基于数据驱动的全线控底盘纵臂式悬架系统研究

汽车在越野类极限路况下行驶, 对车身高度有一定范围的调节需求, 传统悬架方案与全线控底盘进行技术融合时, 存在机构运动干涉、底盘升降过程中车轮外倾程度过大、车轮发生侧向位移等现象, 易导致轮胎过度磨损, 致使行驶失稳. 将车身高度变化对轮胎侧向参数的影响转化为车轮纵向滚动, 进而实现稳定的大行程车身高度调节, 是解决上述问题的关键. 本研究建立整车七自由度动力学模型, 对悬架系统导向机构展开力学分析, 集两者作为系统研究的输入信息; 通过正弦波激振台对弹性元件、减振器进行相关特性参数获取, 基于数据驱动开展一体化电动轮的运动学仿真测试, 包括对悬架系统关键铰接位置进行力学性能分析、对电动轮整体结构进行运动学特性研究, 以此定义系统关键性能指标, 结合理论研究与仿真测试, 确定双纵臂式主动悬架系统方案. 仿真结果与实车验证综合表明, 搭载本研究系统方案的全线控平台, 进行大行程高度调节过程中, 车轮外倾问题得到有效解决, 一体化电动轮具备良好的独立运行能力, 本研究对提高车辆在极限路况下的通过性具有重要意义. 

RESEARCH ON TRAILING ARM SUSPENSION SYSTEM OF FULL X-BY-WIRE CONTROL CHASSIS BASED ON DATA DRIVE

The car is driven under extreme road conditions such as off-road, and there is a certain range of adjustment requirements for the body height. When the traditional suspension scheme is technically integrated with the full-wire chassis, there are mechanism motion interference, excessive wheel camber during the chassis lifting process, and wheel generation. Lateral displacement and other phenomena can easily lead to excessive tire wear, resulting in unstable driving. The key to solving the above problems is to convert the influence of vehicle height changes on the lateral parameters of tires into longitudinal rolling of the wheels, thereby achieving stable and long-travel vehicle height adjustment. . In this study, a seven-degree-of-freedom dynamic model of the whole vehicle is established, and the mechanical analysis of the suspension system guiding mechanism is carried out, and the two are collected as the input information of the system research; the relevant characteristic parameters of the elastic elements and shock absorbers are carried out through the sine wave vibration table. Acquire, carry out the kinematics simulation test of the integrated electric wheel based on the data drive, including the mechanical performance analysis of the key hinge position of the suspension system and the kinematic characteristics study of the overall structure of the electric wheel, so as to define the key performance indicators of the system, and combine the theory Research and simulation tests are carried out to determine the scheme of the double trailing arm active suspension system. The simulation results and the real vehicle verification show that the wheel camber problem can be effectively solved in the process of adjusting the height of the large stroke with the full-wire control platform equipped with the system scheme of this study. , the integrated electric wheel has good independent operation ability, and this research is of great significance to improve the vehicle's passability under extreme road conditions.