CN102039790B - Self-adaptive vehicle transverse stability controller - Google Patents
Self-adaptive vehicle transverse stability controller Download PDFInfo
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- CN102039790B CN102039790B CN 201010589149 CN201010589149A CN102039790B CN 102039790 B CN102039790 B CN 102039790B CN 201010589149 CN201010589149 CN 201010589149 CN 201010589149 A CN201010589149 A CN 201010589149A CN 102039790 B CN102039790 B CN 102039790B
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Abstract
The invention provides a self-adaptive vehicle transverse stability controller. A wheel speed sensor resolves a vehicle speed sensor; a steering wheel angle sensor judges that a vehicle is in a steering state; a tilt sensor measures the titling degree of a vehicle in a running process respectively; an altitude sensor measures the jump amount of a wheel when the vehicle runs on a pavement, and the vehicle running state. vehicle state parameters and the like are put into an electronic control unit; and a control system consisting of a brushless direct current motor and a reducing gear determines an anti-tilting torque value and controls the rotation angle of a stabilizing rod, so that the aim of actively controlling the tilting of the vehicle in real time is fulfilled, and the self-adaptive control over the operating stability and comfort of vehicle running is realized.
Description
Technical field
The present invention relates to the suspension lateral stability control device of automobile in a kind of traffic, vehicle, the transport field, particularly relate to a kind of self-adaptation type lateral direction of car stabilization control device.
Background technology
In the prior art, the parameters such as the material of the Panhard rod in the suspension system of ordinary meaning and structure are in case after determining, its performance can be along with changes such as road environment and operating modes thereof in the use procedure of automobile, improve road-holding property and the travelling comfort of vehicle along with the continuous research and development of semi-active suspension and active suspension, but because the driving cycle otherness is too large, add many sensors, suspension frame structure is complicated, and control policy is difficult to the accurate real-time response of making.Although external minority classic brands vehicle outfitting active suspension, owing to the high problem of cost is difficult to the broad development that the formation scale seriously fetters active suspension system.
The primary factor that affects vehicle ride comfort is the vibration of vehicle, reduces the rigidity of suspension system and the vibration that damping can reduce vehicle, and is large but vehicle roll angle can become.The vehicle vehicle that particularly barycenter is higher carries out steering operation and very easily causes the generation of turning on one's side when running at high speed, traditional Panhard rod more tends to road-holding property, the active heeling-proof inclining system then can take into account both, but can apply an anti-bank moment of continually varying to Panhard rod according to concrete operating mode, the relative displacement that allows the two ends, the left and right sides of stabilizer rod make vertical direction comes the bank moment of balance vehicle body, make the angle of roll of vehicle body close to zero, reduce the body roll motion, improved traveling comfort and stability.
Present both at home and abroad few to the research of active anti-roll system, domestic patent mainly contains number of patent application 200480000394.5 and 200510130218.X, the integrated actuator of a kind of electrical motor and retarder and control method have all been described, this device passes retarder with the first Panhard rod, brought thus actuator structure complicated, requirement on machining accuracy is high, strengthening manufacturing processing technic requires and assembly difficulty, follow-up maintenance is brought difficulty equally, the lubricating requirement of retarder and the job requirement of electrical motor, invisible giving increases sealing difficulty.The control method of application number 200480000394.5 stabilizer controller is by obtaining the acquisition of signal of wheel speed, steering angle and all multisensors such as deflection angle speed, yaw velocity, transverse acceleration and lateral acceleration thereof, by the certain anti-inclination moment of torsion of output after a series of analyzing and processing.The required sensor angle of this control method, the real-time of processing and control accuracy require difficulty larger, no matter be before the control and be the inclination degree of indirect judgement vehicle after the control, there is poor accuracy, the search time of control method is long, the check difficulty of control effect is large, and can't automatically adjust control policy according to different driving process, can't adapt to the requirement of the environment of fast speed variation, and before can't judging, rear stabiliser is exported the relations of distribution of anti-inclination moment of torsion to the impact in the automobile roll motion process, has reduced the validity to vehicle stabilization control.
