Stability Analysis Of Wheeled Suspension Mobile Platform Based On Pseudo Excitation Method

Due to the industrial technology development and the progress of human civilization,mobile robot has an irreplaceable role in People’s Daily life. In the general environment,wheeled mobile robot is the main research object. At present, the suspension system of theresearch focuses on the analysis of the nonlinear vibration characteristics. In this paper, thenonlinear vibration characteristics of the suspension system, operating stability studies, inorder to optimize the parameters of the suspension systemIn this paper, the research content and innovative results are as follows:1、Constructing virtual road excitation based on pseudo-excitation method, the nonlinearvibration model was established, and the nonlinear random vibration equation istransformed into equivalent linear random vibration equation; Through thepseudo-excitation method related to calculate the power spectral density, the amount ofvibration response using MATLAB simulation curve, finally achieve the goal ofoptimization of suspension parameters.2、About the linear and nonlinear wheeled suspension vibration model of the mobileplatform, the calculating formula of vibration response of the quantity of variable speed androad surface excitation level platform, especially establish GUI simulation software system,analyses the platform speed, road surface motivation level on the vibration response of awheeled suspension mobile platform, the influence of the help to optimize the suspensionparameters.3、In this paper, by using lyapunov stability theory, combined with Ross horwitz criterion ofthe stability of the suspension system was studied, through theoretical analysis andnumerical simulation, this paper studies the suspension system in the given parameters andtime frequency range is stable;And use MATLAB simulation shows the system stability.In this paper, we study concluded that: based on pseudo-excitation method, wheeledsuspension mobile platform of suspension system influences on vibration characteristicsand stability of the nonlinear factors, we should pay attention to the suspension systemoptimization design.