面向车路耦合的6x6轮式机器人动力学分析

为了准确的描述采用6个轮边电机独立驱动的双减震轮式机器人的响应特性以及轮胎的动载荷,通过构造适合不同等级路面的6x6轮整车13自由度垂向动力学模型进行仿真。该模型包含了双边六个车轮垂向位移,车身质心垂向位移,车身四角垂向位移,车身俯仰运动以及车身侧倾运动,并且将左右轮在行驶过程中的相干性以及行驶过程中左右轮地面信号输入的不同的情况考虑在内；同时利用三角级数法构造并验证了仿真所需的各级路面时域信号,可以模拟在任何等级路面下的运动情况；建立了利用MATLAB/Simulink平台求解该动力学模型,获得响应特性及轮胎动载荷的研究方法。结果表明,在F级路面下的整车13自由度垂向动力学模型的可行性以及准确性。可见,该动力学模型可为以后6x6双减震轮式机器人相关参数(例如悬架优化,有限元分析,轻量化设计)的优化提供参考。

Dynamic Analysis of 6x6 Wheeled Robot for Vehicle Coupling

In order to accurately describe the response characteristics of the dual-damping wheel robot independently driven by a 6-wheel-side motor and the dynamic load of the tire, a 13-dof vertical dynamic model of 6x6 wheel vehicle suitable for different grades of pavement was constructed for simulation. The model includes vertical displacement of six bilateral wheels, vertical displacement of the center of mass of the car body, vertical displacement of the four corners of the car body, pitch motion of the car body and roll motion of the car body. At the same time, triangular series method is used to construct and verify the time domain signals needed by the simulation. The dynamic model was solved by MATLAB/Simulink platform, and the response characteristics and dynamic load of the tire were obtained. The results show that the model is feasible and accurate. It can be seen that this dynamic model can provide a reference for the optimization of related parameters (such as suspension optimization, finite element analysis and lightweight design) of the 6x6 double damping wheel robot in the future.