Summary of the invention
For the problems referred to above, main purpose of the present invention is to provide a kind of adaptive vehicle lateral stability control device, the present invention utilizes wheel speed sensors to obtain car speed sensor, judged the steering state that is in of vehicle by the steering wheel angle sensor, come inclined degree in the measuring vehicle driving process respectively by obliquity sensor, the jerk value of height sensor measuring vehicle wheel on track, and according to input electronic control units such as travel condition of vehicle and vehicle-state parameters, determine anti-inclination torque rating by the control system that brshless DC motor and speed reduction gearing form, the anglec of rotation of control stabilizer rod, control in real time the purpose of vehicle roll to reach full active, realize operation stabilization and the traveling comfort of adaptive control running car.
The present invention solves above-mentioned technical matters by following technical proposals: a kind of self-adaptation type lateral direction of car stabilization control device, described device comprises left section of Panhard rod, the lateral stability control device case, the first cylindrical roller bearing, brushless DC motor stator, brushless DC motor rotor, input shaft, the second cylindrical roller bearing, Hall element and wire, the planetary planetary wheel of the first order, the planetary internally toothed annulus of the first order, the planetary sun wheel of the planetary pinion carrier of the first order and the second stage, the planetary internally toothed annulus in the second stage, the planetary planetary wheel in the second stage, right section of the planetary pinion carrier Panhard rod in the second stage, the planetary sun wheel of sun and planet gear housing and the first order, left section of described Panhard rod links to each other with the lateral stability control device case, and and the sun and planet gear housing is connected as a single entity, the rotor of brshless DC motor links to each other with input shaft and the planetary sun wheel of the first order, brushless DC motor stator and Hall element and wire, the planetary sun wheel of the first order is inputted as the first order, first order planetary wheel gear ring and second stage planetary wheel gear ring all link to each other with the sun and planet gear housing, the planetary sun wheel of the planetary pinion carrier of the first order and the second stage links to each other, right section conduct output of the planetary pinion carrier Panhard rod in the final second stage.
Described knuckle system also comprises steering wheel angle sensor, wheel speed sensors, obliquity sensor and height and position sensor, described steering wheel angle sensor and wheel speed sensors judge whether vehicle is in stabilized conditions, and the relatively inclination angle value of left and right vehicle wheel both sides of vehicle obliquity sensor is arranged, the height and position sensor judges that vehicle is in pavement state, and it is as follows specifically to control step:
Step 1: judge that whether the existing vehicle speed value of vehicle surpasses threshold value, if surpass for satisfying stability criterion, enters anti-Roll control pattern;
Step 2: if the steering wheel angle value is lower than the steering wheel angle threshold value, for satisfying the road-holding property criterion, enter monitoring pattern, be similar to two ends, the Panhard rod left and right sides are in the state of disconnecting; From brshless DC motor mode angle, so that electronic control unit is in readiness for action, whether the monitor vehicle state is in the change master mode constantly;
Step 3: if vehicle speed value is lower than speed of a motor vehicle threshold value, the simultaneous altitude position transduser is judged vehicle and is in coarse bad pavement state, for improving the travelling comfort of vehicle, preferentially starts monitoring pattern, and two ends, the Panhard rod left and right sides are in the state of disconnecting;
Step 4: if vehicle speed value is lower than speed of a motor vehicle threshold value, the height and position sensor is judged vehicle and is in the good road surface state, judge whether the automobile turning wheel corner surpasses threshold value, if surpass then for satisfying the road-holding property stability criterion, enter braking mode, namely be similar to two ends, the Panhard rod left and right sides are in the state of being rigidly connected; From brshless DC motor mode angle, electronic control unit is so that motor is in the short-term short-circuit condition.
Described anti-Roll control mode step is as follows: by the target rotation angle of anti-Roll control mode decision brshless DC motor, and and the rotor position at existing motor place compares analysis, and be converted into current signal and be convenient to control analysis, introduce feed forward control, be used in certain frequency band range output null phase error tracking signal, friciton compensation and damping compensation are exported corresponding current signal by its position control strategy, and there is position feedback control to adopt the PI correction link, and increase the robust adaptive antidisturbance control, the disturbed condition of on-line monitoring brshless DC motor, and the uncertain parameters of output compensation external disturbance and brshless DC motor self thereof, common formation closed electric current to the real-time controlled motion of brshless DC motor.
The present invention realizes that the schematic circuit diagram that adopt are as follows: steering wheel angle sensor, wheel speed sensors, obliquity sensor and height and position sensor signal are through carrying out digitalisation input central process unit with analog signal behind the corresponding signal conditioning circuit separately, and will export speed governing and turn sign behind the current rotor-position input central process unit to the brshless DC motor special integrated chip, by it brshless DC motor is controlled, with the most of the time computational analysis device control policy of central process unit.
