关键词: 丘陵山地无人车, 振动特性, 加速度传感器, 减振措施

Abstract: The vibration characteristics of an unmanned vehicle in hilly and mountainous areas were tested. Eleven test points were selected in the body of the unmanned vehicle, and six groups of test schemes were designed to comprehensively analyze the influence of measuring point position, engine throttle, and road roughness on the vibration characteristics of the vehicle. The test results showed that among the 11 test points, test point 3 (the left front part of the frame) was the most suitable position for installing the sensor on the vehicle. When the vehicle was running, the throttle was at 1/2 position, and it was on the first gear, the maximum acceleration value of the vibration of test point 3 was 47.4 m/s2, the minimum acceleration value was -50.36 m/s2, the average acceleration amplitude value was 5.092 m/s2, and the effective acceleration value was 6.864 m/s2, which showed that the vibration performance of test point 3 was more stable. Other suitable survey points were test point 4 and test point 9. The engine throttle significantly affected the maximum acceleration value, minimum acceleration value, average acceleration amplitude value, square root acceleration amplitude value, and effective acceleration value. Under three working conditions at the same test point, the average acceleration amplitude value increased by 297.1% and 322.8% at 1/2 and 3/4 throttle compared to the initial throttle. In the simulation model, the unevenness of the road had a significant impact on the vibration of the unmanned vehicle. On cement road surface, the chassis acceleration value of the unmanned vehicle was the lowest, while on sandy loam, clay, and dry sand, the chassis acceleration value increased by 81.23%, 77.91%, and 1.31%, respectively. At the same time, the vibration reduction measures, such as reducing the highfrequency vibration of the engine, increasing the damping, and reducing the driving speed when the sensor is working, are put forward.

Key words:  unmanned hilly and mountainous vehicle, vibration, acceleration sensor, vibration reduction measures