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由于带悬架车体的1/4车动力学模型不能准确反映车体的运动,因此,车体整体的动力学模型建模分析是十分必要的。基于车辆动力学理论,建立带悬架整车动力学方程和路面输入模型方程,通过Matlab/Simulink仿真,比较带悬架和无悬架的车体整体的质心垂向加速度、侧倾角加速度和俯仰角加速度,定量分析了在加入悬架前后的轮式移动平台的稳定性,证明加入悬架对车体平台稳定性的重要意义及建立的整车动力学模型的正确性。
As the 1/4-car dynamic model with the suspension body can not accurately reflect the movement of the vehicle body, therefore, it is necessary to analyze the whole dynamic model of the vehicle body. Based on the vehicle dynamics theory, the dynamic equations of the complete vehicle with suspension and the equation equations of the road surface are established. By means of Matlab / Simulink simulation, the vertical centroid acceleration, roll acceleration and pitch of the vehicle with suspension and suspension are compared Angular acceleration, the stability of the wheeled mobile platform before and after adding the suspension is quantitatively analyzed, and the importance of adding the suspension to the stability of the vehicle platform and the correctness of the established vehicle dynamics model are verified.