Positive progressive effect of the present invention is:
(1) all can't accurately judge the rolling condition of vehicle for the lateral acceleration sensor, abandon the many indirect survey sensor that present lateral stability control device is installed, directly adopt the angle of roll sensor directly to measure vehicle-state, motion is controlled in real time to vehicle roll more;
(2) for the brshless DC motor nonlinear characteristic, the adaptive robust control system, adopt feedforward controller and the better followability of positioner, adopt the mode of damping compensation and friciton compensation, anti-interference controller has guaranteed the stability for the estimation of interfering signal, reduce the uncertainty of system's operation, improved dynamic performance and guaranteed reliability of operation, guaranteed the operation robustness of lateral stability control device;
(3) from the mass production angle, to existing device oversimplify, modular processing, be easier to assembling, adjust and revise, industrialization prospect is more bright.
Description of drawings
Fig. 1 is the integral structure figure of adaptive vehicle lateral stability control device provided by the invention.
Fig. 2 is the control policy block diagram of lateral direction of car stabilization control device of the present invention.
Fig. 3 is the anti-Roll control pattern block diagram of adaptive vehicle lateral stability control device of the present invention.
Fig. 4 is the schematic circuit diagram of adaptive vehicle lateral stability control device of the present invention.
The specific embodiment
Provide preferred embodiment of the present invention below in conjunction with accompanying drawing, to describe technical scheme of the present invention in detail.
Fig. 1 is the integral structure figure of adaptive vehicle lateral stability control device provided by the invention, referring to Fig. 1, the present invention includes left section 1 of Panhard rod, lateral stability control device case 2, the first cylindrical roller bearing 3, brushless DC motor stator 4, brushless DC motor rotor 5, input shaft 6, the second cylindrical roller bearing 7, Hall element and wire 8, the planetary planetary wheel 9 of the first order, the planetary internally toothed annulus 10 of the first order, the planetary sun wheel 11 in the planetary pinion carrier of the first order and the second stage, the planetary internally toothed annulus 12 in the second stage, the planetary planetary wheel 13 in the second stage, right section 14 of the planetary pinion carrier Panhard rod in the second stage, the planetary sun wheel 16 of sun and planet gear housing 15 and the first order, left section 1 of Panhard rod links to each other with lateral stability control device case 2, and and sun and planet gear housing 15 is connected as a single entity, the rotor 5 of brshless DC motor links to each other with input shaft 6 and the planetary sun wheel 16 of the first order, brushless DC motor stator 4 and Hall element and wire 8, the planetary sun wheel 16 of the first order is inputted as the first order, first order planetary wheel gear ring 10 and second stage planetary wheel gear ring 12 all link to each other with sun and planet gear housing 15, the planetary sun wheel of the planetary pinion carrier of the first order and the second stage links to each other, right section 14 conduct output of the planetary pinion carrier Panhard rod in the final second stage.
Fig. 2 is the control policy block diagram of lateral direction of car stabilization control device of the present invention, at first the steering wheel angle sensor in square frame reads the steering wheel angle signal to described control policy, wheel speed sensors reads vehicle wheel rotational speed in square frame, obtains that vehicle speed signal, the obliquity sensor in square frame read the car body obliqueness signal of left and right vehicle wheel both sides, the height and position sensor in square frame reads left and right vehicle wheel both sides height change signal.And determine in decision diamond that subsequently whether described vehicle speed value is less than speed of a motor vehicle threshold value (such as 20km/h), and whether steering wheel angle is less than the steering wheel angle threshold value, judge that whether the difference of vertical bounce amount of left and right sides wheel is less than bad road surface threshold value, judge that whether the difference of left and right sides car body obliqueness is less than anti-Roll control threshold value, its threshold value all can be adjusted, judge in the priority through these four criterions, it at first is the speed of a motor vehicle, if the speed of a motor vehicle is higher than threshold value, then judge according to anti-Roll control threshold value, then enter monitoring pattern if be lower than this threshold value, then enter anti-Roll control pattern if be higher than this threshold value; If the speed of a motor vehicle is lower than threshold value, then according to priority order, judge whether the steering wheel angle value is higher than threshold value, then enter braking mode if be higher than this threshold value, if be lower than this threshold value then according to priority order, judge whether to be higher than bad road surface threshold value, if be higher than this threshold value, then enter monitoring pattern, if be lower than this threshold value, then enter standby mode.
