CN110978932B - Integrated composite suspension actuator and control method thereof - Google Patents
Integrated composite suspension actuator and control method thereof Download PDFInfo
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- CN110978932B CN110978932B CN201911388112.8A CN201911388112A CN110978932B CN 110978932 B CN110978932 B CN 110978932B CN 201911388112 A CN201911388112 A CN 201911388112A CN 110978932 B CN110978932 B CN 110978932B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/048—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics with the regulating means inside the fluid springs
- B60G17/0485—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics with the regulating means inside the fluid springs the springs being pneumatic springs with a flexible wall, e.g. with levelling valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/914—Height Control System
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention belongs to the technical field of vehicle vibration damping devices, and particularly relates to an integrated composite suspension actuator and a control method thereof. The vibration reduction device is novel and reasonable in design, can realize better vibration reduction under different working condition modes, can recover vibration energy, and is convenient to use, wide in use prospect and convenient to popularize and use.
Description
Technical Field
The invention belongs to the technical field of vehicle vibration damping devices, and particularly relates to an integrated composite suspension actuator and a control method thereof.
Background
The passive suspension widely used at present consists of a damper and an elastic element, the rigidity and the damping of the passive suspension cannot be changed, the passive suspension is not controlled, no energy is input, the manufacturing cost is low, the reliability is high, the design is simple, but the comprehensive performance is poor, and the optimal vibration reduction effect can be achieved only under special road conditions. The elastic characteristic of the air suspension has the characteristics of nonlinearity and self-adaptation, so that the offset frequency of the sprung mass of the automobile can be kept relatively stable under the condition of load change, and compared with the traditional suspension, the air suspension has the advantages of light weight, small internal friction and good vibration isolation and noise elimination characteristics, so that the automobile with the air suspension can obtain good smoothness and road friendliness (small dynamic load of wheels) in operation, and has important research significance. Along with the fact that energy conservation and environmental protection become more and more topics of wide attention, light weight is widely applied to the field of ordinary automobiles, the controllability is improved, meanwhile, excellent oil saving performance can be achieved, and the light weight of the automobiles is that the quality of the automobiles is reduced as far as possible on the premise of guaranteeing the strength and the safety performance of the automobiles, so that the dynamic property of the automobiles is improved, the fuel consumption is reduced, and the exhaust pollution is reduced. Experiments prove that if the weight of the whole automobile is reduced by 10%, the fuel efficiency can be improved by 6-8%; the oil consumption can be reduced by 0.3-0.6 liter per hundred kilometers when the mass of the vehicle is reduced by 100 kilograms; the weight of the automobile is reduced by 1 percent, and the oil consumption can be reduced by 0.7 percent. Currently, the light weight of automobiles has become a trend of the development of automobiles in the world due to the requirements of environmental protection and energy saving. The suspension system is one of important parts in a vehicle body, how to achieve light weight becomes a non-negligible problem in the development of a whole vehicle, the realization of the light weight of the suspension is an important way for realizing the light weight of the vehicle, and the method for carrying out light weight treatment on the suspension system comprises the steps of optimizing the structure size, using high-strength materials, utilizing integration and modularization technology, adopting advanced technology and the like.
Disclosure of Invention
The present invention is directed to provide an integrated composite suspension actuator, which overcomes the above-mentioned shortcomings of the prior art.
In order to realize the purpose, the invention adopts the technical scheme that: the integrated composite suspension actuator comprises an actuator body and an actuator control system, and is characterized in that the actuator body comprises a ball screw pair assembly and an air spring assembly, the ball screw pair assembly comprises a screw sleeve, a screw axially and upwards penetrating through the screw sleeve and fixedly connected in a fixed support seat, a piston rod fixedly connected to the lower end of the screw through a bearing, a piston fixedly connected with the lower end of the piston rod, a floating piston arranged below the piston and in the screw sleeve, and a buffer base arranged below the floating piston and in the screw sleeve, wherein the screw sleeve comprises a screw sleeve inner tube and a screw sleeve outer tube which form an air flow channel therebetween, air holes C and D are formed in the upper parts of the screw sleeve inner tube and the screw sleeve outer tube, a piston cavity formed in the screw sleeve inner tube can be used for the piston to reciprocate, a floating air chamber is formed between the floating piston and the buffer base, the buffer base is arranged at the lower end of the screw sleeve inner tube and is provided with an air hole B in the center, and the lower end of the screw sleeve outer tube is connected with the fixed base; the air spring assembly comprises a rubber air bag and an air bag upper sealing plate arranged at the upper end of the rubber air bag, a flexible supporting frame is arranged between the rubber air bag and the outer tube of the screw rod sleeve, a fixed supporting seat is embedded in the hollow part of the air bag upper sealing plate, the upper end of the air bag upper sealing plate is fixedly connected with a retainer, the retainer and the air bag upper sealing plate are provided with an air hole A, an air source pipeline is communicated with the air hole A, and a brushless direct current motor is arranged in the retainer.
