CN100418799C - Semiactive suspension awning damp control algorithm for vehicle speed and road inductive automobile - Google Patents
Semiactive suspension awning damp control algorithm for vehicle speed and road inductive automobile Download PDFInfo
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- CN100418799C CN100418799C CNB2005100305636A CN200510030563A CN100418799C CN 100418799 C CN100418799 C CN 100418799C CN B2005100305636 A CNB2005100305636 A CN B2005100305636A CN 200510030563 A CN200510030563 A CN 200510030563A CN 100418799 C CN100418799 C CN 100418799C
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- skyhook damping
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Abstract
The present invention relates to semi-active suspension ceiling damping control calculation for speed and road surface inducing vehicles. The present invention has the specific steps that the off-line stimulating results of ceiling damping control coefficient under the conditions of fixed vehicle speed and different road surfaces; a road surface detector estimates the unevenness grade of the road surface according to the vertical acceleration of spring-loaded mass and the vehicle speed; the ceiling damping control coefficient under the present road surface and the present vehicle speed can be obtained through interpolation according to the control optimization gain of the road surfaces with different grades, which is determined by the off-line simulation of the step 1, combining the grades of the road surfaces and the vehicle speed which are determined by the step 2; the vertical speed of the spring-loaded mass and the relative speed between the spring-loaded mass and non spring-loaded mass are estimated; the desired damping force of a vibration isolator is obtained according to the ceiling damping control coefficient calculated by the step 3 and the vertical speed of the spring-loaded mass and the relative speed between the spring-loaded mass and non spring-loaded mass which are estimated by the step 4; force saturation function is introduced according to the experimental data of the vibration damper to correct the desired damping force of the vibration damper of the step 5.
Description
Technical field
The present invention relates to the damping technology of automobile, particularly relate to a kind of skyhook damping feedback control technology of automobile Adjustable Damping semi-active suspension control setup.
Background technology
In the automobile actual moving process, the speed of a motor vehicle and road surface are always Protean.For having dropped at present the commercial automobile Adjustable Damping semi-active suspension control setup of using, its damping of inevitable requirement can change with the variation of the road surface and the speed of a motor vehicle, when improving driving comfort, better takes into account the road-holding property requirement.
Skyhook damping control essence is a kind of controlled reset to spring carried mass absolute velocitye, and its imagination is arranged on shock absorber between spring carried mass and the inertial coordinate (" ceiling "), obtains desirable damping force in order to suppress the absolute motion of spring carried mass.As long as the parameter of choose reasonable skyhook damping control, the resonance peak that just can effectively reduce spring carried mass is to obtain good driving comfort, and this algorithm is simple and easy to implement and have certain robustness, thereby has obtained extensive utilization in the enforcement of automotive semi-active suspension.But skyhook damping control is the driving comfort that cost is obtained automobile with the dynamic ground connection performance of sacrificing tire, be difficult to take into account the operation stabilization performance of running car, even under some operating mode, improper if the skyhook damping controlled variable is selected, the safety of entail dangers to vehicle '.For improving vehicle handling and stability simultaneously, just need adjust the skyhook damping control coefficient in real time according to road surface and running state of the vehicle.
Summary of the invention
At the defective that exists in the above-mentioned prior art, technical matters to be solved by this invention provides a kind ofly can take into account the speed of a motor vehicle road inductive automobile semi-active suspension skyhook damping control algorithm of road-holding property when improving the driving comfort of vehicle.
