CN113879064B - Control method and corresponding control system for variable-stiffness stabilizer bar - Google Patents
Control method and corresponding control system for variable-stiffness stabilizer bar Download PDFInfo
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- CN113879064B CN113879064B CN202010636954.7A CN202010636954A CN113879064B CN 113879064 B CN113879064 B CN 113879064B CN 202010636954 A CN202010636954 A CN 202010636954A CN 113879064 B CN113879064 B CN 113879064B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
- B60G21/055—Stabiliser bars
- B60G21/0551—Mounting means therefor
- B60G21/0553—Mounting means therefor adjustable
- B60G21/0558—Mounting means therefor adjustable including means varying the stiffness of the stabiliser
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to a control method and a corresponding control system of a variable stiffness stabilizer bar, which belong to the field of novel stabilizer bar technology and control technology thereof, and are used for collecting steering wheel rotation angles and vehicle speeds of vehicles and judging a current running mode according to the steering wheel rotation angles; in the straight running mode, an electric signal for changing the rigidity of the stabilizer bar is output according to the relation between the vehicle speed and a set threshold value: if the vehicle speed is smaller than a second threshold value, determining that the vehicle is in a low-speed straight running mode, and controlling the rigidity of the stabilizer bar to be a first set value according to the electric signal; if the vehicle speed is greater than a second threshold value, determining that the vehicle is in a high-speed straight running mode, and controlling the rigidity of the stabilizer bar to be a second set value according to the electric signal; the second set value is smaller than the first set value, so that the problems of low riding comfort and poor stability of the vehicle when the vehicle runs straight in the prior art are solved.
Description
Technical Field
The invention relates to a control method and a corresponding control system for a variable-stiffness stabilizer bar, and belongs to the technical field of novel stabilizer bar technology and control technology thereof.
Background
Traditional car stabilizer bar passes through the stabilizer bar jib and installs between axle and frame with articulated mode, and the car is when the uneven road surface of pothole or bend travel, and the wheel is for the automobile body is beated about for the stabilizer bar takes place torsional deformation, provides great rigidity, thereby has restrained the side roll of automobile body, reduces the risk that the vehicle takes place to turn on one's side. In the conventional stabilizer bar design, in order to ensure the roll degree of the vehicle body, the stabilizer bars are matched according to the rigidity of a larger roll angle. The stiffness of the traditional stabilizer bar is directly related to the dimensional structural parameters, and once the dimensional structural parameters are determined, the stiffness of the stabilizer bar cannot be changed any more. However, the larger roll angle stiffness can cause the vehicle to be excessively sensitive in the running process, the roll angle of the vehicle body vibrates severely, the riding is uncomfortable, and the riding comfort of the vehicle is reduced.
The application publication number is CN 109733152A's chinese patent application, proposes a but semi-initiative stabilizer bar device of disconnected car, the device includes stabilizer bar, electromagnetic clutch, magneto-rheological damper and controller, the stabilizer bar disconnection divide into left side half pole and passes through swing arm connection under magneto-rheological damper and the suspension, right side half pole is direct to be connected with swing arm under the suspension, left and right side half pole passes through electromagnetic clutch connection, can realize no stabilizer bar, passive stabilizer bar and semi-initiative stabilizer bar function. Inputting steering wheel rotation angle, vehicle body side inclination angle, lateral acceleration and displacement of a piston into the controller; and the controller judges whether to control the on-off of the electromagnetic clutch and the work of the magnetorheological damper according to the steering wheel angle and the vehicle body side inclination angle. When the steering wheel angle is zero and the vehicle body roll angle is also zero, the electromagnetic clutch and the magneto-rheological damper do not work; when the steering wheel angle is smaller than or equal to 90 degrees and the vehicle body roll angle is smaller than a vehicle roll angle threshold value which is 0.5 times, the controller controls the electromagnetic clutch to connect the left half rod and the right half rod; the magneto-rheological damper does not work; when the steering wheel angle is larger than 90 degrees and the vehicle body roll angle is smaller than a vehicle roll angle threshold value which is 0.5 times, the controller controls the electromagnetic clutch to connect the left half rod and the right half rod; the controller controls the magnetorheological damper to generate damping force.