The upper end of the air bag upper sealing plate is in threaded connection with the retainer through screws, the air bag upper sealing plate is connected with the rubber air bag flange, and the hollow part of the air bag upper sealing plate is welded with the fixed supporting seat.
The upper end of the lead screw is fixedly connected with the output end of the coupler, the lower end of the lead screw is fixedly connected with the piston rod through a bearing, and threads are arranged on the surface of the lead screw.
The air hole A is a channel for charging and discharging the rubber air bag by an external air source, and the air hole B, the air hole C and the air hole D are channels for realizing air flow between the rubber air bag and the floating air chamber.
The actuator control system comprises an actuator controller, a brushless direct current motor driving circuit, a power inverter circuit, a brushless direct current motor, a rectifying and filtering circuit, a DC/DC conversion circuit, a super capacitor, an electromagnetic valve driving circuit, a first variable voltage source circuit, a second variable voltage source circuit, a first relay, a second relay, a third relay and a fourth relay, wherein the input end of the actuator controller is connected with a displacement sensor, a vehicle speed sensor, a height sensor, a sprung mass acceleration sensor, a sprung mass displacement sensor, an unsprung mass displacement sensor and an air pressure sensor, the first relay is connected between a storage battery and the first variable voltage source circuit for supplying power to the electromagnetic valve driving circuit, the second relay is connected between the storage battery and a second variable voltage source circuit which supplies power to the brushless direct current motor driving circuit, the third relay is connected between the rectification filter circuit and the DC/DC conversion circuit, the brushless direct current motor is connected with the output end of a motor driver which comprises the brushless direct current motor driving circuit and a power inverter circuit, the power inverter circuit is connected with the output end of the brushless direct current motor driving circuit, the rectification filter circuit is connected with the output end of the brushless direct current motor, the DC/DC conversion circuit is connected with the super capacitor, the output end of the electromagnetic valve driving circuit is connected with the input end of an electromagnetic valve switch, and the first variable voltage source circuit and the second variable voltage source circuit are respectively connected with the output end of the controller.
The control method of the integrated composite suspension actuator is characterized by comprising the following specific steps of:
step I, data acquisition: the actuator controller respectively carries out periodic sampling on the road surface unevenness displacement, the real-time height of the vehicle body, the air pressure in the air spring, the sprung mass acceleration, the sprung mass displacement and the unsprung mass displacement; the sprung mass displacement obtained by the ith sampling is recorded as x 1i The unsprung mass displacement obtained by the ith sampling is recorded as x 2i Wherein the value of i is a non-zero natural number;
step II, in the running process of the vehicle, collecting a vehicle running speed signal, a sprung mass displacement signal and an unsprung mass displacement signal, and obtaining a vehicle speed signal v by the actuator controller through the ith sampling i Sprung mass displacement signal x 1i Unsprung mass displacement signal x 2i Size is analyzed as RMS (x) 1i -x 2i )>When the height is 0.035mm, the running road surface of the vehicle is poor, the vehicle body is in a high position mode, and the height of the target vehicle body is 250mm +25mm; when RMS (x) 1i -x 2i )<0.035mm, and v i When the height is less than 90km/h, the vehicle body is in a neutral position mode, and the height of the target vehicle body is 250mm; when v is i When the speed is more than or equal to 90km/h, the vehicle body is in a low-position mode when the vehicle runs at a high speed, and the height of the target vehicle body is 250-25 mm; the actuator controller controls the inflation and deflation of the rubber air bag through the opening and closing of the electromagnetic valve switch so as to realize the control of the target height of the vehicle body;
and III, respectively acquiring the sprung mass acceleration signal, the sprung mass displacement signal and the unsprung mass displacement signal in a corresponding height mode, and calling a mixed ceiling control module by an actuator controller to analyze and process the sampled signals to obtain the ideal active control force U of the suspension actuator during the ith sampling i The controller controls the pair of brushless DC motorsThe ball screw assembly inputs current to realize the matching control of the damping force of the suspension actuator.