In order to solve the problems of the technologies described above, a kind of speed of a motor vehicle road inductive automobile semi-active suspension skyhook damping control algorithm provided by the present invention, concrete steps are as follows:
1) the off-line simulation result of skyhook damping control coefficient determines under fixed vehicle speed, the different pavement grade: selected pavement grade and several groups of skyhook damping control coefficients (value should guarantee that dynamic tire force is all the time less than static tire power), calculate the mean effective value of tire live load and spring carried mass acceleration responsive respectively, by adding up, comparing, select more excellent skyhook damping control coefficient as the skyhook damping control coefficient (controller gain) under the different pavement grades;
2) the road surface detector estimates ground-surface out-of-flat grade according to the vertical acceleration and the speed of a motor vehicle of spring carried mass (car body): clock frequency and the memory size of considering microcontroller chip, spring carried mass (car body) acceleration signal is sampled and the discrete Fourier transform (DFT) processing with certain sampling frequency and sampling number, try to achieve low, high-order dominant frequency place road surface power spectral density value, compare with step 1) off-line simulation result of calculation value, determine the pavement grade scope;
3) in gain adjusting unit, gain according to the determined different brackets ground-surface of step 1) off-line simulation Control and Optimization, integrating step 2) pavement grade of Que Dinging and the speed of a motor vehicle can obtain the skyhook damping control coefficient (controller gain) of current road surface and current vehicle speed by interpolation;
4) from the vertical acceleration that can measure spring carried mass (car body) through state observer estimate the vertical velocity of spring carried mass and spring carries and nonspring carried mass between relative velocity;
5) realization of skyhook damping control: vertical velocity, the spring of the spring carried mass that skyhook damping control coefficient that is calculated by step 3) and step 4) are estimated carry and nonspring carried mass between relative velocity, implement the skyhook damping control algorithm, obtain required absorber damping force;
6) controlling quantity correction: introduce the power saturation function according to the shock absorber observed data, the absorber damping force that step 5) is required is revised, guarantee the exploitativeness of controlling quantity (absorber damping force);
Described skyhook damping control algorithm has been realized the ground-surface real-time identification, and according to road identification result and current vehicle speed the skyhook damping control coefficient of semi-active suspension is adjusted in real time.
Utilize speed of a motor vehicle road inductive automobile semi-active suspension skyhook damping control algorithm provided by the invention, according to Digital Signal Processing and vehicle catenary motion feature, adopt real-time road identification algorithm, and the Gain Adjustable skyhook damping control algorithm of developing in conjunction with vehicle speed signal, for the popularizing of semi-active suspension of Adjustable Damping laid a good foundation.
Description of drawings
Fig. 1 is the schematic block diagram of automotive semi-active suspension skyhook damping control algorithm of the present invention.
The specific embodiment
Below in conjunction with description of drawings embodiments of the invention are described in further detail, but present embodiment is not limited to the present invention, every employing similar algorithm of the present invention and similar variation thereof all should be listed protection scope of the present invention in.
Have semi-active suspension control system block diagram that road identification and gain adjust function as shown in Figure 1, state observer in order to estimate the vertical velocity of spring carried mass from the vertical acceleration that can measure car body and spring carries and nonspring carried mass between relative velocity.The road surface detector estimates ground-surface out-of-flat grade according to the vertical acceleration of car body, and then changes ceiling control damping coefficient by gain adjustment, for guaranteeing the exploitativeness of controlling quantity, introduces the power saturation function according to the shock absorber observed data.
