CN102390231B - Vehicle-posture adjusting system tire load control method - Google Patents
Vehicle-posture adjusting system tire load control method Download PDFInfo
- Publication number
- CN102390231B CN102390231B CN 201110243197 CN201110243197A CN102390231B CN 102390231 B CN102390231 B CN 102390231B CN 201110243197 CN201110243197 CN 201110243197 CN 201110243197 A CN201110243197 A CN 201110243197A CN 102390231 B CN102390231 B CN 102390231B
- Authority
- CN
- China
- Prior art keywords
- proportional reversing
- reversing valve
- oil cylinder
- way
- valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to a hydraulic and control method, in particular to a vehicle-posture adjusting system tire load control method, which is characterized in that: an adjusting system comprises a suspension, an oil tank, a hydraulic pump, a hydraulic control retaining valve, a three-level four-way proportional reserving valve, an adjustable throttling valve, oil cylinders and a two-level two-way valve; a target height, a target velocity and a target load percentage of a vehicle under a normal road driving state are preset, then the current vehicle height is detected, the detected current vehicle height is compared with the target vehicle height for analysis, and the treatment is carried out in an ascending situation, a descending situation and a non-adjusting situation according to the comparison result of the detected current vehicle height and the target height. A controller is used for monitoring the information of displacement and pressure of the oil cylinders, so the pressure of four suspension oil cylinders can be reasonably distributed, the reasonable distribution of the tire load can be guaranteed during the vehicle posture adjusting process, and the problem that the distribution of the tire load is unreasonable because of the adjustment of the vehicle posture can be solved.
Description
Technical field:
The present invention relates to the method for a kind of hydraulic pressure and control, relate more specifically to a kind of car appearance control system tyre load control method.
Background technology:
The attitude of vehicle or highly be adjusted in has in engineering truck, overland vehicle, luxury car, the military-designed vehicle more widely to be used.The attitude of vehicle is regulated at present, general all is by measuring the displacement signal of overall height sensor, calculate the difference of vehicle present bit shifting signal and bid value, by control hydraulic pressure or the action of pneumatic valve member, realize charging and discharging oil or charging and discharging the adjusting that gas is realized height of car oil cylinder or cylinder.By the adjusting overall height, thereby the ability that vehicle adapts to road conditions can be improved to greatest extent, the cross-country carrying capacity of vehicle, the ability of travelling in the hand hay cutter slope can be improved.When good road surface is travelled, reduce height of the carbody, improve the riding stability of vehicle; When travel in abominable road surface, increase height of the carbody, improve the crossing ability of vehicle, thereby raising cross country power, but for the overall height regulation technology, tend to because control method is improper, and cause the problem of wheel load load irrational distribution, thereby to causing adverse effect the service life of sprung parts, tire.As in the process of car appearance lifting, all around can not synchronization lifting, though final overall height or attitude reach requirement, so very easily cause tyre load and design value not to be inconsistent.Therefore in the process that the car appearance is regulated, the synchronization lifting of car appearance is very important.But namely allow to realize car appearance synchronization lifting all around, because the problem of the friction force of the friction force of hydraulic actuating cylinder, suspension swing arm, also can cause the final and design value of tyre load not to be inconsistent.
The present invention proposes and a kind ofly can in car appearance control process, solve the method for tyre load irrational distribution, thereby can solve the problem of regulating the tyre load irrational distribution of bringing owing to the car appearance.
Summary of the invention:
The purpose of this invention is to provide a kind of car appearance control system tyre load control method, by the monitoring of controller to oil cylinder displacement and pressure information, make the distribution of pressure of four suspension oil cylinders reasonable, in the process that the car appearance is regulated, guarantee that tyre load distributes rationally, solves the problem of in the past regulating the wheel weight unreasonable distribution of bringing owing to the car appearance.
For achieving the above object, the present invention is by the following technical solutions:
A kind of car appearance control system tyre load control method provided by the invention, this car appearance control system comprises:
Suspension, fuel tank, Hydraulic Pump, hydraulic control one-way valve, 3-position 4-way proportional reversing valve, adjustable throttling, oil cylinder, 2/2-way valve;
Be provided with Hydraulic Pump in the described fuel tank, described Hydraulic Pump oil outlet is connected with oil outlet pipe, described adjustable throttling one end is connected with described oil outlet pipe successively, the described adjustable throttling other end is connected with the oil inlet of 3-position 4-way proportional reversing valve respectively, the actuator port of described 3-position 4-way proportional reversing valve is connected with hydraulic control one-way valve one end respectively, and the described hydraulic control one-way valve other end is connected with oil cylinder respectively;
The return opening of described 3-position 4-way proportional reversing valve is connected with adjustable throttling one end respectively, and the described adjustable throttling other end is connected with oil return pipe successively, and described oil return pipe is connected with fuel tank, also is provided with the 2/2-way valve between described oil return pipe and the fuel tank;
Linear displacement transducer is set respectively on the described oil cylinder, pressure sensor is set respectively in the described oil cylinder; Described hydraulic control one-way valve, 3-position 4-way proportional reversing valve, adjustable throttling and 2/2-way valve dispose controller respectively;
It is characterized in that: described control method comprises that step is as follows:
Step 1, default target overall height, described target overall height are the overall height of vehicle under normal road traveling state; Default target velocity, described target velocity is that system can realize the acceptable ascending velocity with the people in the overall height change procedure, generally is not more than 0.05m/s; Default target load percentum, described target load percentum are the percentum that the load of the oil cylinder of vehicle under the quiescence of normal road surface accounts for gross load;