The third step specifically comprises the following steps:
a1, when the vehicle runs under different working conditions, the upper controller in the actuator controller samples the vehicle speed signal v obtained by the ith sampling i X displacement of 1i 、x 2i Analyzing and processing to obtain speed signal
Calculating formula F according to mixed ceiling and ground control algorithm i ′＝βF sky +(1-β)F gnd Calculating to obtain the vehicle speed signal v obtained by sampling at the ith time i And velocity
Corresponding active control force F under hybrid sky-ground shed control of vehicle suspension i ', wherein,
c sky controlling the damping coefficient for the ceiling; c. C gnd Controlling a damping coefficient for the ground shed, wherein the beta value is selected differently according to different control targets of the suspension system in different modes, and beta =0.65 is selected in a high mode; selecting beta =0.5 in the middle mode; selecting beta =0.45 in a low mode;
a2, the lower layer controller in the actuator controller is according to a formula
Calculating to obtain the input current I of the brushless DC motor during the ith sampling i Wherein L is the lead of the ball screw, K T The electromagnetic torque coefficient of the brushless direct current motor; the actuator controller controls the second relay to be switched on, the first relay, the third relay and the fourth relay are all in a non-switched-on state, the storage battery supplies power to the second variable voltage source circuit,the actuator controller changes the electromagnetic torque of the motor by controlling the equivalent resistance in the brushless DC motor loop, thereby outputting a controllable damping force
Realize the matching control of the ball screw actuator, wherein R n For equivalent resistance of energy-feeding circuit, K T L is the lead of the ball screw, which is the electromagnetic torque coefficient of the motor.
The specific process of realizing the matching control of the ball screw actuator in the step A2 comprises the following steps:
step B1, calculating by an actuator controller
The size of (d);
step B2, the actuator controller is to
The calculation result of (2) is compared with 0 in magnitude when
Judging that the ball screw is in a damping matching mode; when the temperature is higher than the set temperature
And judging that the ball screw is in the energy feedback working mode.
The actuator controller outputs signals to control the third relay and the fourth relay to be electrified, so that electric energy generated by the brushless direct current motor is converted into unidirectional direct current through the rectifying and filtering circuit, and is boosted through the DC/DC conversion circuit and then charged into the super capacitor, and the recovery of vibration energy is realized.
Compared with the prior art, the invention has the following beneficial effects:
(1) The integrated composite suspension actuator reasonably integrates the ball screw type suspension actuator and the air spring with adjustable height and rigidity, is a novel vehicle shock absorber integrating the functions of vehicle body height adjustment, damping force matching control and energy recovery, and has the advantages of compact structure, small volume and easy installation.
(2) The integrated composite suspension actuator adjusts the height of the automobile body by adjusting the air spring, improves the operating stability and smoothness of the automobile by changing the adjustable damping force of the ball screw, and is suitable for an automobile suspension system due to the reciprocating motion characteristic of the ball screw.
(3) The integrated composite suspension actuator provided by the invention can realize damping force control by utilizing the ball screw pair assembly structure when working in different height modes, meets different control requirements of suspensions in different modes, achieves the purpose of changing the adjustable damping force of the ball screw by changing the control current, realizes the damping force matching control of the actuator, avoids the phenomenon that the damping force is changed by changing the size of a throttling port in the traditional air spring, improves the adjustment convenience, enables the integrated composite suspension actuator to be in the optimal damping state, and ensures the driving stability and the riding comfort of a vehicle.
(4) According to the integrated composite suspension actuator, the suspension vibration energy recovered by the ball screw in the energy feedback working mode in the matching control can be used for the matching control of the suspension actuator, so that the energy consumption in the matching control mode is reduced.
(5) According to the control method of the integrated composite suspension actuator, the controller analyzes and processes the sprung mass acceleration, the sprung mass displacement and the unsprung mass displacement obtained by the controller by adopting a hybrid sky-ground shed control method to obtain the ideal damping force required by the ball screw, and the control method of the integrated composite suspension actuator has certain self-adaption capability and robustness, so that the integrated composite suspension actuator is ensured to have good stability and good control effect.
Drawings
Fig. 1 is a schematic structural view of an integrated composite suspension actuator according to the present invention.
FIG. 2 is a schematic diagram of the electrical connections between the actuator controller and other components of the actuator controller of the present invention.
In the drawings, 1 — a cage; 2-gas source pipeline; 3-air hole A; 4-screws; 5, an air bag upper sealing plate; 6-air hole C; 7-screw nut; 8-rubber air bag; 9-outer tube of screw sleeve; 10-inner tube of screw rod sleeve; 11-a flexible support frame; 12-a floating piston; 13-a floating air chamber; 14-a buffer base; 15-fixing a base; 16-air hole B; 17-a piston; 18-a piston rod; 19-a bearing; 20-a lead screw; 21-a sealing ring; 22-air hole D; 23-a buffer block; 24, fixing a support seat; 25, a coupler; 26-brushless dc motor; 27-an air compressor; 28-gas storage tank; 29-connecting a pipe; 30-inflating and deflating the rubber air bag; 31-electromagnetic valve switch; 32-solenoid valve drive circuit; 33-a super capacitor; 34-a storage battery; 35-a first relay; 36-a second relay; 37-a first variable voltage source circuit; 38-a second variable voltage source circuit valve; 39-brushless dc motor driving circuit; 40-a power inverter circuit; 41-fourth relay; 42-three-phase bridge type power inverter circuit; 43-a rectifying and filtering circuit; 44-a third relay; 45-DC/DC conversion circuit; 46-displacement sensor of road surface unevenness; 47-vehicle speed sensor; 48-body height sensor; 49-unsprung mass displacement transducer; 50-sprung mass displacement sensor; 51-sprung mass acceleration sensor; 52-air pressure sensor; 53-solenoid valve drive circuit; 54-a controller;
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the predetermined object, the following detailed description of the embodiments, structures, features and effects according to the present invention will be given with reference to the accompanying drawings and preferred embodiments.