A kind of speed of a motor vehicle road inductive automobile semi-active suspension skyhook damping control algorithm that the embodiment of the invention provided, referring to shown in Figure 1, concrete steps are as follows:
1) the off-line simulation result 1 of skyhook damping control coefficient determines under fixed vehicle speed, the different pavement grade: under fixed vehicle speed, selected pavement grade and several groups of skyhook damping control coefficients (value should guarantee that dynamic tire force is all the time less than static tire power), calculate the mean effective value of tire live load and spring carried mass acceleration responsive respectively, by adding up, comparing, select more excellent skyhook damping control coefficient as the skyhook damping control coefficient (controller gain) under the different pavement grades;
Although road roughness speed-power spectral density function does not change with frequency, be " white noise ".But its displacement power spectrum density is the function of the speed of a motor vehicle, according to road roughness classification rule, and as can be known through conversion, in case the skyhook damping ride gain when having determined a certain fixed vehicle speed under all pavement grades, the skyhook damping control coefficient in the time of can determining arbitrary speed, different pavement grade by interpolation;
2) road surface detector 2 estimates ground-surface out-of-flat grade according to the vertical acceleration and the speed of a motor vehicle of spring carried mass (car body): clock frequency and the memory size of considering microcontroller chip, spring carried mass (car body) acceleration signal is sampled and the discrete Fourier transform (DFT) processing with certain sampling frequency and sampling number, try to achieve low, high-order dominant frequency place road surface power spectral density value, compare with step 1) off-line simulation result of calculation value, determine the pavement grade scope;
Though actual road surface comprises various frequency contents, but by to amplitude versus frequency characte analysis know, the spring carried mass acceleration signal will be obtained resonance peak at low, high-order dominant frequency place, the spring carried mass acceleration signal is sampled and the discrete Fourier transform (DFT) processing, try to achieve low, high-order dominant frequency place road surface power spectral density value, compare with off-line simulation result of calculation value, can determine the pavement grade scope;
3) in gain adjusting unit 3, gain according to the determined different brackets ground-surface of step 1) off-line simulation Control and Optimization, integrating step 2) pavement grade of Que Dinging and the speed of a motor vehicle can obtain the skyhook damping control coefficient (controller gain) of current road surface and current vehicle speed by interpolation;
4) from the vertical acceleration that can measure spring carried mass (car body) through state observer 4 estimate the vertical velocity of spring carried mass and spring carries and nonspring carried mass between relative velocity;
5) realization of skyhook damping control 5: the vertical velocity of the spring carried mass that skyhook damping control coefficient that is calculated by step 3) and step 4) are estimated and spring carries and nonspring carried mass between relative velocity, implement the skyhook damping control algorithm, obtain required absorber damping force;
6) the controlling quantity correction 6: introduce the power saturation function according to the shock absorber observed data, the absorber damping force that step 5) is required is revised, guarantee the exploitativeness of controlling quantity (absorber damping force).
Claims (1)
1. speed of a motor vehicle road inductive automobile semi-active suspension skyhook damping control algorithm is characterized in that concrete steps are as follows:
1) the off-line simulation result of skyhook damping control coefficient determines under fixed vehicle speed, the different pavement grade: selected pavement grade and several groups of skyhook damping control coefficients, calculate the mean effective value of tire live load and spring carried mass acceleration responsive respectively, by adding up, comparing, select more excellent skyhook damping control coefficient as the skyhook damping control coefficient under the different pavement grades, in the time of selected pavement grade and several groups of skyhook damping control coefficients, value should guarantee that dynamic tire force is all the time less than static tire power;
2) the road surface detector estimates ground-surface out-of-flat grade according to the vertical acceleration and the speed of a motor vehicle of spring carried mass: clock frequency and the memory size of considering microcontroller chip, the spring carried mass acceleration signal is sampled and the discrete Fourier transform (DFT) processing with certain sampling frequency and sampling number, try to achieve low, high-order dominant frequency place road surface power spectral density value, compare with step 1) off-line simulation result of calculation value, determine the pavement grade scope;
3) in gain adjusting unit, according to the determined different brackets ground-surface of step 1) off-line simulation Control and Optimization gain, the integrating step 2) pavement grade and the speed of a motor vehicle of determining can obtain the skyhook damping control coefficient of current road surface and current vehicle speed by interpolation;
4) from the vertical acceleration that can measure spring carried mass through state observer estimate the vertical velocity of spring carried mass and spring carries and nonspring carried mass between relative velocity;
5) realization of skyhook damping control: vertical velocity, the spring of the spring carried mass that skyhook damping control coefficient that is calculated by step 3) and step 4) are estimated carry and nonspring carried mass between relative velocity, implement the skyhook damping control algorithm, obtain required absorber damping force;
6) controlling quantity correction: introduce the power saturation function according to the shock absorber observed data, the absorber damping force that step 5) is required is revised.
