| Bionic suspension research is a frontier topic in the field of vehicle engineering.Because the suspension needs not only to adapt to more road conditions,but also to damp vibrations of large vibrations and large impacts,it is also necessary to filter small vibrations to improve the vehicle’s passing and off-road performance.At the same time,it is necessary to maintain the comfort and safety of the vehicle.Therefore,in order to satisfy people’s pursuit of high performance vehicle suspension system,the innovative development of the suspension structure has important theoretical research value and engineering application value.The naturally evolved kangaroo’s leg structure makes it possible to jump and walk on complex terrain.It has characteristics such as fast running speed,strong obstacle-resistance,and stable movement.The shock-absorbing suspension with this characteristic can easily cope with various road surface excitations and keep the body stable to meet people’s driving needs.Therefore,this paper chooses Kangaroo leg structure as the research object to carry out the research of PAM bionic kangaroo leg suspension.Specific work includes the following aspects:According to reviewing and summarizing the development of suspension structures and bionic structures at home and abroad,this paper studied the structure and movement characteristics of kangaroo leg body and found that the kangaroo legs exhibit excellent cushioning and damping effects that can be used for reference when designing a bionic suspension.In this way,through analyzing and refining the structures and functions of kangaroo leg,the biological structure was transformed into an engineering structure,and a PAM-based isobaric scale kangaroo leg suspension structure was constructed.Then,by studying the modeling method of multi-body dynamics,the dynamics model and mathematical model of three-link passive control are established.The parameters of the suspension are studied from the theoretical model.Aiming at the problem of strong coupling,nonlinearity,variable coefficient and unfavorable solution to the dynamic equations,a simulation model based on the PAM bionic kangaroo leg suspension was established based on the kangaroo leg body structure.The kangaroo leg’s self-adaptive adjustment function was simulated,the suspension’s vertical performance parameter was used as the evaluation index and formulate a fuzzy control strategy for kangaroo leg suspension.Taking the road surface roughness as the input,the PAM output force could adjust the suspension movements in real time.The body movement displacement,the vertical acceleration of the vehicle,the angle of each bionic joint are used as the output.In the case of the instantaneous impact,step impact,C and D level random road,the vertical performance of the suspension is analyzed in the passive and passive mode in the time domain.The results show that the PAM bionic kangaroo leg suspension can effectively reduce the vibration and impact of the road surface excitation on the vehicle body.Compared to the passive mode,the suspension-active mode under the fuzzy control has better cushioning and vibration reduction performance.The research results can provide reference for the research and development of high performance bionic vehicle suspension. |
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