CN103376087A - Automobile body pitching angle detection system, control system and corresponding automobile - Google Patents
Automobile body pitching angle detection system, control system and corresponding automobile Download PDFInfo
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- CN103376087A CN103376087A CN2012101094914A CN201210109491A CN103376087A CN 103376087 A CN103376087 A CN 103376087A CN 2012101094914 A CN2012101094914 A CN 2012101094914A CN 201210109491 A CN201210109491 A CN 201210109491A CN 103376087 A CN103376087 A CN 103376087A
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Abstract
The invention provides a detection system and a control system for an automobile body pitching angle and an automobile with the detection system or the control system. The detection system comprises a front torsion bar mechanism, a rear torsion bar mechanism, a hydraulic coupling system, a displacement measurement device and a pitching angle calculation unit. When the automobile inclines longitudinally, the translation motion of a front suspension and a rear suspension of the automobile in the vertical direction relative to an automobile body is converted into movement of a piston in the hydraulic coupling system, so that the pitching angle of the automobile body can be calculated according to the displacement of the piston. The detection system provided by the invention is simple in structure, convenient to mount, high in precision and low in cost and can accurately measure the pitching angle of the automobile body of the automobile in real time. The control system provided by the invention can limit the displacement of the piston through a limiting mechanism so as to limit the pitching motion of the automobile body, is simple in structure and convenient to mount, can effectively control and reduce the pitching angle of the automobile body of the automobile, is low in cost and can be widely popularized and applied.
Description
Technical field
The present invention relates to automobile technical field, be specifically related to a kind of detection system, control system of pitch angle of vehicle body, and have the automobile of this vehicle body luffing angle detection system or control system.
Background technology
When running car on rough road surface, accelerate or during braking, compression occurs or upholds in the automotive suspension flexible member, produce the relative motion along automobile longitudinal between front and back wheel and the vehicle body, body of a motor car can produce luffing thereupon, and luffing may exert an influence to automotive lighting and comfort level, control stability etc.Development along with Hyundai Motor science and technology, people have higher requirement to comfortableness, security and the handling of automobile, can consider according to or carry out the dynamic adjustment of relevant parameter and characteristic with reference to the angle of pitch of vehicle body that these links are such as but not limited to the height adaptive illuminator of automobile and some Auto Electronic Controlled System (such as the ACTIVE CONTROL suspension) etc. in some link.
At present, that is that all right is ripe about the detection technique of the body of a motor car angle of pitch, and prior art all is the static tilt angles of measured automobiles vehicle body generally.Although certain methods can realize kinetic measurement, all adopted complicated measuring system, cost is very high, does not have the possibility of large-scale application on real vehicle.
For example, Saic Chery Automobile Co., Ltd is in the Chinese invention patent (application number: CN201010281479.2 of application on September 15th, 2010, publication number: CN101968352A) provide a kind of pick-up unit and detection method of pitch angle of vehicle body, as shown in Figure 1a, this pick-up unit comprises gyroscope 11, data transmission module and data processing module, gyroscope is installed on the lower swing arm 12 that hangs before and after the vehicle, the rotational angular velocity of lower swing arm when moving up and down for detection of vehicle body 13 relative wheels 14, data transmission module sends the angular velocity that gyroscope records to data processing module, data processing module carries out data to be processed, draw vehicle body with respect to the height change of front and back wheel at vertical direction, thereby calculate the trim angle of vehicle body.
Above-mentioned patent adopts the higher gyroscope of cost, and need to utilize data transmission module and data processing module to calculate the angle of pitch of automobile, has the problem that cost is high, practicality is low, range of application is less.
On the other hand, when automobile emergency brake, automobile front suspension is compressed, and rear suspension is upheld, the front portion of car body nutation, and face upward in the rear portion, and vehicle body is bent forward and backward and may be produced harmful effect to comfort level, stability, and increases the probability on chassis member scraping road surface.Development along with Hyundai Motor science and technology, people have higher requirement to comfortableness, the stability of automobile, running car on rough road surface, accelerate or during braking, if effectively control and reduce the angle of pitch of vehicle body, then can improve stability and occupant's comfortableness of automobile.
At present, less about the control method of vehicle body luffing, great majority have adopted the electro-hydraulic control system, complex structure, and cost is high, and range of application is less.
For example, shown in Fig. 1 b and Fig. 1 c, United States Patent (USP) " Anti-pitch suspension " (i.e. " prevent tilt suspension ", publication number: US4573702A, day is disclosed: the control method that on March 4th, 1986) discloses a kind of pitch angle of vehicle body, the hydraulic oil of the vibration damper of fore suspension and rear suspension swing arm place by the pipeline butt coupling, by the hydraulic fluid pressure of control vibration damper, is controlled the angle of pitch of vehicle body.This patent range of application is little, is only applicable to the suspension that swing arm place has vibration damper; And hydraulic system is complicated, and cost is high.