However, in this technical solution, the rigidity of the stabilizer bar of the vehicle is mainly adjusted according to the steering angle and the roll angle of the vehicle body when the vehicle turns, so as to avoid rollover, but when the vehicle travels straight, the electromagnetic clutch and the magnetorheological damper do not work, and different conditions during straight travel are not adjusted. When the vehicle runs on the uneven road surface with the pits, the vehicle body can jump up and down along with the wheels, and in addition, when the vehicle passes through the uneven road surface with the pits at a low speed or passes through the bumpy road surface at a high speed, the vehicle body shakes left and right or the vehicle body side dip angle vibrates, so that the riding comfort of the vehicle is low and the stability is poor.
Disclosure of Invention
The invention aims to provide a control method and a corresponding control system for a variable-rigidity stabilizer bar, which are used for solving the problems of low riding comfort and poor stability of a vehicle when the vehicle runs straight, passes through a large hollow uneven road surface at a low speed or passes through a bumpy road surface at a high speed in the prior art.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the invention provides a control method of a variable stiffness stabilizer bar, which comprises the following steps:
1) Collecting steering wheel rotation angle and vehicle speed of a vehicle, and judging a current running mode according to the steering wheel rotation angle: when the steering wheel angle is smaller than a first threshold value, judging that the current running mode is a straight running mode;
2) In the straight running mode, an electrical signal for changing the rigidity of the stabilizer bar is output according to the relation between the vehicle speed and a second threshold value:
if the vehicle speed is smaller than a second threshold value, determining that the vehicle is in a low-speed straight running mode, and controlling the rigidity of the stabilizer bar to be a first set value according to the electric signal;
if the vehicle speed is greater than a second threshold value, determining that the vehicle is in a high-speed straight running mode, and controlling the rigidity of the stabilizer bar to be a second set value according to the electric signal; the second set value is smaller than the first set value.
According to the invention, through the relation between the steering wheel angle and the vehicle speed information and the corresponding threshold value, whether the vehicle is in a low-speed straight running mode or a high-speed straight running mode is judged, and the corresponding electric signal for changing the rigidity of the stabilizer bar is output, so that the rigidity of the stabilizer bar in the corresponding straight running mode is adjusted, the amplitude and the frequency of vibration of the vehicle body when the vehicle passes through a hollow road surface at a low speed or passes through a bumpy road surface at a high speed are reduced, the riding comfort of the vehicle is improved, and the stability of the vehicle in the running process is improved.
Further, the left stabilizer bar of the stabilizer bar is connected with the right stabilizer bar through a magneto-rheological actuator, and in the step 2), the magnetic field intensity is adjusted according to the electric signal, so that the elastic modulus of the magneto-rheological elastomer in the magneto-rheological actuator is changed, and the rigidity of the stabilizer bar is adjusted.
Further, when the steering wheel angle is larger than a first threshold value, judging that the current running mode is a non-linear running mode, collecting the current lateral acceleration of the vehicle, and when the lateral acceleration is smaller than a third threshold value, controlling the rigidity of the stabilizer bar to be a third set value; when the lateral acceleration is larger than a third threshold value, controlling the rigidity of the stabilizer bar to be a fourth set value; the first set value is smaller than a third set value, and the third set value is smaller than a fourth set value.
Further, the first threshold value is 0-30 degrees, the second threshold value is 30km/h, and the third threshold value is 4m/s 2 。
The invention also provides a variable stiffness stabilizer bar control system, which comprises:
the information acquisition module is used for acquiring the steering angle and the speed of the steering wheel of the vehicle;
the stabilizer bar is a variable-rigidity stabilizer bar and is used for adjusting the rigidity of the stabilizer bar according to the electric signals;
the controller is connected with the information acquisition module in a sampling way and is connected with the stabilizer bar in a control way, and the controller is used for outputting an electric signal for changing the rigidity of the stabilizer bar according to the relation between the vehicle speed and a second threshold value in the straight running mode:
if the vehicle speed is smaller than a second threshold value, determining that the vehicle is in a low-speed straight running mode, and controlling the rigidity of the stabilizer bar to be a first set value according to the electric signal;
if the vehicle speed is greater than a second threshold value, determining that the vehicle is in a high-speed straight running mode, and controlling the rigidity of the stabilizer bar to be a second set value according to the electric signal; the second set value is smaller than the first set value.