Step 2, detect current overall height, detected current overall height and target overall height are analyzed;
A, when with detected current overall height during greater than the target overall height, the Hydraulic Pump fuel feeding, the commutation of 2/2-way change-over valve, this moment, the electromagnet of 3-position 4-way proportional reversing valve was switched on, high pressure oil enters the control end of hydraulic control one-way valve, each in-oil cylinder fluid enters corresponding 3-position 4-way proportional reversing valve by hydraulic control one-way valve respectively, thereby flows into fuel tank, overall height is descended to regulating finish;
In the process that descends, earlier default target velocity, controller is controlled each 3-position 4-way proportional reversing valve then, controller passes through the sampling to the car body decline displacement of unit interval, obtain present speed, thereby can calculate the speed difference, obtain the speed difference after, can utilize pid algorithm that controlling quantity is calculated, and obtain the controlling quantity of speed difference;
Preset a target load percentum again, measure each current oil cylinder load by pressure sensor, the percentum that current oil cylinder load is accounted for gross load calculates, and obtains the load percentage difference, and then can calculate most the PID control of load difference, and obtain the controlling quantity of load difference;
After obtaining two controlling quantitys, two controlling quantitys are optimized, obtain the Comprehensive Control amount, can control the 3-position 4-way proportional reversing valve in the overall height decline process;
B, when with detected current overall height during less than the target overall height, the Hydraulic Pump fuel feeding, the commutation of 2/2-way change-over valve, this moment, the electromagnet of 3-position 4-way proportional reversing valve was switched on, then high pressure oil enters the oil-filled end of hydraulic control one-way valve by hydraulic control one-way valve, therefore each oil cylinder is all oil-filled, overall height is risen to regulate finish;
In the process that rises, earlier default target velocity, controller is controlled each 3-position 4-way proportional reversing valve, controller passes through the sampling to the car body rising displacement of unit interval, obtain present speed, thereby can calculate the speed difference, obtain the speed difference after, can utilize pid algorithm that controlling quantity is calculated, and obtain the controlling quantity of speed difference;
Preset a target load percentum again, measure each current oil cylinder load by pressure sensor, the percentum that current oil cylinder load is accounted for gross load calculates, and obtains the load percentage difference, and then can calculate most the PID control of load difference, and obtain the controlling quantity of load difference;
After obtaining two controlling quantitys, two controlling quantitys are optimized, obtain the Comprehensive Control amount, can control the 3-position 4-way proportional reversing valve in the overall height uphill process;
C, when detected current overall height is equaled the target overall height, then do not carry out overall height and regulate; Described Hydraulic Pump adopts direct motor drive, is provided with oil filter between described fuel tank and the Hydraulic Pump, and the oil outlet pipe of described Hydraulic Pump oil outlet also is connected with by pass valve.
In a kind of car appearance control system tyre load control method technical scheme provided by the invention, described oil cylinder inside arranges linear displacement transducer respectively.
In another preferred a kind of car appearance control system tyre load control method technical scheme provided by the invention, described oil cylinder outside arranges linear displacement transducer respectively.
In the preferred a kind of car appearance control system tyre load control method technical scheme more provided by the invention, described oil cylinder inside arranges the angular-motion transducer that is associated with suspension respectively.
In another preferred a kind of car appearance control system tyre load control method technical scheme provided by the invention, in described step 3, the PID controlling quantity of computation speed difference is to utilize pid algorithm to try to achieve the dutycycle of the PWM control of control 3-position 4-way proportional reversing valve.
In another preferred a kind of car appearance control system tyre load control method technical scheme provided by the invention, in described step 3, the PID controlling quantity of assumed (specified) load percentage difference is to utilize pid algorithm to try to achieve the dutycycle of the PWM control of control 3-position 4-way proportional reversing valve.
In another preferred a kind of car appearance control system tyre load control method technical scheme provided by the invention, in described step 3, described speed difference is the difference of target velocity and present speed; Described load percentage difference is the difference that current oil cylinder load accounts for percentum and the target load percentum of gross load.
In another preferred a kind of car appearance control system tyre load control method technical scheme provided by the invention, in described step 3, the PID controlling quantity of the PID controlling quantity of Comprehensive Control amount=A1* speed difference+A2* load percentage difference, A1 〉=0 wherein, A2 〉=0, A1+A2=1, A1 and A2 will carry out value according to actual conditions; In the process of overall height lifting as find that overall height changes slowly or can not be synchronous all around, then suitably increase the A1 value, the corresponding A2 value that reduced; As the load skewness that in the process of overall height lifting, measures four oil cylinders 23, oil cylinder 1, oil cylinder 10, oil cylinder 11 and difference bigger, then should suitably increase the A2 value, the corresponding A1 value that reduced.
Because the beneficial effect that has adopted technique scheme, the present invention to obtain is:
1, the present invention is by the monitoring of controller to oil cylinder displacement and pressure information, and the Comparative Examples change-over valve is controlled, and makes the distribution of pressure of four suspension oil cylinders reasonable, thereby is conducive to solve the problem of regulating the wheel load unreasonable distribution of bringing owing to the car appearance.
2, at inside or the outer setting linear displacement transducer of oil cylinder, or the angular-motion transducer that is associated with suspension of setting, to realize the measurement to the overall height change information.
3,3-position 4-way proportional reversing valve while Configuration Control Unit to realize the control to each proportional reversing valve and solenoid directional control valve, is gathered the information that overall height changes simultaneously.
