| Vehicle suspension research is an important subject in the field of vehicle engineering.With the wide application of vehicles and people’s pursuit of highquality,especially the pursuit of high comfort performance,the design of vehicle suspension structure becomes more stringent.Therefore,research and 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.Inspired by this,the structure and function of kangaroo leg is abstracted into a kind of PAM(Pneumatic artificial muscle)bionic kangaroo leg suspension by our research group,which is applied in the vehicle to improve the quality of the vehicle.This paper takes PAM kangaroo leg suspension as the research object,and its dynamic modeling and the characteristics of active and passive control are studied.Specific work includes the following aspects:(1)The bionic principle and design thought of PAM bionic kangaroo leg suspension structure are expounded,and its related equation is established.(2)The dynamic model of the suspension is established by Lagrange equation method.It is found that the dynamic model is a strongly coupled and non-linear dynamic equation and the analytical solution is difficult to obtain.Therefore,Adams dynamic modeling and simulation are used to study the dynamic characteristics of the suspension.(3)The passive characteristic simulation model of PAM bionic kangaroo leg suspension is established in Adams,and the vertical performance of this suspension in passive mode is obtained.(4)By comparing and analyzing the existing suspension control strategies,considering the characteristics of kangaroo jumping motion and the suspension requirements of comfort and handling stability,a fuzzy-PID PAM bionic kangaroo leg suspension passive-active control strategy is proposed.(5)The fuzzy-PID passive-active control strategy simulation model of bionic kangaroo leg suspension is established in Simulink,and a joint simulation with Adams dynamic model is carried out.(6)The vertical performances of the suspension in passive and active modes are analyzed with the road roughness as the excitation and the body dynamic displacement as control objective.The results show that when the PAM bionic kangaroo leg suspension is in the passive mode,the variation law of the suspension is basically same as that of the kangaroo leg,which verifies the correctness of the simulation model.The cushioning and vibration reduction performance of the suspension is good under different road excitation.Under the same road excitation,with the vehicle speed increase,the cushioning and vibration reduction performance of the suspension in passive and active modes is better.When the PAM bionic kangaroo leg suspension is in the passive-active control mode,the cushioning and vibration reduction performance of the bionic suspension is better than the passive mode.At the same speed,the worse the road excitation is,the more obvious buffering and vibration reduction effect is under the fuzzy-PID passive-active control.This paper research results can provide theoretical basis and methods for the research of bionic suspension. |
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