According to the invention, through collecting the steering wheel angle and the vehicle speed information and judging the relation with the corresponding threshold value, the vehicle is judged to be in a low-speed straight running mode or a high-speed straight running mode, and the corresponding electric signal for changing the rigidity of the stabilizer bar is output, so that the rigidity of the stabilizer bar in the corresponding straight running mode is adjusted, the amplitude and the frequency of vibration of the vehicle body when the vehicle passes through a hollow road surface at a low speed or passes through a bumpy road surface at a high speed are reduced, the riding comfort of the vehicle is improved, and the stability of the vehicle in the running process is improved.
Further, the stabilizer bar device comprises a left stabilizer bar, a right stabilizer bar and a magnetorheological actuator, wherein the left stabilizer bar is connected with the right stabilizer bar through the magnetorheological actuator, and the stabilizer bar device adjusts the magnetic field intensity according to the electric signal, so that the elastic modulus of the magnetorheological elastomer in the magnetorheological actuator is changed, and the rigidity of the stabilizer bar is adjusted.
Further, when the steering wheel angle is larger than a first threshold value, judging that the current running mode is a non-linear running mode, collecting the current lateral acceleration of the vehicle, and when the lateral acceleration is smaller than a third threshold value, controlling the rigidity of the stabilizer bar to be a third set value; when the lateral acceleration is larger than a third threshold value, controlling the rigidity of the stabilizer bar to be a fourth set value; the first set value is smaller than a third set value, and the third set value is smaller than a fourth set value.
Further, the first threshold value is 0-30 degrees, the second threshold value is 30km/h, and the third threshold value is 4m/s 2 。
Drawings
FIG. 1 is a schematic diagram of the control system composition in an embodiment of a variable stiffness stabilizer control system of the present invention;
FIG. 2 is a flow chart of a control method in an embodiment of the variable stiffness stabilizer control system of the present invention;
the device comprises a 1-information acquisition module, a 2-stabilizer bar device, a 3-controller, an 11-steering wheel angle acquisition module, a 12-vehicle speed acquisition module, a 21-left stabilizer bar, a 22-magnetorheological actuator and a 23-right stabilizer bar.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the particular embodiments described herein are illustrative only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, of the embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
The features and capabilities of the present invention are described in further detail below in connection with the examples.
Variable stiffness stabilizer bar control system embodiment:
the embodiment provides a variable stiffness stabilizer bar control system, as shown in fig. 1, which mainly comprises an information acquisition module 1, a stabilizer bar device 2 and a controller 3, wherein the stiffness of a stabilizer bar in a corresponding straight running mode is adjusted by comprehensively judging whether a vehicle is in a low-speed straight running mode or a high-speed straight running mode through collecting steering wheel angle and vehicle speed information and combining the steering wheel angle and the vehicle speed information and outputting an electric signal.
In this embodiment, the information acquisition module 1 is configured to acquire a steering angle, a vehicle speed, and the like of a steering wheel of a vehicle. The existing vehicle basically comprises an information acquisition module such as a steering wheel rotation angle and moment acquisition module, a vehicle speed acquisition module, a vehicle lateral acceleration acquisition module, a vehicle body roll angle acquisition module and the like. In this embodiment, the information of each module of the existing vehicle may be directly acquired by the steering wheel angle acquisition module 11 and the vehicle speed acquisition module 12, or may be acquired by a corresponding sensor.
The stabilizer bar device 2 in this embodiment is a variable stiffness stabilizer bar, and can adjust the stiffness of the stabilizer bar according to an electrical signal sent by the controller. In fig. 1, the present embodiment provides a realization form of a variable stiffness stabilizer bar, which includes a left stabilizer bar 21, a right stabilizer bar 23, and a magnetorheological actuator 22, wherein the magnetorheological actuator 22 is a magnetorheological elastomer connector, a magnetorheological elastomer and a control coil are provided, the control coil is an electromagnetic coil, and the magnetic field strength of a magnetic field where the magnetorheological elastomer is located can be changed by adjusting the current of the control coil, so as to change the torsional stiffness of the stabilizer bar. In this embodiment, the magnetic field strength is varied by varying the current in the control coil in the magnetorheological actuator.
As other embodiments, other manners of connecting the left stabilizer bar and the right stabilizer bar with the magnetorheological actuator may be used. For example, a magnetorheological damper incorporating a magnetorheological fluid.
