摘要
为了提高AGV的平顺性,获得在随机路面激励下的稳定效果,进行了横向稳定杆作用下的AGV平顺性分析。首先,根据AGV悬架特性建立带有横向稳定杆的4自由度简化数学模型,结合稳定杆几何特性,给出其角刚度计算公式,并以随机白噪声模拟的路面激励作为系统输入,通过Simulink仿真证明了横向稳定杆对改善AGV的侧倾度具有明显效果;然后,以侧倾度大小为评价指标,考虑实际中悬架参数的非线性因素,以及AGV不同的车速,使用Runge-Kutta法求得其数值解作为仿真结果输出;最后,依托现有AGV实验样机,采用角速度计测量侧倾度,在样机以不同车速行驶过C级随机路面情况下测量实时侧倾角。实验结果表明,横向稳定杆可以明显降低AGV的侧倾度,为带悬架的AGV使用横向稳定杆提供了实例参考。
In order to improve the smoothness of the AGV,a stabilizing effect under random road surface excitation is obtained.Firstly,a four-degree-of-freedom simplified mathematical model with a stabilizer bar is established according to the AGV suspension characteristics.According to the geometric characteristics of the stabilizer bar,the angular stiffness calculation formula is given,and the road excitation with random white noise simulation is used as the system input,and simulated by Simulink.It is proved that the lateral stabilizer bar has a significant effect on improving the roll of the AGV.Then,taking the degree of inclination as the evaluation index,considering the nonlinear factors of the actual suspension parameters,considering the different vehicle speeds of AGV,the numerical solution is obtained by the Runge-Kutta method as the simulation result output.Finally,relying on the existing AGV experimental prototype,the angular velocity is measured by an angular velocity meter,and the real-time roll angle is measured while the prototype is driving at a different speed than the C-class random road.The experimental results show that the lateral stabilizer bar can significantly reduce the inclination of the AGV,and provides an example reference for the AGV with suspension.
作者
杜汶励
DU Wen-li(Department of Mechanical and Electrical Engineering,Wuxi Machinery and Electron Branch,Jiangsu Union Technical Institute,Wuxi 214122,China)
出处
《组合机床与自动化加工技术》
北大核心
2022年第12期27-30,35,共5页
Modular Machine Tool & Automatic Manufacturing Technique