As shown in fig. 1, the integrated composite suspension actuator includes an actuator body and an actuator control system, it is characterized in that the actuator body comprises a ball screw pair component and an air spring component, the ball screw pair component comprises a screw sleeve, a screw (20) axially and upwards penetrating through the screw sleeve and fixedly connected in a fixed support seat (24), a piston rod (18) fixedly connected to the lower end of the screw (20) through a bearing (19), a piston (17) fixedly connected with the lower end of the piston rod (18), and a floating piston (12) arranged below the piston (17) and in the screw sleeve, and a buffer base (14) which is arranged below the floating piston (12) and is arranged in the screw rod sleeve, the screw rod sleeve comprises a screw rod sleeve inner pipe (10) and a screw rod sleeve outer pipe (9) which form an air flow channel in the middle, the upper parts of the inner tube (10) and the outer tube (9) of the screw rod sleeve are provided with an air hole C (6) and an air hole D (22), a piston cavity is formed in the inner tube (10) of the screw rod sleeve and can be used for the reciprocating motion of the piston (17), a floating air chamber (13) is formed between the floating piston (12) and the buffer base (14), the buffer base (14) is arranged at the lower end of the inner tube (10) of the screw rod sleeve, an air hole B (16) is arranged in the center, the lower end of the outer pipe (9) of the screw rod sleeve is welded with a fixed base (15); the air spring assembly comprises a rubber air bag (8) and an air bag upper sealing plate (5) arranged at the upper end of the rubber air bag (8), a flexible supporting frame (11) is arranged between the rubber air bag (8) and a screw rod sleeve outer tube (9), a fixing supporting seat (24) is embedded into the hollow part of the air bag upper sealing plate (5), the upper end of the air bag upper sealing plate (5) is fixedly connected with a retainer (1), a through air hole A (3) is formed in the retainer (1) and the air bag upper sealing plate (5), an air source pipeline (2) is communicated with the air hole A (3), and a brushless direct current motor (26) is arranged in the retainer (1).
The upper end of the air bag upper sealing plate (5) is in threaded connection with the retainer (1) through a screw (4), the air bag upper sealing plate (5) is in flange connection with the rubber air bag (8), and the hollow part inside the air bag upper sealing plate (5) is welded with the fixed supporting seat (24).
The upper end of the screw rod (20) is fixedly connected with the output end of the coupler (25), the lower end of the screw rod (20) is fixedly connected with the piston rod (18) through a bearing (19), and threads are arranged on the surface of the screw rod (20).
The air hole A (3) is a channel for charging and discharging the rubber air bag (8) by an external air source, and the air hole B (16), the air hole C (6) and the air hole D (22) are channels for realizing air flow between the rubber air bag (8) and the floating air chamber.
As shown in FIG. 2, the actuator control system comprises an actuator controller (54), a brushless direct current motor drive circuit (39), a power inverter circuit (40), a brushless direct current motor (26), a rectifying and filtering circuit (43), a DC/DC conversion circuit (45), a super capacitor (33), a solenoid valve drive circuit (32), a first variable voltage source circuit (37), a second variable voltage source circuit (38), a first relay (35), a second relay (36), a third relay (44) and a fourth relay (41), wherein the input end of the actuator controller (54) is connected with a displacement sensor (46), a vehicle speed sensor (47), a height sensor (48), a sprung mass acceleration sensor (51), a sprung mass displacement sensor (50), a non-sprung mass displacement sensor (49) and a pressure sensor (52), the first relay (35) is connected between the storage battery (34) and the first variable voltage source circuit (37) for supplying power to the solenoid valve drive circuit (32), the second relay (36) is connected between the storage battery (34) and the second variable voltage source circuit (44) for supplying power to the direct current motor drive circuit (39), and the rectifying and filtering circuit (45/DC conversion circuit (45), the brushless direct current motor (26) is connected with an output end of a motor driver comprising a brushless direct current motor driving circuit (39) and a power inverter circuit (40), the power inverter circuit (40) is connected with an output end of the brushless direct current motor driving circuit (39), a rectification filter circuit (43) is connected with an output end of the brushless direct current motor (26), a DC/DC conversion circuit (45) is connected with a super capacitor (33), an output end of an electromagnetic valve driving circuit (32) is connected with an input end of an electromagnetic valve switch (31), and a first variable voltage source circuit (37) and a second variable voltage source circuit (38) are respectively connected with an output end of a controller (54).
