Ride Comfort Analysis And Optimization Of Wheeled Ground Unmanned Platform Based On Hydro-pneumatic Suspension

Wheeled ground unmanned platform is widely used in military operations,material transportation,rescue and reconnaissance.Because of the bad wheel ground unmanned platform working environment,work road roughness,makes the vibration of the platform in the process of driving is fiercely,severe cases will affect the efficiency of platform of warfare and material transportation,the wear and tear parts and issue such as difference of suspension system performance,therefore,wheel on the ground unmanned platform to improve riding comfort is of important practical value.In order to improve the riding comfort of platform,improve the reliability of the platform,reduce the vibration of platform with various sensors,electronic components and the influence of weapons and equipment,in the domestic first uses the six independent hydro-pneumatic suspension system of the wheel ground unmanned platform as the research object,from the hydro-pneumatic suspension model is established in this paper,platform vibration model was established,suspension parameter optimization and experimental verification are used to analyze and optimize platform ride comfort.The main contents of this paper are as follows:(1)Analyze the working principle of the oil and gas suspension system of the wheeled ground unmanned platform,establish its nonlinear stiffness mathematical model and nonlinear damping mathematical model,and conduct experiments with the oil and gas suspension test bench to verify the correctness of the established model.To analyze the influence of different working parameters and structural parameters of the hydraulic suspension system on its performance,and according to the actual working conditions of the platform and the design experience and criteria of the suspension structure,the parameter size range that can obtain the best working characteristics of the hydraulic suspension is determined.(2)According to comfort evaluation method,to determine the ride comfort evaluation index under different road,to establish the ground unmanned platform on the random road excitation and pulse mathematical description and simulation model of pavement excitation,and the six actual vehicle ground unmanned platform for reference,the establishment of a complete vehicle nine degrees of freedom vibration model and the corresponding simulink simulation model,The vehicle random road ride simulation and pulse road ride simulation were carried out respectively.(3)The hydro-pneumatic suspension system of the platform is the key to affecting the ride comfort of the platform.Using intelligent algorithms to optimize the design of the oil and gas suspension parameters and obtaining the optimal stiffness and damping characteristics of the oil and gas suspension system is the key to improving the ride comfort.The algorithm is prone to premature convergence and falls into the shortcoming of local optimal value.An improved chaotic particle swarm algorithm is proposed to optimize the parameters of the oil and gas suspension,and the function test is carried out to verify the advantages of the improved algorithm.The results show that the parameters optimized by the chaotic particle swarm algorithm have a significant improvement effect on the driving smoothness of the platform.At the speed of 30km/h,40km/h and50km/h,the simulation results are obtained under the E-level random road surface.The RMS value of the total weighted acceleration after optimization decreased by 27.34%,28.93% and 34.90% respectively compared with before optimization.(4)Taking a certain type of six-wheel independent oil and gas suspension wheeled ground unmanned platform as the research object,build an experimental platform and select the corresponding experimental road surface to conduct random road surface comfort test and pulse road surface comfort test respectively.The experimental results show that,compared with before optimization,the vibration acceleration of the platform after optimization of the parameters of the hydro-pneumatic suspension under the random road surface and the pulse road surface is significantly reduced,and the vibration acceleration is significantly reduced at the vehicle speed of 30km/h,40km/h and 50km/h.The actual improvement rates of the RMS value of the total weighted acceleration under the random road surface reached 21.40%,32.17% and 37.41%respectively,and the actual improvement rates of the vertical peak acceleration acceleration under the pulse road surface reached 37.42%,32.78% and 37.41% respectively,the driving smoothness of the wheeled ground unmanned platform under typical working conditions is actually improved,and it has certain engineering application value.