The controller 3 in the present embodiment is sampling-connected to the above-described information acquisition module 1 and controlling the connecting stabilizer bar device 2 so as to output an electric signal for changing the rigidity of the stabilizer bar according to the relationship between the vehicle speed and the second threshold value in the straight running mode.
Specifically, as shown in fig. 2, in this embodiment, by using the variable stiffness stabilizer bar control system, when the vehicle is controlled to travel in a straight line, the control procedure for adjusting the stiffness of the stabilizer bar is as follows:
the controller 3 is connected with the information acquisition module 1 in a sampling way and is controlled to be connected with the stabilizer bar device 2, and whether the vehicle is in a low-speed linear mode or a high-speed linear mode is judged according to the steering wheel angle and the vehicle speed information:
(1) low-speed straight line mode: when the vehicle speed is lower than 30km/h straight line running, the system is switched to a low-speed straight line mode. The current in the control coil in the stabilizer bar device is adjusted to be I through the electric signal output by the controller 1 The elastic modulus of the magnetorheological elastomer is increased, so that the roll angle rigidity of the stabilizer bar is improved, the left and right shaking of the vehicle body when the vehicle passes through a hollow pavement at a low speed is reduced, and the driving comfort of the vehicle is improved.
(2) High-speed straight line mode: when the vehicle speed is greater than 30km/h straight line running, the system is switched to a high-speed straight line mode. The controller adjusts the current in the control coil of the stabilizer bar device to I 2 The elastic modulus of the magnetorheological elastomer is reduced, so that the roll angle rigidity of the stabilizer bar is reduced, the amplitude and frequency of roll angle vibration of the vehicle body when the vehicle passes over a bumpy road surface at a high speed are reduced, and the riding comfort of the vehicle is improved.
In this embodiment, the specific calculation process of the controller for changing the torsional stiffness of the stabilizer bar by controlling the elastic modulus of the magnetorheological actuator is:
the controller is used for controlling the vehicle according to the lateral acceleration ay and the roll angle of the current vehicleCalculating an anti-roll moment provided by a current vehicle suspension:
gs is the gravity of the vehicle body; h is the distance from the height of the mass center of the vehicle body to the roll center of the suspension;
since the anti-roll moment of the suspension to the vehicle body is provided by the springs and the stabilizer bar together, the stabilizer bar anti-roll moment is required to be
K s Is the stiffness of the spring; b is the spring span: k (K) b The roll angle rigidity of the transverse stabilizer bar;
the controller calculates the roll angle stiffness of the stabilizer bar required in the low-speed straight running mode and the high-speed straight running mode of the vehicle as follows:
according to the roll angle rigidity calculation formula of the transverse stabilizer bar
K b ＝Ca*La 2 /2；
Linear stiffness of the stabilizer bar:
wherein: la is the span of the stabilizer bar end, is a constant, E is the modulus of elasticity of the stabilizer bar: g is the shear modulus of the stabilizer bar; l is the moment of inertia of the cross section,d is the diameter of the stabilizer bar; />I p For the moment of inertia of the section> l 1 、l 2 、l 3 、l T R and theta are structural parameters of the stabilizer bar:
the elastic modulus E of the stabilizer bar corresponding to different running modes is obtained through the formula according to the required stabilizer bar roll angle rigidity under different modes; the roll angle rigidity of the stabilizer bar is variable by changing the elastic modulus of the magnetorheological actuator, namely changing the elastic modulus of the stabilizer bar;
according to the magnetorheological elastomer chain model, when the magnetic field direction and the compression direction of the magnetorheological elastomer are parallel, the relation between the elastic modulus of the magnetorheological elastomer and the current I in the coil is obtained as follows:
μ 0 is vacuum magnetic permeability; mu (mu) 1 Relative magnetic permeability of the polymer aggregate material; alpha is the radius of the ferromagnetic particles; h is the intensity of the externally applied magnetic field; compression strain of epsilon-magnetorheological elastomer; r is the radius of the magnetorheological elastic chain model when being pressed. n is n b Unit bottom area (m) 2 ) The number of internal magnetorheological elastomer particle chains; e (E) 0 The compression elastic modulus of the magnetorheological elastomer under the action of no magnetic field; n is the number of turns of the coil; le is the effective magnetic path length of the coil.