A method of controlling an integrated composite suspension actuator, the method comprising the steps of:
step I, data acquisition: a vehicle speed sensor (47) and a road surface irregularity displacement sensor (46) respectively monitor the running speed of a vehicle and the road surface irregularity displacement in real time, a height sensor (48) detects the height of the vehicle body in real time, an air pressure sensor (52) monitors the air pressure in a rubber air bag (8) in real time, a sprung mass vertical acceleration sensor (51) monitors the sprung mass vertical acceleration in real time, a sprung mass displacement sensor (50) monitors the sprung mass displacement in real time, an unsprung mass displacement sensor (49) detects the unsprung mass displacement in real time, and an actuator controller (54) respectively monitors the road surface irregularity displacement in real timePeriodically sampling unevenness displacement, the real-time height of a vehicle body, air pressure in an air spring, sprung mass acceleration, sprung mass displacement and unsprung mass displacement; the sprung mass displacement obtained by the ith sampling is recorded as x 1i Let the i-th sampled unsprung mass displacement be denoted as x 2i Wherein the value of i is a non-zero natural number;
step II, in the running process of the vehicle, a vehicle speed sensor (48) collects a vehicle running speed signal, a sprung mass displacement sensor (50) and an unsprung mass displacement sensor (49) respectively collect a sprung mass displacement signal and an unsprung mass displacement signal, and an actuator controller (54) samples the vehicle speed signal v obtained by the ith sampling i Displacement signal x 1i 、x 2i Size is analyzed as RMS (x) 1i -x 2i )>When the height is 0.035mm, the running road surface of the vehicle is poor, the vehicle body is in a high position mode, and the height of the target vehicle body is 250mm +25mm; when RMS (x) 1i -x 2i )<0.035mm, and v i When the height is less than 90km/h, the vehicle body is in a neutral position mode, and the height of the target vehicle body is 250mm; when v is i When the speed is more than or equal to 90km/h, when the vehicle runs at high speed, the vehicle body is in a low-level mode, and the height of the target vehicle body is 250-25 mm; the actuator controller (54) controls the inflation and deflation of the rubber air bag (8) through the opening and closing of the electromagnetic valve switch (31) so as to realize the control of the target height of the vehicle body;
step III, respectively collecting a sprung mass acceleration signal, a sprung mass displacement signal and an unsprung mass displacement signal by a sprung mass acceleration sensor (51), a sprung mass displacement sensor (50) and an unsprung mass displacement sensor (49) in a corresponding height mode, and calling a mixed ceiling control module by an actuator controller (54) to analyze and process the sampled signals to obtain an ideal active control force U of the suspension actuator during sampling for the ith time i The controller controls the brushless direct current motor to realize the damping force matching control of the suspension actuator on the input current of the ball screw assembly, and the method comprises the following specific steps of:
the specific working process is as follows:
step one, vehicle runningWhen the vehicle runs under different working conditions, the upper layer controller in the actuator (54) controller samples the vehicle speed signal v obtained by sampling for the ith time i The displacement x obtained by the ith sampling 1i 、x 2i Analyzing and processing to obtain speed signal
Calculating formula F according to mixed ceiling and ground control algorithm i ′＝βF sky +(1-β)F gnd Calculating to obtain the vehicle speed signal v obtained by sampling at the ith time i And velocity
Corresponding active control force F under hybrid sky-ground shed control of vehicle suspension i ', wherein,
c sky controlling the damping coefficient for the ceiling; c. C gn d is the damping coefficient of the ground shed control.
