| Suspension is an important assembly that affects the comfort,safety and road adaptability of vehicles,and its structural design and characteristics research are important topics in vehicle research and development.Bionic kangaro leg suspension is a bionic suspension based on the structure and motion characteristics of kangaroo legs.Previous studies have found that the suspension has good cushioning and vibration reduction performance.However,the motion control of the suspension is not smooth and coordinated because the cooperative relationship between kangaroo leg muscle force and joint angle is not considered in the motion control.Since Hill muscle and kangaroo leg muscle are similar in muscle force generation and joint motion control,and the cooperative motion relationship of muscle activation,muscle force generation and joint angle are also considered,therefore,this paper combines Hill muscle with kangaroo leg suspension,and proposes a bionic kangaroo leg suspension based on Hill muscle model(hereinafter referred to as bionic suspension)to improve the control characteristics of suspension.The research contents are as follows:1.The Hill muscle model considering the cooperative movement of muscle activation,muscle force generation and joint angle is studied,the Hill muscle model suitable for vehicle suspension control is determined,and the dynamic equation of bionic suspension is deduced.2.The modeling parameters of the bionic suspension is determined,the rod model in ADAMS,the joint drive model in Solid works,the arc spring model in Pro/E are established,and the joint drive model and the spring model are introduced into ADAMS for assembly,so as to build the simulation model of the bionic suspension.3.Fuzzy and Fuzzy-PID controllers are designed,and their control characteristics are studied by joint simulation of ADAMS and Simulink.It is found that(1)Compared with double-joint control and single-joint control,the performance of suspension under three-joint control is better.(2)Compared with the passive suspension,the displacement and acceleration of the vehicle body under Fuzzy control and Fuzzy-PID control decreased by 54%,58% and 92%,93%,respectively,and the impact resistance of the suspension was obviously improved.(3)Under random road surface,with the increase of road surface grade and vehicle speed,both Fuzzy control and Fuzzy-PID control can effectively improve the control performance of suspension;Compared with passive suspension,the suspension under active control shows more excellent cushioning and vibration isolation performance,pavement adaptability and stability;The vehicle body acceleration transmissibility(8.8%～1%)under active control shows a downward trend with a small value,while the tire dynamic displacement(0.19～3.92mm)and its transmissibility(8.1%～10.5%)show an upward trend,but the value and change are small.(4)Compared with Fuzzy control,the suspension characteristics under Fuzzy-PID control are better under impact road surface and random road surface.The above research results show that the bionic suspension based on Hill muscle model has good control characteristics,which verifies the correctness and effectiveness of the bionic thinking and control method in this paper. |