4, four pressure sensors are set with the variation of detected pressures in four oil cylinders, realize the reasonable control of wheel weight simultaneously, thus the information of reflection tyre load, for controller is realized providing foundation to the reasonable control of wheel load.
Description of drawings
Fig. 1 is a kind of hydraulic schematic diagram of car appearance control system tyre load control method;
Fig. 2 is the descend diagram of circuit of tyre load control of process of the present invention;
Fig. 3 is the diagram of circuit of the tyre load control of uphill process of the present invention;
Wherein, 1,10,11, the 23-hydraulic actuating cylinder, 2,9,12, the 22-hydraulic control one-way valve, 3,8,13,21-3-position 4-way proportional reversing valve, 4,5,6, the 7-adjustable throttling, 14,15,16,17-adjustable throttling; 18-2/2-way valve, the 19-by pass valve, the 20-Hydraulic Pump, the actuator port of C1, R1-3-position 4-way proportional reversing valve 21, the actuator port of C2, R2-3-position 4-way proportional reversing valve 3, the actuator port of C4, R4-3-position 4-way proportional reversing valve 8, the actuator port of C3, R3-3-position 4-way proportional reversing valve 13, SV1, SV2-are the electromagnet of 3-position 4-way proportional reversing valve 21, the electromagnet of SV3, SV4-3-position 4-way proportional reversing valve 3, the electromagnet of SV7, SV8-3-position 4-way proportional reversing valve 8, the electromagnet of SV5, SV6-3-position 4-way proportional reversing valve 13.
The specific embodiment
The invention will be described in further detail below in conjunction with embodiment.
Embodiment 1:
As Figure 1-3, a kind of car appearance control system tyre load control method of this example invention, this car appearance control system comprises: suspension, fuel tank, Hydraulic Pump 20, hydraulic control one-way valve 22, hydraulic control one-way valve 2, hydraulic control one-way valve 9, hydraulic control one-way valve 12,3-position 4-way proportional reversing valve 21,3-position 4-way proportional reversing valve 3,3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13, adjustable throttling 17, adjustable throttling 16, adjustable throttling 5, adjustable throttling 4, adjustable throttling 7, adjustable throttling 6, adjustable throttling 14, adjustable throttling 15, oil cylinder 23, oil cylinder 1, oil cylinder 10, oil cylinder 11,2/2-way valve 18;
The return opening of 3-position 4-way proportional reversing valve 21,3-position 4-way proportional reversing valve 3,3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13 is connected with adjustable throttling 16, adjustable throttling 4, adjustable throttling 6, adjustable throttling 15 1 ends respectively, adjustable throttling 16, adjustable throttling 4, adjustable throttling 6, adjustable throttling 15 other ends are connected with oil return pipe successively, oil return pipe is connected with fuel tank, also is provided with 2/2-way valve 18 between oil return pipe and the fuel tank;
On oil cylinder 23, oil cylinder 1, oil cylinder 10, the oil cylinder 11 linear displacement transducer is set respectively, be arranged on inside or outside, in oil cylinder 23, oil cylinder 1, oil cylinder 10, the oil cylinder 11 pressure sensor is set respectively, oil cylinder 23, oil cylinder 1, oil cylinder 10, oil cylinder 11 inside arrange the angular-motion transducer that is associated with suspension respectively; Hydraulic control one-way valve 22, hydraulic control one-way valve 2, hydraulic control one-way valve 9, hydraulic control one-way valve 12,3-position 4-way proportional reversing valve 21,3-position 4-way proportional reversing valve 3,3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13, adjustable throttling 17, adjustable throttling 16, adjustable throttling 5, adjustable throttling 4, adjustable throttling 7, adjustable throttling 6, adjustable throttling 14, adjustable throttling 15 and 2/2-way valve 18 dispose controller respectively;
It is characterized in that: described control method comprises that step is as follows:
Step 1, default target overall height, described target overall height are the overall height of vehicle under normal road traveling state; Default target velocity, described target velocity is that system can realize the acceptable ascending velocity with the people in the overall height change procedure, generally is not more than 0.05m/s; Default target load percentum, described target load percentum are the percentum that the load of the oil cylinder of vehicle under the quiescence of normal road surface accounts for gross load;
Step 2, detect current overall height, detected current overall height and target overall height are analyzed;
A, when with detected current overall height during greater than the target overall height, Hydraulic Pump 20 fuel feeding, 18 commutations of 2/2-way change-over valve, this moment, the 3-position 4-way proportional reversing valve 3,3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13, the electromagnet SV4 of 3-position 4-way proportional reversing valve 21, SV8, SV6, the SV2 energising, high pressure oil enters hydraulic control one-way valve 2, hydraulic control one-way valve 9, hydraulic control one-way valve 12, the control end of hydraulic control one-way valve 22, each oil cylinder 23, oil cylinder 1, oil cylinder 10, fluid in the oil cylinder 11 is respectively by hydraulic control one-way valve 2, hydraulic control one-way valve 9, hydraulic control one-way valve 12, hydraulic control one-way valve 22 enters corresponding 3-position 4-way proportional reversing valve 3,3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13,3-position 4-way proportional reversing valve 21, thereby the inflow fuel tank descends to regulating to overall height and finishes;
In the process that descends, earlier default target velocity, controller is controlled each 3-position 4-way proportional reversing valve 3,3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13,3-position 4-way proportional reversing valve 21 then, controller passes through the sampling to the car body decline displacement of unit interval, obtain present speed, thereby can calculate the speed difference, after obtaining the speed difference, can utilize pid algorithm that controlling quantity is calculated, and obtaining the controlling quantity of speed difference, described speed difference is the difference of target velocity and present speed; The PID controlling quantity of computation speed difference is to utilize pid algorithm to try to achieve the dutycycle of the PWM control of control 3-position 4-way proportional reversing valve 3,3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13,3-position 4-way proportional reversing valve 21, the effect that realizes is that the change of speed difference greatly then increases dutycycle, difference diminishes, and then reduces dutycycle;