Fig. 3 is the anti-Roll control pattern block diagram of adaptive vehicle lateral stability control device of the present invention, the variation of lateral stability control device palpus real-time tracking vehicle condition, possesses good dynamic following performance, reduce owing to there is the non-linear factor such as mechanical friction by brshless DC motor being carried out closed loop control, but because the variation of the many factors model parameters such as outward sign interference, the present invention has increased front feedback controller, add friciton compensation and damping compensation, export certain magnitude of voltage, and by inputting computing machine behind the D/A digital to analogy conversion card, then according to the program of treater the motor position feedback is processed, and adjusted in real time motor rotor position according to the Adaptive Anti-jamming controller.
Fig. 4 is the schematic circuit diagram of adaptive vehicle lateral stability control device, this main circuit will be comprised of signal conditioning circuit, Adaptive Anti-jamming module, central process unit and brshless DC motor special integrated circuit etc., each sensor is inputted central process unit (such as 8051 chips) through behind the various modulate circuits respectively, if select chip not have the D/A modular converter, then circuit need increase the digital to analogy conversion card, exports the PWM current value that necessarily has steering direction through plug-in and comes drive motor accurately to move to motor control chip.
More than show and described groundwork of the present invention and principal character and advantage of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; that describes in above-described embodiment and the specification sheets just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications; these changes and improvements all fall in the claimed scope of the invention, and the claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (3)
1. self-adaptation type lateral direction of car stabilization control device, described device comprises left section of Panhard rod (1), lateral stability control device case (2), the first cylindrical roller bearing (3), brushless DC motor stator (4), brushless DC motor rotor (5), input shaft (6), the second cylindrical roller bearing (7), Hall element and wire (8), the planetary planetary wheel of the first order (9), the planetary internally toothed annulus of the first order (10), the planetary sun wheel of the planetary pinion carrier of the first order and the second stage (11), the planetary internally toothed annulus in the second stage (12), the planetary planetary wheel in the second stage (13), right section of the planetary pinion carrier Panhard rod in the second stage (14), sun and planet gear housing (15) and the planetary sun wheel of the first order (16), it is characterized in that: described Panhard rod left section (1) links to each other with lateral stability control device case (2), and and sun and planet gear housing (15) is connected as a single entity, the rotor of brshless DC motor (5) links to each other with input shaft (6) and the planetary sun wheel of the first order (16), brushless DC motor stator (4) and Hall element and wire (8), the planetary sun wheel of the first order (16) is inputted as the first order, first order planetary wheel gear ring (10) and second stage planetary wheel gear ring (12) all link to each other with sun and planet gear housing (15), the planetary sun wheel of the planetary pinion carrier of the first order and the second stage links to each other, the planetary pinion carrier Panhard rod in the final second stage right section (14) is as output, described control setup also comprises the steering wheel angle sensor, wheel speed sensors, obliquity sensor and height and position sensor, described steering wheel angle sensor and wheel speed sensors judge whether vehicle is in stabilized conditions, and the relatively inclination angle value of left and right vehicle wheel both sides of vehicle obliquity sensor is arranged, the height and position sensor judges that vehicle is in pavement state, and it is as follows specifically to control step:
Step 1: judge that whether the existing vehicle speed value of vehicle surpasses threshold value, if surpass for satisfying stability criterion, enters anti-Roll control pattern;
Step 2: if the steering wheel angle value is lower than the steering wheel angle threshold value, for satisfying the road-holding property criterion, enter monitoring pattern, be similar to two ends, the Panhard rod left and right sides are in the state of disconnecting; From brshless DC motor mode angle, so that electronic control unit is in readiness for action, whether the monitor vehicle state is in the change master mode constantly;
Step 3: if vehicle speed value is lower than speed of a motor vehicle threshold value, the simultaneous altitude position transduser is judged vehicle and is in coarse bad pavement state, for improving the travelling comfort of vehicle, preferentially starts monitoring pattern, and two ends, the Panhard rod left and right sides are in the state of disconnecting;
Step 4: if vehicle speed value is lower than speed of a motor vehicle threshold value, the height and position sensor is judged vehicle and is in the good road surface state, judge whether the automobile turning wheel corner surpasses threshold value, if surpass then for satisfying the road-holding property stability criterion, enter braking mode, namely be similar to two ends, the Panhard rod left and right sides are in the state of being rigidly connected; From brshless DC motor mode angle, electronic control unit is so that motor is in the short-term short-circuit condition.