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| CNB2005100305636A CN100418799C (en) | 2005-10-14 | 2005-10-14 | Semiactive suspension awning damp control algorithm for vehicle speed and road inductive automobile |
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| CNB2005100305636A CN100418799C (en) | 2005-10-14 | 2005-10-14 | Semiactive suspension awning damp control algorithm for vehicle speed and road inductive automobile |
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| CN100418799C true CN100418799C (en) | 2008-09-17 |
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| US8428819B2 (en) * | 2007-08-31 | 2013-04-23 | GM Global Technology Operations LLC | Suspension system with optimized damper response for wide range of events |
| CN101269618B (en) * | 2008-04-25 | 2010-06-02 | 江苏大学 | Control method for damping value of electronic control air spring damping apparatus with three-gear |
| CN101738497B (en) * | 2009-12-24 | 2012-07-04 | 中国铁道科学研究院机车车辆研究所 | Method and device for analyzing acceleration response of rail vehicles |
| CN102235458B (en) * | 2010-05-07 | 2013-05-22 | 上海微电子装备有限公司 | Active shock absorption and vibration isolation device |
| US20130158799A1 (en) * | 2010-09-10 | 2013-06-20 | Toyota Jidosha Kabushiki Kaisha | Suspension apparatus |
| CN102729760B (en) * | 2012-07-17 | 2014-06-18 | 山东理工大学 | Real-time optimal damping control algorithm of automobile semi-active suspension system |
| RU2015121353A (en) | 2012-11-07 | 2016-12-27 | Поларис Индастриз Инк. | VEHICLE CONTAINING SUSPENSION WITH CONTINUOUS DAMPING CONTROL |
| US9205717B2 (en) | 2012-11-07 | 2015-12-08 | Polaris Industries Inc. | Vehicle having suspension with continuous damping control |
| CN104120644B (en) * | 2013-04-26 | 2016-03-02 | 同济大学 | A kind of detection method of road-surface evenness based on Gravity accelerometer |
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| CN106985627B (en) * | 2017-02-24 | 2019-12-31 | 江苏大学 | Vehicle road surface recognition system and suspension mode switching method |
| US10406884B2 (en) | 2017-06-09 | 2019-09-10 | Polaris Industries Inc. | Adjustable vehicle suspension system |
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| CN108860152B (en) * | 2018-06-21 | 2020-08-28 | 江苏大学 | Road surface unevenness identification system and method based on damping coefficient correction |
| CN108891220B (en) * | 2018-07-19 | 2020-07-28 | 燕山大学 | Ceiling control improvement method for semi-active suspension system of vehicle |
| US10987987B2 (en) | 2018-11-21 | 2021-04-27 | Polaris Industries Inc. | Vehicle having adjustable compression and rebound damping |
| CN110001339B (en) * | 2019-03-19 | 2022-01-11 | 江苏大学 | Semi-active control method for suspension of tire burst vehicle |
| CN110143108B (en) * | 2019-03-26 | 2020-10-20 | 江西科技学院 | Semi-active control method and system for automobile suspension |
| CN110329028B (en) * | 2019-06-17 | 2022-05-20 | 江苏大学 | Hybrid electromagnetic suspension mode switching system and method based on highway grade recognition |
| CN110341414B (en) * | 2019-06-25 | 2022-03-22 | 江苏大学 | Suspension self-adaptive optimal control system and method under continuous linear ceiling control |
| MX2022015902A (en) | 2020-07-17 | 2023-01-24 | Polaris Inc | Adjustable suspensions and vehicle operation for off-road recreational vehicles. |
| CN112622554A (en) * | 2021-02-02 | 2021-04-09 | 齐齐哈尔大学 | Automobile semi-active suspension damping control method |
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