Preset a target load percentum again, measure each current oil cylinder load by pressure sensor, the percentum that current oil cylinder load is accounted for gross load calculates, obtain the load percentage difference, and then can calculate most the PID control of load difference, and obtain the controlling quantity of load difference, described load percentage difference is the difference that current oil cylinder load accounts for percentum and the target load percentum of gross load, the PID controlling quantity of assumed (specified) load percentage difference is to utilize pid algorithm to try to achieve control 3-position 4-way proportional reversing valve 3,3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13, the dutycycle of the PWM control of 3-position 4-way proportional reversing valve 21, the effect that realizes is that the load difference change greatly then increases dutycycle, difference diminishes, and then reduces dutycycle;
After obtaining two controlling quantitys, two controlling quantitys are optimized, obtain the Comprehensive Control amount, can be to the 3-position 4-way proportional reversing valve 3 in the overall height decline process, 3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13,3-position 4-way proportional reversing valve 21 is controlled, the PID controlling quantity of the PID controlling quantity of Comprehensive Control amount=A1* speed difference+A2* load percentage difference, A1 〉=0 wherein, A2 〉=0, A1+A2=1, A1 and A2 will carry out value according to actual conditions, the following process of control method: in the process of overall height lifting as find that overall height changes slowly or can not be synchronous all around, then suitably increase the A1 value, the corresponding A2 value that reduced; As the load skewness that in the process of overall height lifting, measures four oil cylinders 23, oil cylinder 1, oil cylinder 10, oil cylinder 11 and difference bigger, then should suitably increase the A2 value, the corresponding A1 value that reduced.The Comprehensive Control amount equals the PWM dutycycle of the current decline ratio of control ratio change-over valve coil;
B, when with detected current overall height during less than the target overall height, Hydraulic Pump 20 fuel feeding, 18 commutations of 2/2-way change-over valve, electromagnet SV3, the SV7 of 3-position 4-way proportional reversing valve 3,3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13,3-position 4-way proportional reversing valve 21, SV5, SV1 energising at this moment, then high pressure oil enters the oil-filled end of hydraulic control one-way valve 2, hydraulic control one-way valve 9, hydraulic control one-way valve 12, hydraulic control one-way valve 22 by hydraulic control one-way valve, therefore each oil cylinder 23, oil cylinder 1, oil cylinder 10, oil cylinder 11 are all oil-filled, overall height is risen to regulate finish;
In the process that rises, earlier default target velocity, controller is to each 3-position 4-way proportional reversing valve 3,3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13,3-position 4-way proportional reversing valve 21 is controlled, controller passes through the sampling to the car body rising displacement of unit interval, obtain present speed, thereby can calculate the speed difference, after obtaining the speed difference, described speed difference is the difference of target velocity and present speed, can utilize pid algorithm that controlling quantity is calculated, and obtain the controlling quantity of speed difference, the PID controlling quantity of computation speed difference is to utilize pid algorithm to try to achieve control 3-position 4-way proportional reversing valve 3,3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13, the dutycycle of the PWM control of 3-position 4-way proportional reversing valve 21, the effect that realizes is that the change of speed difference greatly then increases dutycycle, difference diminishes, and then reduces dutycycle;
Preset a target load percentum again, measure each current oil cylinder load by pressure sensor, the percentum that current oil cylinder load is accounted for gross load calculates, obtain the load percentage difference, and then can calculate most the PID control of load difference, and obtaining the controlling quantity of load difference, described load percentage difference is the difference that current oil cylinder load accounts for percentum and the target load percentum of gross load.The PID controlling quantity of assumed (specified) load percentage difference is to utilize pid algorithm to try to achieve the dutycycle of the PWM control of control 3-position 4-way proportional reversing valve 3,3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13,3-position 4-way proportional reversing valve 21, the effect that realizes is that the load difference change greatly then increases dutycycle, difference diminishes, and then reduces dutycycle;
After obtaining two controlling quantitys, two controlling quantitys are optimized, obtain the Comprehensive Control amount, can be to the 3-position 4-way proportional reversing valve 3 in the overall height uphill process, 3-position 4-way proportional reversing valve 8,3-position 4-way proportional reversing valve 13,3-position 4-way proportional reversing valve 21 is controlled, the PID controlling quantity of the PID controlling quantity of Comprehensive Control amount=A1* speed difference+A2* load percentage difference, A1 〉=0 wherein, A2 〉=0, A1+A2=1, A1 and A2 will carry out value according to actual conditions, the following process of control method: in the process of overall height lifting as find that overall height changes slowly or can not be synchronous all around, then suitably increase the A1 value, the corresponding A2 value that reduced; As the load skewness that in the process of overall height lifting, measures four oil cylinders 23, oil cylinder 1, oil cylinder 10, oil cylinder 11 and difference bigger, then should suitably increase the A2 value, the corresponding A1 value that reduced.The Comprehensive Control amount equals the PWM dutycycle of the current rising ratio of control ratio change-over valve coil;
C, when detected current overall height is equaled the target overall height, then do not carry out overall height and regulate;
Three position four-way directional control valve 3 is realized the oil that charges and discharge of propons oil cylinder 1 being controlled the locking that hydraulic control one-way valve 2 is realized propons oil cylinder 1 inner fluid; Three position four-way directional control valve 21 is realized the oil that charges and discharge of propons oil cylinder 23 being controlled the locking that hydraulic control one-way valve 22 is realized propons oil cylinder 23 inner fluid; Three position four-way directional control valve 8 is realized the oil that charges and discharge of back axle oil cylinder 10 being controlled the locking that hydraulic control one-way valve 9 is realized back axle oil cylinder 10 inner fluid; Three position four-way directional control valve 13 is realized the oil that charges and discharge of back axle oil cylinder 11 being controlled the locking that hydraulic control one-way valve 12 is realized back axle oil cylinder 11 inner fluid.
