负载的平稳性和安全性;验证了自适应模糊PID控制策略对该气动悬架与气动举升机构联动系统的有效性。

To address the problem that ultra-low chassis wheel parking robots don't have suspension systems or lifting mechanisms,a pneumatic suspension and pneumatic lifting mechanisms are designed.The pneumatic suspension and pneumatic lifting mechanisms are connected through the frame to form a linkage system,which has the advantages of low installation height,adaptability to different load conditions,and changing the lifting height.In order to improve the smoothness and safety of the parking robot during transportation,a dynamic model of the pneumatic suspension mechanism and the pneumatic lifting mechanism linkage system is established,and an adaptive fuzzy PID control strategy for vehicle height is designed.Simulation results show that the adaptive fuzzy PID control strategy improves the vertical acceleration of the load by 40.21%compared to passive control.The improvement of pneumatic suspension dynamic displacement and load dynamic displacement reaches 23.28%and 14.22%,respectively,enhancing the buffering effect of the pneumatic suspension and pneumatic lifting mechanism linkage system on the load,and improving the smoothness and safety of the load.The effectiveness of the adaptive fuzzy PID control strategy for the pneumatic suspension and pneumatic lifting mechanism linkage system is veified.