In this embodiment, the steering wheel angle is set within the range of 0 ° to 30 °, the vehicle is determined to be traveling straight, the vehicle speed is defined by 30km/h, and the steering wheel angle and the vehicle speed threshold value may be set according to actual needs as a low-speed and high-speed demarcation point.
In this embodiment, the rigidity of the stabilizer bar is changed by adjusting the magnitude of the current and then changing the magnetic field strength of the magnetorheological elastomer, and as other embodiments, the rigidity of the stabilizer bar may be adjusted by changing the pressure of the fluid therein, which belongs to the prior art, and therefore will not be described in detail.
As a further improvement of the present embodiment, in the present embodiment, there is also provided a control process in the non-straight running mode:
when the steering wheel angle is larger than a first threshold value, judging that the current running mode is a non-linear running mode, collecting the current lateral acceleration of the vehicle, and when the lateral acceleration is smaller than a third threshold value, controlling the rigidity of the stabilizer bar to be a third set value; when the lateral acceleration is larger than a third threshold value, controlling the rigidity of the stabilizer bar to be a fourth set value; the first set value is smaller than a third set value, and the third set value is smaller than a fourth set value.
Specifically, the control procedure in the non-straight running mode is as follows:
(3) curve driving mode: the system judges that the vehicle working condition is turning running according to the steering wheel angle larger than 30 degrees, and the lateral acceleration is smaller than 0.4g (g is gravity acceleration, g=10m/s) 2 ) When the system is switched to the curve driving mode. The controller adjusts the current in the control coil of the stabilizer bar device to I 3 The elastic modulus of the magnetorheological elastomer is increased, so that the roll angle rigidity of the stabilizer bar is increased, the roll angle of the vehicle body during running or overtaking in a curve is reduced, and the running stability of the vehicle is improved;
(4) emergency avoidance mode: and when the lateral acceleration is greater than 0.4g, the system is switched to an emergency avoidance mode. The controller adjusts the current in the control coil of the stabilizer bar device to I 4 The elastic modulus of the magnetorheological elastomer is increased to the maximum, so that the roll angle rigidity of the stabilizer bar is the maximum, the risk of rollover of the vehicle under emergency avoidance working conditions is reduced, and the running safety of the vehicle is improved.
The roll angle rigidity calculated in the curve driving mode and the emergency avoidance mode in the formula is utilized to further calculate the corresponding control coil current value, so that the control process in the non-straight driving mode is realized.
Obtaining the required output current of the controller under four different driving modes according to the formula, and changing the current under different modesThe elastic modulus E of the magnetorheological actuator changes the roll stiffness of the stabilizer bar. Stabilizer bar roll angle stiffness relationship K required for four different travel modes 2 ＜K 1 ＜K 3 ＜K 4 Output current relation I under four corresponding different driving modes 2 ＜I 1 ＜I 3 ＜I 4 The method comprises the steps of carrying out a first treatment on the surface of the So that riding comfort and steering stability of the vehicle in different states are optimized.
Control method embodiment of variable stiffness stabilizer bar:
the embodiment provides a control method of a variable stiffness stabilizer bar, which comprises the following steps:
1) Collecting steering wheel rotation angle and vehicle speed of a vehicle, and judging a current running mode according to the steering wheel rotation angle: when the steering wheel angle is smaller than a first threshold value, judging that the current running mode is a straight running mode;
2) In the straight running mode, an electrical signal for changing the rigidity of the stabilizer bar is output according to the relation between the vehicle speed and a second threshold value:
if the vehicle speed is smaller than a second threshold value, determining that the vehicle is in a low-speed straight running mode, and controlling the rigidity of the stabilizer bar to be a first set value according to the electric signal;
if the vehicle speed is greater than a second threshold value, determining that the vehicle is in a high-speed straight running mode, and controlling the rigidity of the stabilizer bar to be a second set value according to the electric signal; the second set value is smaller than the first set value.
The specific implementation process of each step in this embodiment is described in detail in the above embodiment of the stiffness variable stabilizer control system, so that a detailed description is omitted here.