Embodiment 2:
As Figure 1-3, a kind of car appearance control system tyre load control method of this example invention, this system and step and embodiment's 1 is basic identical, and difference is:
A, the result that obtains when the contrast of detected current overall height and target overall height be during greater than basic difference, and to the overall height adjusting that descends, regulative mode and step and embodiment 1 are in full accord;
B, the result that obtains when the contrast of detected current overall height and target overall height be less than basic difference, and to the overall height adjusting of rising, regulative mode and step and embodiment 1 are in full accord;
C, the result who obtains when the contrast of detected current overall height and target overall height equal basic difference, then do not carry out overall height and regulate;
Should be noted that at last: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit, although with reference to above-described embodiment the present invention is had been described in detail, those of ordinary skill in the field are to be understood that: still can make amendment or be equal to replacement the specific embodiment of the present invention, and do not break away from any modification of spirit and scope of the invention or be equal to replacement, it all should be encompassed in the middle of this claim scope.
Claims (8)
1. car appearance control system tyre load control method, this car appearance control system comprises:
Suspension, fuel tank, Hydraulic Pump (20), hydraulic control one-way valve I (22), hydraulic control one-way valve II (2), hydraulic control one-way valve III(9), hydraulic control one-way valve IV (12), 3-position 4-way proportional reversing valve I (21), 3-position 4-way proportional reversing valve II (3), 3-position 4-way proportional reversing valve III (8), 3-position 4-way proportional reversing valve IV (13), adjustable throttling I (17), adjustable throttling II (16), adjustable throttling III (5), adjustable throttling IV (4), adjustable throttling V (7), adjustable throttling VI (6), adjustable throttling VII (14), adjustable throttling VIII (15), oil cylinder I (23), oil cylinder II (1), oil cylinder III (10), oil cylinder IV (11), 2/2-way valve (18);
Be provided with Hydraulic Pump (20) in the described fuel tank, described Hydraulic Pump (20) oil outlet is connected with oil outlet pipe, described adjustable throttling I (17), adjustable throttling III (5), adjustable throttling V (7), adjustable throttling VII (14) one ends are connected with described oil outlet pipe successively, adjustable throttling I (17) other end is connected with the oil inlet of 3-position 4-way proportional reversing valve I (21), adjustable throttling III (5) other end is connected with the oil inlet of 3-position 4-way proportional reversing valve II (3), adjustable throttling V (7) other end is connected with the oil inlet of 3-position 4-way proportional reversing valve III (8), and adjustable throttling VII (14) other end is connected with the oil inlet of 3-position 4-way proportional reversing valve IV (13); The actuator port of described 3-position 4-way proportional reversing valve I (21) (C1, R1) is connected with the end of hydraulic control one-way valve I (22), the actuator port of described 3-position 4-way proportional reversing valve II (3) (C2, R2) is connected with the end of hydraulic control one-way valve II (2), the actuator port of described 3-position 4-way proportional reversing valve III (8) (C4, R4) is connected with the end of fluid-control one-way III (9), and the actuator port of described 3-position 4-way proportional reversing valve IV (13) (C3, R3) is connected with hydraulic control one-way valve IV (12) one ends; Described hydraulic control one-way valve I (22) other end is connected with oil cylinder I (23), described hydraulic control one-way valve II (2) other end is connected with oil cylinder II (1), described hydraulic control one-way valve III (9) other end is connected with oil cylinder III (10), and described hydraulic control one-way valve IV (12) other end is connected with oil cylinder IV (11) respectively; The return opening of described 3-position 4-way proportional reversing valve I (21) is connected with adjustable throttling II (16) one ends, the return opening of 3-position 4-way proportional reversing valve II (3) is connected with adjustable throttling IV (4) one ends, the return opening of 3-position 4-way proportional reversing valve III (8) is connected with adjustable throttling VI (6) one ends, and the return opening of 3-position 4-way proportional reversing valve IV (13) is connected with adjustable throttling VIII (15) one ends; Described adjustable throttling II (16), adjustable throttling IV (4), adjustable throttling VI (6) and adjustable throttling VIII (15) other end are connected with oil return pipe successively, described oil return pipe is connected with fuel tank, also is provided with 2/2-way valve (18) between described oil return pipe and the fuel tank;