The specific working process comprises the following steps:
step A1: the controller is according to the formula F' = beta F sky +(1-β)F gnd Calculating to obtain the vehicle speed signal v obtained by sampling at the ith time i The displacement x obtained by the ith sampling 1i 、x 2i Analyzing and processing to obtain speed signal
Damping force F under control of corresponding vehicle suspension canopy i ′；
Step A2: the actuator controller (54) selects different beta values according to different control targets of the suspension system in different modes, obtains corresponding ideal damping force in different modes, and takes damping matching control of the ball screw as reference; the controller inflates the air spring to enable the vehicle body to be lifted to reach a target height in a high-position mode, and due to the fact that the road surface is poor, the control target of the suspension is mainly to improve riding comfort, namely the sprung mass acceleration is reduced as the control target, the ideal damping force is mainly controlled by a ceiling, and beta =0.65 is selected; the controller inflates or deflates the air spring to keep the vehicle body at the target height in the neutral position mode, and the neutral position mode of the vehicle body is the most frequent state of the vehicle, so that the control target of the suspension is both riding comfort and driving safety, and beta =0.5 is selected; in the low-position mode, the controller deflates the air spring to enable the vehicle body to be lowered to reach the target height, and as the vehicle speed is high, the control target of the suspension is mainly to improve the driving safety, namely the dynamic load of the tire is reduced, the ideal damping force is mainly to control the ground shed, and beta =0.45 is selected;
step two, the lower layer controller in the actuator controller is according to the formula
Calculating to obtain the input current I of the brushless DC motor (26) at the ith sampling i Wherein L is the lead of the ball screw, K T The electromagnetic torque coefficient of the brushless direct current motor; the actuator controller (54) controls the second relay (36) to be switched on, the first relay (35), the third relay (44) and the fourth relay (41) are all in a non-switching state, the storage battery supplies power to the second variable voltage source circuit (38), the second variable voltage source circuit (38) supplies power to the brushless direct current motor driving circuit (39) to drive the brushless direct current motor (26) to work, the actuator controller (54) changes the electromagnetic torque of the motor by controlling the equivalent resistance in the circuit of the brushless direct current motor, and therefore controllable damping force is output
Realize the matching control of the ball screw actuator, wherein R n For equivalent resistance of energy-feeding circuit, K T L is the lead of the ball screw, which is the electromagnetic torque coefficient of the motor.
Wherein, the specific process that ball carries out matching control is:
step B1, actuator controller (54) calculates
The size of (d);
step B2, the actuator controller is to
The calculation result of (2) is compared with 0 in magnitude when
Judging that the ball screw is in a damping matching mode; when the temperature is higher than the set temperature
Judging that the ball screw is in an energy feedback working mode;
the ball screw is in a damping matching mode, and the actuator controller (54) changes the electromagnetic torque of the motor by controlling the equivalent resistance in the brushless DC motor circuit, thereby outputting a controllable damping force
Realize the damping matching of the ball screw actuator, wherein R n For equivalent resistance of energy-feeding circuit, K T L is the lead of the ball screw, which is the electromagnetic torque coefficient of the motor.
When the ball screw is in the energy feedback working mode, the brushless direct current motor (26) works as a generator, and the instantaneous energy feedback power P when the suspension system is passively fed with energy is as follows:
in the formula, R n Is an equivalent resistance of an energy feedback circuit; the energy feedback energy W when the suspension system is passively fed with energy is as follows:
the actuator controller (54) outputs signals to control the third relay (44) and the fourth relay (41) to be electrified, so that electric energy generated by the brushless direct current motor (26) is converted into unidirectional direct current through the rectifying and filtering circuit, and then is boosted through the DC/DC conversion circuit (45) and then is charged into the super capacitor (33), the recovery of vibration energy is realized, and the specific working process is as follows: when the piston (17) moves downwards or upwards, the piston (17) drives the piston rod (18) to move downwards or upwards, the piston rod (18) drives the ball screw nut (7) to move downwards or upwards through the screw rod (20), the brushless direct current motor (26) rotates anticlockwise or clockwise, the brushless direct current motor (26) works as a generator, the brushless direct current motor (26) generates induction alternating current, the induction alternating current rectifies alternating current into stable direct current through the rectifying and filtering circuit (43), and then the induction alternating current is boosted through the DC-DC conversion circuit (45) to be charged to the super capacitor (33).