Summary of the invention
Aspects and advantages of the present invention are partly statement in the following description, perhaps can describe obviously from this, perhaps can learn by putting into practice the present invention.
For overcoming the problems referred to above of prior art, the invention provides a kind of detection system of pitch angle of vehicle body, control system, and the automobile with this detection system or control system, this detection system is when automobile longitudinal tilts, before automobile, rear suspension changes into the movement of piston in the Hydraulic coupling system with respect to vehicle body in the translation motion of vertical direction, and calculate the luffing angle of vehicle body according to the displacement meter of piston, on the one hand, detection system of the present invention is simple in structure, easy for installation, precision is high, and cost is low, can accurately measure in real time the vehicle body angle of pitch of automobile; On the other hand, control system of the present invention limits by the displacement of position-limit mechanism to piston, thereby the luffing of vehicle body is suppressed, simple in structure, easy for installation, can effectively control and reduce the angle of pitch of body of a motor car, and cost is low, but wide popularization and application.
It is as follows that the present invention solves the problems of the technologies described above the technical scheme that adopts:
According to an aspect of the present invention, provide a kind of pitch angle of vehicle body detection system, comprising:
Front torsion bar mechanism, it is connected on the automobile front suspension, and this automobile front suspension is changed into rotatablely moving of this front torsion bar mechanism with respect to vehicle body in the translation motion of vertical direction;
Rear torsion bar mechanism, it is connected on the rear overhang rack, and this rear overhang rack is changed into rotatablely moving of this rear torsion bar mechanism with respect to vehicle body in the translation motion of vertical direction;
The Hydraulic coupling system, it comprises that inside is provided with the hydraulic cylinder of piston and the hydraulic circuit that is connected with hydraulic cylinder, and being configured such that this rotatablely moves promotes the movement of this piston in hydraulic cylinder by this hydraulic circuit, and this automobile front suspension and rear overhang rack with respect to the translation motion in the opposite direction of vehicle body in the vertical direction so that this piston is mobile in the same direction;
Displacement measuring device, it is connected on this piston, measures the displacement of piston;
The luffing angle computing unit, its displacement meter according to measured piston is calculated the luffing angle of vehicle body.
According to one embodiment of present invention, should comprise torsion element and rotor elements by front torsion bar mechanism, should before the torsion element of torsion bar mechanism be connected on the automobile front suspension, this front torsion bar mechanism changes into respect to vehicle body this automobile front suspension the rotatablely moving of rotor elements of this front torsion bar mechanism in the translation motion of vertical direction;
Should comprise torsion element and rotor elements by rear torsion bar mechanism, should after the torsion element of torsion bar mechanism be connected on the rear overhang rack, torsion bar mechanism is with this rear overhang rack rotatablely moving with respect to the rotor elements of vehicle body torsion bar mechanism after the translation motion of vertical direction changes into this after this;
This Hydraulic coupling system comprises:
The front stator element, it cooperates with the rotor elements that is somebody's turn to do front torsion bar mechanism, and between forms two independently transformable airtight hydraulic spaces;
Rear stator component, it cooperates with the rotor elements that is somebody's turn to do rear torsion bar mechanism, and between forms two independently transformable airtight hydraulic spaces;
This hydraulic circuit is communicated with this hydraulic cylinder and each airtight hydraulic space.
According to one embodiment of present invention, the rotor elements of torsion bar mechanism has outwardly secter pat laterally in its week before being somebody's turn to do, this front stator element has to projecting inward secter pat in its week to the inside, forms two independently transformable airtight hydraulic spaces between two secter pats; The rotor elements of torsion bar mechanism has outwardly secter pat laterally in its week after being somebody's turn to do, and stator component has to projecting inward secter pat in its week to the inside after this, forms two independently transformable airtight hydraulic spaces between two secter pats.
According to one embodiment of present invention, the torsion element of this front torsion bar mechanism is connected to the mode on the automobile front suspension and is:
The torsion element of front torsion bar mechanism is fixedly connected on wheel shaft, swing arm or the vibration damper of automobile front suspension; Perhaps, the torsion element of front torsion bar mechanism is connected on the suspension rod by ball pivot, and this suspension rod is connected on wheel shaft, swing arm or the vibration damper of automobile front suspension by ball pivot again;
The mode that the torsion element of torsion bar mechanism is connected on the rear overhang rack after being somebody's turn to do is:
The torsion element of rear torsion bar mechanism is fixedly connected on wheel shaft, swing arm or the vibration damper of rear overhang rack; Perhaps, the torsion element of rear torsion bar mechanism is connected on the suspension rod by ball pivot, and this suspension rod is connected on wheel shaft, swing arm or the vibration damper of rear overhang rack by ball pivot again.