Described oil cylinder I(23), oil cylinder II (1), oil cylinder III (10), oil cylinder IV arrange linear displacement transducer respectively on (11), described oil cylinder I(23), oil cylinder II (1), oil cylinder III (10), oil cylinder IV arrange pressure sensor respectively in (11); Described hydraulic control one-way valve I (22), hydraulic control one-way valve II (2), hydraulic control one-way valve III (9), hydraulic control one-way valve IV (12), 3-position 4-way proportional reversing valve I (21), 3-position 4-way proportional reversing valve II (3), 3-position 4-way proportional reversing valve III (8), 3-position 4-way proportional reversing valve IV (13), adjustable throttling I (17), adjustable throttling II (16), adjustable throttling III (5), adjustable throttling IV (4), adjustable throttling V (7), adjustable throttling VI (6), adjustable throttling VII (14), adjustable throttling VIII (15) and 2/2-way valve (18) dispose controller respectively;
It is characterized in that: described control method comprises that step is as follows:
Step 1, default target overall height, described target overall height are the overall height of vehicle under normal road traveling state; Default target velocity, described target velocity is that system can realize the acceptable ascending velocity with the people in the overall height change procedure, generally is not more than 0.05m/s; Default target load percentum, described target load percentum are the percentum that the load of the oil cylinder of vehicle under the quiescence of normal road surface accounts for gross load;
Step 2, detect current overall height, detected current overall height and target overall height are analyzed;
Step 3, the result that contrast obtains according to detected current overall height and target overall height divide three kinds of situations to handle,
A, when with detected current overall height during greater than the target overall height, Hydraulic Pump (20) fuel feeding, 2/2-way change-over valve (18) commutation, electromagnet (SV4) energising of 3-position 4-way proportional reversing valve II this moment (3), electromagnet (SV8) energising of 3-position 4-way proportional reversing valve III (8), electromagnet (SV6) energising of 3-position 4-way proportional reversing valve IV (13), electromagnet (SV2) energising of 3-position 4-way proportional reversing valve I (21), high pressure oil enters hydraulic control one-way valve II (2), hydraulic control one-way valve III (9), hydraulic control one-way valve IV (12), the control end of hydraulic control one-way valve I (22), oil cylinder I(23) Nei fluid enters 3-position 4-way proportional reversing valve II (3) by hydraulic control one-way valve II (2), fluid in the oil cylinder II (1) enters 3-position 4-way proportional reversing valve III (8) by hydraulic control one-way valve III (9), fluid in the oil cylinder III (10) enters 3-position 4-way proportional reversing valve IV (13) by hydraulic control one-way valve IV (12), fluid in the oil cylinder IV (11) enters 3-position 4-way proportional reversing valve I (21) by hydraulic control one-way valve I (22), thereby the inflow fuel tank descends to regulating to overall height and finishes;
In the process that descends, earlier default target velocity, controller is controlled 3-position 4-way proportional reversing valve II (3), 3-position 4-way proportional reversing valve III (8), 3-position 4-way proportional reversing valve IV (13) and 3-position 4-way proportional reversing valve I (21) then, controller passes through the sampling to the car body decline displacement of unit interval, obtain present speed, thereby can calculate the speed difference, after obtaining the speed difference, can utilize pid algorithm that controlling quantity is calculated, and obtain the controlling quantity of speed difference;
Preset a target load percentum again, measure each current oil cylinder load by pressure sensor, the percentum that current oil cylinder load is accounted for gross load calculates, and obtains the load percentage difference, and then can calculate most the PID control of load difference, and obtain the controlling quantity of load difference;
After obtaining two controlling quantitys, two controlling quantitys are optimized, obtain the Comprehensive Control amount, can control the 3-position 4-way proportional reversing valve II (3) in the overall height decline process, 3-position 4-way proportional reversing valve III (8), 3-position 4-way proportional reversing valve IV (13), 3-position 4-way proportional reversing valve I (21); The PID controlling quantity of the PID controlling quantity of Comprehensive Control amount=A1* speed difference+A2* load percentage difference, A1 〉=0 wherein, A2 〉=0, A1+A2=1, A1 and A2 will carry out value according to actual conditions; In the process of overall height lifting as find that overall height changes slowly or can not be synchronous all around, then suitably increase the A1 value, the corresponding A2 value that reduced; As the load skewness that in the process of overall height lifting, measures four oil cylinder I (23), oil cylinder II (1), oil cylinder III (10), oil cylinder IV (11) and difference bigger, then should suitably increase the A2 value, the corresponding A1 value that reduced.