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. A control method of an integrated composite suspension actuator comprises an actuator body and an actuator control system, the actuator body comprises a ball screw pair component and an air spring component, the ball screw pair component comprises a screw sleeve, a screw (20) axially and upwards penetrating through the screw sleeve and fixedly connected in a fixed supporting seat (24), a piston rod (18) fixedly connected to the lower end of the screw (20) through a bearing (19), a piston (17) fixedly connected with the lower end of the piston rod (18), a floating piston (12) arranged below the piston (17) and in the screw sleeve, and a buffer base (14) arranged below the floating piston (12) and in the screw sleeve, the screw rod sleeve comprises a screw rod sleeve inner pipe (10) and a screw rod sleeve outer pipe (9) which form an air flow channel in the middle, the upper parts of the inner tube (10) and the outer tube (9) of the screw rod sleeve are provided with an air hole C (6) and an air hole D (22), a piston cavity is formed in the inner tube (10) of the screw rod sleeve and can be used for the reciprocating motion of the piston (17), a floating air chamber (13) is formed between the floating piston (12) and the buffer base (14), the buffer base (14) is arranged at the lower end of the inner tube (10) of the screw rod sleeve, an air hole B (16) is arranged in the center, the lower end of the outer pipe (9) of the screw rod sleeve is welded with a fixed base (15); the air spring assembly comprises a rubber air bag (8) and an air bag upper sealing plate (5) arranged at the upper end of the rubber air bag (8), a flexible support frame (11) is arranged between the rubber air bag (8) and a screw rod sleeve outer tube (9), a fixed support seat (24) is embedded in the air bag upper sealing plate (5) in a hollow mode, the upper end of the air bag upper sealing plate (5) is fixedly connected with a retainer (1), the retainer (1) and the air bag upper sealing plate (5) are provided with a through air hole A (3), an air source pipeline (2) is communicated with the air hole A (3), and a brushless direct current motor (26) is arranged in the retainer (1); the actuator control system is characterized by comprising an actuator controller (54), a brushless direct current motor drive circuit (39), a power inverter circuit (40), a brushless direct current motor (26), a rectification filter circuit (43), a DC/DC conversion circuit (45), a super capacitor (33), a solenoid valve drive circuit (32), a first variable voltage source circuit (37), a second variable voltage source circuit (38), a first relay (35), a second relay (36), a third relay (44) and a fourth relay (41), wherein the input end of the actuator controller (54) is connected with a displacement sensor (46), a vehicle speed sensor (47), a height sensor (48), a sprung mass acceleration sensor (51), a sprung mass displacement sensor (50), a non-sprung mass displacement sensor (49) and a gas pressure sensor (52), the first relay (35) is connected between the storage battery (34) and the first variable voltage source circuit (37) for supplying power to the solenoid valve drive circuit (32), the second relay (36) is connected between the storage battery (34) and a second variable voltage source circuit (44) for supplying power to the brushless direct current motor drive circuit (39), and the DC/DC conversion circuit (45), the brushless direct current motor (26) is connected with an output end of a motor driver comprising a brushless direct current motor driving circuit (39) and a power inverter circuit (40), the power inverter circuit (40) is connected with an output end of the brushless direct current motor driving circuit (39), the rectification filter circuit (43) is connected with an output end of the brushless direct current motor (26), the DC/DC conversion circuit (45) is connected with the super capacitor (33), an output end of the electromagnetic valve driving circuit (32) is connected with an input end of the electromagnetic valve switch (31), and the first variable voltage source circuit (37) and the second variable voltage source circuit (38) are respectively connected with an output end of the actuator controller (54); the method comprises the following specific steps:
step I, data acquisition: actuator controller (54) for respectively controlling road surface unevenness displacement, vehicle body real-time height and air springPeriodically sampling air pressure, sprung mass acceleration, sprung mass displacement and unsprung mass displacement; the sprung mass displacement obtained by the ith sampling is recorded as x 1i The unsprung mass displacement obtained by the ith sampling is recorded as x 2i Wherein the value of i is a non-zero natural number;
step II, in the running process of the vehicle, a vehicle running speed signal, a sprung mass displacement signal and an unsprung mass displacement signal are collected, and an actuator controller (54) samples the vehicle speed signal v obtained by the ith sampling i Sprung mass displacement signal x 1i Unsprung mass displacement signal x 2i Size is analyzed as RMS (x) 1i -x 2i )>When the height is 0.035mm, the running road surface of the vehicle is poor, the vehicle body is in a high position mode, and the height of the target vehicle body is 250mm +25mm; when RMS (x) 1i -x 2i )<0.035mm, and v i When the height is less than 90km/h, the vehicle body is in a middle position mode, and the height of the target vehicle body is 250mm; when v is i When the speed is more than or equal to 90km/h, the vehicle body is in a low-position mode when the vehicle runs at a high speed, and the height of the target vehicle body is 250-25 mm; the actuator controller (54) controls the inflation and deflation of the rubber air bag (8) through the opening and closing of the electromagnetic valve switch (31) so as to realize the control of the target height of the vehicle body;