According to one embodiment of present invention, this front torsion bar mechanism is installed on the wheel shaft of automobile front suspension, front vehicle wheel is changed into the rotatablely moving of rotor elements of this front torsion bar mechanism in the translation motion of vertical direction with respect to vehicle body; And should after torsion bar mechanism be installed on the wheel shaft of rear overhang rack, with rear wheel rotatablely moving with respect to the rotor elements of vehicle body torsion bar mechanism after the translation motion of vertical direction changes into this.
According to one embodiment of present invention, this front torsion bar mechanism and should after torsion bar mechanism only have respectively one, and should before the automobile front suspension that connects of torsion bar mechanism and be connected the same side that rear overhang rack that rear torsion bar mechanism connects is positioned at automobile.
According to one embodiment of present invention, should before torsion bar mechanism comprise left and right two independently before torsion bar mechanism, should after torsion bar mechanism comprise left and right two independently after torsion bar mechanism, and the automobile front suspension that this Hydraulic coupling system further is configured such that arranged on left and right sides with respect to the translation motion in the same direction of vehicle body in the vertical direction so that this piston is mobile in the same direction, and the rear overhang rack of arranged on left and right sides with respect to the translation motion in the same direction of vehicle body in the vertical direction so that this piston is mobile in the same direction.
According to one embodiment of present invention, this front torsion bar mechanism and rear torsion bar mechanism are hinged on the vehicle body by linkage respectively.
According to one embodiment of present invention, be connected with piston rod on this piston, this displacement measuring device is measured the displacement of this piston by being connected with this piston rod.
According to one embodiment of present invention, this luffing angle computing unit calculates the luffing angle of vehicle body according to following formula:
θ＝arctan(C*L)/W
Wherein, θ is the luffing angle of vehicle body, and L is the displacement of piston, and W is the distance of antero posterior axis, and C is scale-up factor, and this scale-up factor is by calculative determination or by experiment demarcation.
According to another aspect of the present invention, provide a kind of automobile, it has such as the described pitch angle of vehicle body detection system of above-mentioned any one technical scheme.
According to a further aspect of the invention, provide a kind of pitch angle of vehicle body control system, comprising:
Front torsion bar mechanism, it is connected on the automobile front suspension, and this automobile front suspension is changed into rotatablely moving of this front torsion bar mechanism with respect to vehicle body in the translation motion of vertical direction;
Rear torsion bar mechanism, it is connected on the rear overhang rack, and this rear overhang rack is changed into rotatablely moving of this rear torsion bar mechanism with respect to vehicle body in the translation motion of vertical direction;
The Hydraulic coupling system, it comprises that inside is provided with the hydraulic cylinder of piston and the hydraulic circuit that is connected with hydraulic cylinder, and being configured such that this rotatablely moves promotes the movement of this piston in hydraulic cylinder by this hydraulic circuit, and this automobile front suspension and rear overhang rack with respect to the translation motion in the opposite direction of vehicle body in the vertical direction so that this piston is mobile in the same direction;
Position-limit mechanism, its displacement to this piston limits, with the luffing angle of control vehicle body, thus the luffing of inhibition vehicle body.
According to one embodiment of present invention, should comprise torsion element and rotor elements by front torsion bar mechanism, should before the torsion element of torsion bar mechanism be connected on the automobile front suspension, this front torsion bar mechanism changes into respect to vehicle body this automobile front suspension the rotatablely moving of rotor elements of this front torsion bar mechanism in the translation motion of vertical direction;
Should comprise torsion element and rotor elements by rear torsion bar mechanism, should after the torsion element of torsion bar mechanism be connected on the rear overhang rack, torsion bar mechanism is with this rear overhang rack rotatablely moving with respect to the rotor elements of vehicle body torsion bar mechanism after the translation motion of vertical direction changes into this after this;
This Hydraulic coupling system comprises:
The front stator element, it cooperates with the rotor elements that is somebody's turn to do front torsion bar mechanism, and between forms two independently transformable airtight hydraulic spaces;
Rear stator component, it cooperates with the rotor elements that is somebody's turn to do rear torsion bar mechanism, and between forms two independently transformable airtight hydraulic spaces;
This hydraulic circuit is communicated with this hydraulic cylinder and each airtight hydraulic space.
According to one embodiment of present invention, the rotor elements of torsion bar mechanism has outwardly secter pat laterally in its week before being somebody's turn to do, this front stator element has to projecting inward secter pat in its week to the inside, forms two independently transformable airtight hydraulic spaces between two secter pats;
The rotor elements of torsion bar mechanism has outwardly secter pat laterally in its week after being somebody's turn to do, and stator component has to projecting inward secter pat in its week to the inside after this, forms two independently transformable airtight hydraulic spaces between two secter pats.