B, when with detected current overall height during less than the target overall height, Hydraulic Pump (20) fuel feeding, 2/2-way change-over valve (18) commutation, electromagnet (SV3) energising of 3-position 4-way proportional reversing valve II this moment (3), electromagnet (SV7) energising of 3-position 4-way proportional reversing valve III (8), electromagnet (SV5) energising of 3-position 4-way proportional reversing valve IV (13), electromagnet (SV1) energising of 3-position 4-way proportional reversing valve I (21), then high pressure oil enters hydraulic control one-way valve II (2) by hydraulic control one-way valve, hydraulic control one-way valve III (9), the oil-filled end of hydraulic control one-way valve IV (12) and hydraulic control one-way valve I (22), so oil cylinder I(23), oil cylinder II (1), oil cylinder III (10) and oil cylinder IV (11) are oil-filled, overall height is risen to regulate finish;
In the process that rises, earlier default target velocity, controller is controlled 3-position 4-way proportional reversing valve II (3), 3-position 4-way proportional reversing valve III (8), 3-position 4-way proportional reversing valve IV (13), 3-position 4-way proportional reversing valve I (21), controller passes through the sampling to the car body rising displacement of unit interval, obtain present speed, thereby can calculate the speed difference, after obtaining the speed difference, can utilize pid algorithm that controlling quantity is calculated, and obtain the controlling quantity of speed difference;
Preset a target load percentum again, measure each current oil cylinder load by pressure sensor, the percentum that current oil cylinder load is accounted for gross load calculates, and obtains the load percentage difference, and then can calculate the PID control of load difference, and obtain the controlling quantity of load difference;
After obtaining two controlling quantitys, two controlling quantitys are optimized, obtain the Comprehensive Control amount, can control the 3-position 4-way proportional reversing valve II (3) in the overall height uphill process, 3-position 4-way proportional reversing valve III (8), 3-position 4-way proportional reversing valve IV (13), 3-position 4-way proportional reversing valve I (21); The PID controlling quantity of the PID controlling quantity of Comprehensive Control amount=A1* speed difference+A2* load percentage difference, A1 〉=0 wherein, A2 〉=0, A1+A2=1, A1 and A2 will carry out value according to actual conditions; In the process of overall height lifting as find that overall height changes slowly or can not be synchronous all around, then suitably increase the A1 value, the corresponding A2 value that reduced; As the load skewness that in the process of overall height lifting, measures four oil cylinder I (23), oil cylinder II (1), oil cylinder III (10), oil cylinder IV (11) and difference bigger, then should suitably increase the A2 value, the corresponding A1 value that reduced.
C, when detected current overall height is equaled the target overall height, then do not carry out overall height and regulate;
2. a kind of car appearance control system tyre load control method as claimed in claim 1, it is characterized in that: described Hydraulic Pump (20) adopts direct motor drive, described fuel tank and Hydraulic Pump are provided with oil filter between (20), and the oil outlet pipe of described Hydraulic Pump (20) oil outlet also is connected with by pass valve (19).
Described oil cylinder I(23), oil cylinder II (1), oil cylinder III (10), oil cylinder IV (11) inside arranges linear displacement transducer respectively 3. a kind of car appearance control system tyre load control method as claimed in claim 1 is characterized in that:.
Described oil cylinder I(23), oil cylinder II (1), oil cylinder III (10), oil cylinder IV (11) outside arrange linear displacement transducer respectively 4. a kind of car appearance control system tyre load control method as claimed in claim 1 is characterized in that:.
Described oil cylinder I(23), oil cylinder II (1), oil cylinder III (10), the inner angular-motion transducer that is associated with suspension that arranges respectively of oil cylinder IV (11) 5. a kind of car appearance control system tyre load control method as claimed in claim 1 is characterized in that:.
6. a kind of car appearance control system tyre load control method as claimed in claim 1, it is characterized in that: in described step 3, the PID controlling quantity of computation speed difference is to utilize pid algorithm to try to achieve the dutycycle of the PWM control of control 3-position 4-way proportional reversing valve II (3), 3-position 4-way proportional reversing valve III (8), 3-position 4-way proportional reversing valve IV (13), 3-position 4-way proportional reversing valve I (21).
7. a kind of car appearance control system tyre load control method as claimed in claim 1, it is characterized in that: in described step 3, the PID controlling quantity of assumed (specified) load percentage difference is to utilize pid algorithm to try to achieve the dutycycle of the PWM control of control 3-position 4-way proportional reversing valve II (3), 3-position 4-way proportional reversing valve III (8), 3-position 4-way proportional reversing valve IV (13), 3-position 4-way proportional reversing valve I (21).
8. a kind of car appearance control system tyre load control method as claimed in claim 1, it is characterized in that: in described step 3, described speed difference is the difference of target velocity and present speed; Described load percentage difference is the difference that current oil cylinder load accounts for percentum and the target load percentum of gross load.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110243197 CN102390231B (en) | 2011-08-23 | 2011-08-23 | Vehicle-posture adjusting system tire load control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110243197 CN102390231B (en) | 2011-08-23 | 2011-08-23 | Vehicle-posture adjusting system tire load control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102390231A CN102390231A (en) | 2012-03-28 |
| CN102390231B true CN102390231B (en) | 2013-08-21 |
Family
ID=45857663
