Modelling the vertical dynamics of unmanned ground vehicle with rocker suspension

In this paper, the vertical dynamic characteristics of unmanned ground vehicle (UGV) with rocker suspension are studied. A mathematical model is established to investigate the vertical dynamic characteristics of three-axle UGV with rocker suspension. This mathematical model is validated by the multi-body dynamics software Adams. The pitch angle acceleration of vehicle is selected as the evaluation index of vehicle ride comfort because of its terrible influence on detection equipment such as the camera. The influence of the stiffness and damping of the front, middle and rear axles on the ride comfort of UGV is analysed by changing the stiffness and damping value of each axle respectively. The simulation results show that the mathematical model can effectively reflect the vertical dynamic characteristics of the UGV with rocker suspension. The modelling method is valid. When the change is the same, the variation of the stiffness and damping in front or rear axle has great influence on the ride comfort of the vehicle. Based on this, to improve the ride comfort of the three-axle UGV with rocker suspension, the stiffness and damping in front and rear axle should be optimized first.