and III, respectively acquiring the sprung mass acceleration signal, the sprung mass displacement signal and the unsprung mass displacement signal in a corresponding height mode, and calling a mixed ceiling and ground control module by an actuator controller (54) to analyze and process the sampled signals to obtain an ideal active control force U of the suspension actuator at the ith sampling time i The actuator controller controls the brushless direct current motor to input current to the ball screw assembly to realize damping force matching control on the suspension actuator;
the step III comprises the following specific steps:
a1, when the vehicle runs under different working conditions, the vehicle speed signal v obtained by sampling the ith time i X, displacement x 1i 、x 2i Analyzing and processing to obtain speed signal
Calculating formula F according to mixed ceiling and ground control algorithm i ′＝βF sky +(1-β)F gnd Calculating to obtain a vehicle speed signal v i And velocity
Corresponding active control force F under hybrid sky-ground shed control of vehicle suspension i ', wherein,
c sky controlling the damping coefficient for the ceiling; c. C gnd Controlling a damping coefficient for the ground shed; the beta value is selected differently according to different control targets of the suspension system in different modes, and in a high-order mode, the ideal damping force is mainly controlled by a skyhook, and beta =0.65 is selected; in the middle position mode, the actuator controller inflates or deflates the air spring to keep the vehicle body at a target height, and beta =0.5 is selected; in the low position, the ideal damping force is mainly controlled by the ground shed, and beta =0.45 is selected;
a2, according to the formula
Calculating to obtain the input current I of the brushless DC motor (26) at the ith sampling i Wherein L is the lead of the ball screw, K T The electromagnetic torque coefficient of the brushless direct current motor; the actuator controller (54) controls the second relay (36) to be switched on, the first relay (35), the third relay (44) and the fourth relay (41) are all in a non-switched-on state, the storage battery supplies power to the second variable voltage source circuit (38), the second variable voltage source circuit (38) supplies power to the brushless direct current motor driving circuit (39) to drive the brushless direct current motor (26) to work, the actuator controller (54) changes the electromagnetic torque of the motor by controlling the equivalent resistance in the circuit of the brushless direct current motor, and controllable damping force is output
Realize the matching control of the ball screw actuator, wherein R n For equivalent resistance of energy-feedback circuit, K T L is the lead of the ball screw, which is the electromagnetic torque coefficient of the motor.
2. The control method of the integrated composite suspension actuator according to claim 1, characterized in that the upper end of the airbag upper sealing plate (5) is screwed with the retainer (1) through a screw (4), the airbag upper sealing plate (5) is connected with a rubber airbag (8) in a flange manner, and the airbag upper sealing plate (5) is hollow inside and welded with the fixed support seat (24).
3. The control method of the integrated composite suspension actuator according to claim 1, characterized in that the upper end of the lead screw (20) is fixedly connected with the output end of the coupling (25), the lower end of the lead screw (20) is fixedly connected with the piston rod (18) through a bearing (19), and the surface of the lead screw (20) is provided with threads.
4. The control method of an integrated composite suspension actuator according to claim 1, wherein the air hole a (3) is a passage for charging and discharging the rubber air bag (8) by an external air source, and the air hole B (16), the air hole C (6) and the air hole D (22) are passages for realizing air flow between the rubber air bag (8) and the floating air chamber.
5. The control method of the integrated composite suspension actuator according to claim 1, wherein the specific process of implementing the matching control of the ball screw actuator in step A2 includes:
step B1, actuator controller (54) calculates
The size of (d);
step B2, the actuator controller is to
The calculation result of (2) is compared with 0 in magnitude when
Judging that the ball screw is in a damping matching mode; when in use
Judging that the ball screw is in an energy feedback working mode;
the actuator controller (54) outputs signals to control the third relay (44) and the fourth relay (41) to be electrified, so that electric energy generated by the brushless direct current motor (26) is converted into unidirectional direct current through the rectifying and filtering circuit, is boosted through the DC/DC conversion circuit (45) and then is charged into the super capacitor (33), and recovery of vibration energy is achieved.
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| CN112895833B (en) * | 2021-02-05 | 2022-10-25 | 奇瑞新能源汽车股份有限公司 | Suspension actuator and method for controlling suspension actuator |
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| JP2005140144A (en) * | 2003-11-04 | 2005-06-02 | Toyota Motor Corp | Vehicle suspension device |
| CN101061001A (en) * | 2004-10-22 | 2007-10-24 | 丰田自动车株式会社 | Suspension device for vehicle |
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| JP5289995B2 (en) * | 2009-02-16 | 2013-09-11 | 日野自動車株式会社 | Method and apparatus for controlling active suspension for vehicle |
| JP5211017B2 (en) * | 2009-11-13 | 2013-06-12 | トヨタ自動車株式会社 | Vehicle suspension system |
| CN105003591A (en) * | 2015-05-29 | 2015-10-28 | 石家庄铁道大学 | Inerter capable of adjusting inertance coefficient |
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| JP2005140144A (en) * | 2003-11-04 | 2005-06-02 | Toyota Motor Corp | Vehicle suspension device |
| CN101061001A (en) * | 2004-10-22 | 2007-10-24 | 丰田自动车株式会社 | Suspension device for vehicle |
| JP2009078657A (en) * | 2007-09-26 | 2009-04-16 | Toyota Motor Corp | Vehicular suspension system |
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