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110243197 Expired - Fee Related CN102390231B (en) | 2011-08-23 | 2011-08-23 | Vehicle-posture adjusting system tire load control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102390231B (en) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102700380B (en) * | 2012-06-07 | 2016-06-01 | 中国北方车辆研究所 | suspension system control combination device |
| CN102922967B (en) * | 2012-11-09 | 2015-03-11 | 沈阳建筑大学 | Initiative shock reducing device of automobile |
| CN103612549B (en) * | 2013-11-29 | 2015-08-19 | 中联重科股份有限公司 | Wheeled crane suspension adjusting control system, method and device and wheeled crane |
| CN103807227A (en) * | 2014-01-24 | 2014-05-21 | 大连液压件有限公司 | Heavy vehicle axle lifting hydraulic system |
| KR101548604B1 (en) * | 2014-11-10 | 2015-09-01 | 주식회사 타스글로벌 | Load separating apparatus for magnetic wheel |
| CN104481955A (en) * | 2014-12-17 | 2015-04-01 | 上海市机械施工集团有限公司 | Hydraulic device for automatically controlling supporting shaft force of foundation pit engineering |
| CN105389540A (en) * | 2015-05-15 | 2016-03-09 | 孙凤兰 | Back vehicle state real-time monitoring system utilizing data communication mode |
| CN105459748B (en) * | 2015-12-31 | 2018-01-02 | 东风汽车公司 | A kind of hydro pneumatic suspension hydraulic control system |
| DE102016200403A1 (en) * | 2016-01-14 | 2017-07-20 | Zf Friedrichshafen Ag | System architecture for an active chassis system on a motor vehicle |
| CN105805062B (en) * | 2016-03-24 | 2018-10-26 | 中国北方车辆研究所 | Vehicle appearance is adjustable hydro-pneumatic suspension system |
| CN106315148A (en) * | 2016-08-31 | 2017-01-11 | 无锡锡南铸造机械股份有限公司 | Novel intelligent AGV |
| DE102018119748B4 (en) * | 2017-08-16 | 2022-11-10 | Tadano Demag Gmbh | Method for controlling a hydropneumatic suspension of a mobile crane |
| CN109109601A (en) * | 2018-09-10 | 2019-01-01 | 燕山大学 | Inertia regulation Active Suspensions control system and control method based on vehicle pose deviation |
| CN110345117B (en) * | 2019-05-31 | 2020-11-20 | 中国北方车辆研究所 | Modularization integrated form hydraulic means |
| CN110509739B (en) * | 2019-08-15 | 2020-07-31 | 燕山大学 | Omnidirectional motion-fused universal six-freedom-degree parallel attitude-adjusting platform for intelligent workshop |
| CN110712492B (en) * | 2019-10-18 | 2021-11-05 | 安路普（北京）汽车技术有限公司 | Method and system for adjusting height and damping force |
| CN110722953B (en) * | 2019-10-18 | 2021-10-12 | 安路普（北京）汽车技术有限公司 | Method and system for adjusting damping force of damper |
| CN110626140B (en) * | 2019-10-18 | 2021-11-09 | 安路普（北京）汽车技术有限公司 | Method and system for adjusting height of suspension system |
| CN113879060B (en) * | 2021-07-29 | 2023-03-14 | 中国人民解放军国防科技大学 | Three-axis unmanned operation platform, vehicle control system thereof and trench crossing method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6098994A (en) * | 1996-09-25 | 2000-08-08 | Toyota Jidosha Kabushiki Kaisha | Vehicle height control apparatus |
| CN1675081A (en) * | 2002-08-07 | 2005-09-28 | 丰田自动车株式会社 | Ground contact load control apparatus for vehicle |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0733124B2 (en) * | 1989-10-13 | 1995-04-12 | トヨタ自動車株式会社 | Fluid pressure active suspension |
| JPH11310022A (en) * | 1998-04-27 | 1999-11-09 | Toyota Motor Corp | Vehicle load state judging device, vehicle state detecting device and vehicle height adjusting device |
| JP4297017B2 (en) * | 2004-09-14 | 2009-07-15 | トヨタ自動車株式会社 | Vehicle height adjustment system |
-
2011
- 2011-08-23 CN CN 201110243197 patent/CN102390231B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6098994A (en) * | 1996-09-25 | 2000-08-08 | Toyota Jidosha Kabushiki Kaisha | Vehicle height control apparatus |
| CN1675081A (en) * | 2002-08-07 | 2005-09-28 | 丰田自动车株式会社 | Ground contact load control apparatus for vehicle |
Non-Patent Citations (2)
| Title |
|---|
| JP平3-128712A 1991.05.31 |
| JP特开平11-310022A 1999.11.09 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102390231A (en) | 2012-03-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102390231B (en) | Vehicle-posture adjusting system tire load control method | |
| CN102320228B (en) | Method for adjusting vehicle position by adopting descending process | |
| CN106427451B (en) | Farm power chassis leveling system and its leveling method | |
| CN103231625A (en) | Telescopic device and vehicle provided with same | |
| JPH0295911A (en) | Control device for automobile active suspension | |
| CN102673341B (en) | Modular cart appearance control system | |
| CN104401198A (en) | Active suspension system for hydraulic type vehicle | |
| CN104290814A (en) | Hydraulic toe-in value adjusting mechanism for steering wheels | |
| CN105473397A (en) | Brake control device | |
| CN111483284B (en) | Hydraulic suspension system, lifting control method and multi-axis flat car | |
| CN107639986A (en) | A kind of Swing Arm Type Balanced Suspension with flare angle adjusting mechanism | |
| CN102849056A (en) | Brake control apparatus | |
| CN210436959U (en) | System for position control of vehicle | |
| CN206983657U (en) | A kind of hydraulic pressure independent suspension of horizontal automatic adjusument | |
| CN104149573B (en) | A kind of air suspension levelling control system of autonomous lifting | |
| CN110641500B (en) | Train axle weight adjustment method, traction force and braking force distribution method and system | |
| CN102339026A (en) | Horizontal control system for operation platform based on gravity adjustment | |
| CN107116986A (en) | A kind of big stroke adjustment system of bodywork height for multi-axle heavy type vehicle | |
| CN2759819Y (en) | Oil gas suspension control device | |
| CN107199841A (en) | The hydraulic pressure independent suspension and its control method of a kind of horizontal automatic adjusument | |
| CN212148295U (en) | Hydraulic suspension system and multi-axis flat car | |
| CN208515571U (en) | A kind of brake power recovering device | |
| CN110203028B (en) | Hydro-pneumatic suspension system with anti-roll function and control method thereof | |
| CN206765740U (en) | A kind of automobile and its transverse stabilizer rod device of hydraulic control | |
| CN102700380B (en) | suspension system control combination device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130821 Termination date: 20160823 |