Design and Simulation Analysis of Pneumatic Suspension and Lifting System for Parking Robot
To address the problem that ultra-low chassis wheel parking robots dont have suspension systems or lifting mechanisms,a pneumatic suspension and pneumatic lifting mechanisms are designed.The pneumatic suspension and pneumatic lifting mechanisms are connected through the frame to form a linkage system,which has the advantages of low installation height,adaptability to different load conditions,and changing the lifting height.In order to improve the smoothness and safety of the parking robot during transportation,a dynamic model of the pneumatic suspension mechanism and the pneumatic lifting mechanism linkage system is established,and an adaptive fuzzy PID control strategy for vehicle height is designed.Simulation results show that the adaptive fuzzy PID control strategy improves the vertical acceleration of the load by 40.21％compared to passive control.The improvement of pneumatic suspension dynamic displacement and load dynamic displacement reaches 23.28％and 14.22％,respectively,enhancing the buffering effect of the pneumatic suspension and pneumatic lifting mechanism linkage system on the load,and improving the smoothness and safety of the load.The effectiveness of the adaptive fuzzy PID control strategy for the pneumatic suspension and pneumatic lifting mechanism linkage system is veified.
parking robotpneumatic suspensionpneumatic liftingbag type air springadaptive fuzzy PID control
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