2. self-adaptation type lateral direction of car stabilization control device according to claim 1, it is characterized in that: described anti-Roll control mode step is as follows: by the target rotation angle of anti-Roll control mode decision brshless DC motor, and and the rotor position at existing motor place compares analysis, and be converted into current signal and be convenient to control analysis, introduce feed forward control, be used in certain frequency band range output null phase error tracking signal, friciton compensation and damping compensation are exported corresponding current signal by its position control strategy, and there is position feedback control to adopt the PI correction link, and increase the robust adaptive antidisturbance control, the disturbed condition of on-line monitoring brshless DC motor, and the uncertain parameters of output compensation external disturbance and brshless DC motor self thereof, common formation closed electric current to the real-time controlled motion of brshless DC motor.
3. self-adaptation type lateral direction of car stabilization control device according to claim 1, it is characterized in that: the present invention realizes that the schematic circuit diagram that adopt are as follows: the steering wheel angle sensor, wheel speed sensors, obliquity sensor and height and position sensor signal are through carrying out digitalisation input central process unit with analog signal behind the corresponding signal conditioning circuit separately, and will export speed governing and turn sign behind the current rotor-position input central process unit to the brshless DC motor special integrated chip, by it brshless DC motor is controlled, with the most of the time computational analysis device control policy of central process unit.
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| CN 201010589149 CN102039790B (en) | 2010-12-15 | 2010-12-15 | Self-adaptive vehicle transverse stability controller |
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| CN 201010589149 CN102039790B (en) | 2010-12-15 | 2010-12-15 | Self-adaptive vehicle transverse stability controller |
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| CN102039790B true CN102039790B (en) | 2013-03-27 |
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Families Citing this family (12)
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| CN102303497B (en) * | 2011-06-16 | 2013-02-27 | 北京航空航天大学 | H-type power chassis with function of adjusting ground clearance and wheel tread |
| CN102336127B (en) * | 2011-06-16 | 2013-02-27 | 北京航空航天大学 | H-shaped power chassis with ground clearance adjusting function |
| DE102013104374A1 (en) * | 2013-04-30 | 2014-10-30 | Hella Kgaa Hueck & Co. | Control device for the control of an adjusting device |
| CN103625238B (en) * | 2013-12-02 | 2015-08-26 | 江苏大学 | Automatically controlled stiffness-adjustable active lateral stabilizing device |
| CN103818211B (en) * | 2014-02-26 | 2015-11-18 | 湖南大学 | A kind of automobile-used active lateral stabilizer rod |
| CN106627026B (en) * | 2016-12-22 | 2023-11-10 | 南京理工大学 | Motor type active stabilizer bar control system |
| CN109532376B (en) * | 2017-09-22 | 2021-11-16 | 上海新纪元机器人有限公司 | Automobile shock absorber ware control system |
| CN107856492B (en) * | 2017-11-08 | 2023-09-15 | 南京理工大学 | Dual-channel motor type active stabilizer bar control system |
| CN108891222B (en) * | 2018-06-15 | 2021-10-01 | 浙江路得坦摩汽车部件股份有限公司 | Method for adjusting state of motor vehicle by electric control suspension system and electric control suspension system |
| CN111332088B (en) * | 2018-12-18 | 2021-09-17 | 北汽福田汽车股份有限公司 | Transverse stabilizer bar control system, stabilizer bar assembly control method and vehicle |
| CN110194213B (en) * | 2019-05-09 | 2023-11-24 | 上海工程技术大学 | Automobile rollover prevention system |
| CN113320524B (en) * | 2021-06-15 | 2022-05-17 | 广汽本田汽车有限公司 | Control method for automobile, operation control device and storage medium |
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Address after: 201821 No. 1055 Fu Hai Road, Shanghai, Jiading District Patentee after: Shanghai Komman Vehicle Component System Stock Co., Ltd. Address before: 201821 No. 1055 Fu Hai Road, Shanghai, Jiading District Patentee before: Shanghai Komman Vehicle Parts System Co., Ltd. |