The above description is only a preferred embodiment of the present invention, and the patent protection scope of the present invention is defined by the claims, and all equivalent structural changes made by the specification and the drawings of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A control method of a variable stiffness stabilizer bar, the control method comprising the steps of:
1) Collecting steering wheel rotation angle and vehicle speed of a vehicle, and judging a current running mode according to the steering wheel rotation angle: when the steering wheel angle is smaller than a first threshold value, judging that the current running mode is a straight running mode;
2) In the straight running mode, an electrical signal for changing the rigidity of the stabilizer bar is output according to the relation between the vehicle speed and a second threshold value:
if the vehicle speed is smaller than a second threshold value, determining that the vehicle is in a low-speed straight running mode, and controlling the rigidity of the stabilizer bar to be a first set value according to the electric signal;
if the vehicle speed is greater than a second threshold value, determining that the vehicle is in a high-speed straight running mode, and controlling the rigidity of the stabilizer bar to be a second set value according to the electric signal; the second set value is smaller than the first set value;
the left stabilizer bar of the stabilizer bar is connected with the right stabilizer bar through a magneto-rheological actuator, and in the step 2), the roll angle rigidity of the stabilizer bar required in the low-speed straight running mode and the high-speed straight running mode of the vehicle is calculated according to the electric signals, so that the elastic moduli of the stabilizer bar corresponding to different running modes are obtained, the magnetic field strength is adjusted, and the elastic modulus of the magneto-rheological elastomer in the magneto-rheological actuator is changed, so that the rigidity of the stabilizer bar is adjusted.
2. The method for controlling a variable stiffness stabilizer bar according to claim 1, wherein when the steering wheel angle is larger than a first threshold value, the current running mode is judged to be a non-linear running mode, the current lateral acceleration of the vehicle is collected, and when the lateral acceleration is smaller than a third threshold value, the stiffness of the stabilizer bar is controlled to be a third set value; when the lateral acceleration is larger than a third threshold value, controlling the rigidity of the stabilizer bar to be a fourth set value; the first set value is smaller than a third set value, and the third set value is smaller than a fourth set value.
3. The variable stiffness of claim 2The control method of the stabilizer bar is characterized in that the first threshold value is 0-30 degrees, the second threshold value is 30km/h, and the third threshold value is 4m/s 2 。
4. A variable stiffness stabilizer bar control system employing the control method of a variable stiffness stabilizer bar according to claim 1, comprising:
the information acquisition module is used for acquiring the steering angle and the speed of the steering wheel of the vehicle;
the stabilizer bar device is a variable-rigidity stabilizer bar and is used for adjusting the rigidity of the stabilizer bar according to the electric signals;
the controller is connected with the information acquisition module in a sampling way and is connected with the stabilizer bar device in a control way, and the controller is used for outputting an electric signal for changing the rigidity of the stabilizer bar according to the relation between the vehicle speed and a second threshold value in the straight running mode:
if the vehicle speed is smaller than a second threshold value, determining that the vehicle is in a low-speed straight running mode, and controlling the rigidity of the stabilizer bar to be a first set value according to the electric signal;
if the vehicle speed is greater than a second threshold value, determining that the vehicle is in a high-speed straight running mode, and controlling the rigidity of the stabilizer bar to be a second set value according to the electric signal; the second set value is smaller than the first set value;
the left stabilizer bar of the stabilizer bar is connected with the right stabilizer bar through a magneto-rheological actuator, and in the step 2), the roll angle rigidity of the stabilizer bar required in the low-speed straight running mode and the high-speed straight running mode of the vehicle is calculated according to the electric signals, so that the elastic moduli of the stabilizer bar corresponding to different running modes are obtained, the magnetic field strength is adjusted, and the elastic modulus of the magneto-rheological elastomer in the magneto-rheological actuator is changed, so that the rigidity of the stabilizer bar is adjusted.
5. The variable stiffness stabilizer bar control system according to claim 4, wherein when the steering wheel angle is greater than a first threshold, the current running mode is judged to be a non-straight running mode, the current lateral acceleration of the vehicle is collected, and when the lateral acceleration is less than a third threshold, the stiffness of the stabilizer bar is controlled to be a third set value; when the lateral acceleration is larger than a third threshold value, controlling the rigidity of the stabilizer bar to be a fourth set value; the first set value is smaller than a third set value, and the third set value is smaller than a fourth set value.
6. The variable stiffness stabilizer bar control system according to claim 5, wherein the first threshold is 0-30 °, the second threshold is 30km/h, and the third threshold is 4m/s 2 。
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