According to one embodiment of present invention, the torsion element of this front torsion bar mechanism is connected to the mode on the automobile front suspension and is:
The torsion element of front torsion bar mechanism is fixedly connected on wheel shaft, swing arm or the vibration damper of automobile front suspension; Perhaps, the torsion element of front torsion bar mechanism is connected on the suspension rod by ball pivot, and this suspension rod is connected on wheel shaft, swing arm or the vibration damper of automobile front suspension by ball pivot again;
The mode that the torsion element of torsion bar mechanism is connected on the rear overhang rack after being somebody's turn to do is:
The torsion element of rear torsion bar mechanism is fixedly connected on wheel shaft, swing arm or the vibration damper of rear overhang rack; Perhaps, the torsion element of rear torsion bar mechanism is connected on the suspension rod by ball pivot, and this suspension rod is connected on wheel shaft, swing arm or the vibration damper of rear overhang rack by ball pivot again.
According to one embodiment of present invention, should before torsion bar mechanism comprise left and right two independently before torsion bar mechanism, should after torsion bar mechanism comprise left and right two independently after torsion bar mechanism, and the automobile front suspension that this Hydraulic coupling system further is configured such that arranged on left and right sides with respect to the translation motion in the same direction of vehicle body in the vertical direction so that this piston is mobile in the same direction, and the rear overhang rack of arranged on left and right sides with respect to the translation motion in the same direction of vehicle body in the vertical direction so that this piston is mobile in the same direction.
According to one embodiment of present invention, this position-limit mechanism comprises:
Two piston rods, it is connected to the both sides of this piston, and extends to respectively outside this hydraulic cylinder, and the end of these two piston rods is respectively arranged with block;
Flexible member, it is installed between the end face of this block and corresponding hydraulic cylinder, limits the displacement of this piston rod, thereby limits the displacement of this piston.
According to one embodiment of present invention, this position-limit mechanism adopts and utilizes the mode in piston clogging hydraulic loop to carry out spacing, wherein, the interface of this hydraulic cylinder and each hydraulic circuit is set at this piston movement during to preposition, this piston stops up the interface of this hydraulic cylinder and each hydraulic circuit, thereby limits the displacement of this piston.
According to one embodiment of present invention, adopt baffle plate that this hydraulic cylinder is divided into a left side in the middle of this hydraulic cylinder, right two parts, on a left side, right two parts arrange respectively a piston, and adopt piston rod to pass this baffle plate with a left side, the piston of right two parts couples together, each hydraulic circuit of vehicle left side and the interface of this hydraulic cylinder are positioned at the left-hand component of this hydraulic cylinder, each hydraulic circuit on vehicle right side and the interface of this hydraulic cylinder are positioned at the right-hand component of this hydraulic cylinder, and this position-limit mechanism adopts and utilizes the mode in piston clogging hydraulic loop to carry out spacing, wherein, the interface of this hydraulic cylinder and each hydraulic circuit is set at these two piston movements during to preposition, these two pistons stop up the interface of this hydraulic cylinder and each hydraulic circuit, thereby limit the displacement of this piston.
According to one embodiment of present invention, this position-limit mechanism comprises the block that is arranged on this hydraulic cylinder, and it limits the range of movement of this piston, or limits the range of movement of the piston rod that links to each other with this piston.
According to a further aspect of the invention, provide a kind of automobile, it has such as the described pitch angle of vehicle body control system of above-mentioned any one technical scheme.
The invention provides a kind of mechanical hydraulic-pressure type detection system of automotive pitch angle, simple in structure, easy for installation, precision is high, cost is low, can accurately measure in real time the vehicle body angle of pitch of automobile, can be self-adaptive headlamp system or other Auto Electronic Controlled System dynamically vehicle body angle of pitch parameter is provided accurately, but wide popularization and application.
On the other hand, the invention provides a kind of pitch angle of vehicle body control system of mechanical hydraulic-pressure type, by position-limit mechanism, suppress automobile when concavo-convex road traveling, acceleration or braking fore suspension and rear suspension towards the larger motion of the kinetic vehicle body pitching of different directions.The present invention is simple in structure, and is easy for installation, can effectively control and reduce the angle of pitch (such as automobile emergency brake time the vehicle body angle of pitch) of body of a motor car, improve the stability of vehicle body and occupant's comfort level, and cost is low, but wide popularization and application.
By reading instructions, those of ordinary skills will understand feature and the aspect of these embodiment and other embodiment better.
Description of drawings
Below by describing particularly the present invention with reference to the accompanying drawings and in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in the accompanying drawing only is used for explanation of the present invention, and does not consist of the restriction of going up in all senses of the present invention, in the accompanying drawings:
Fig. 1 a is that the pitch angle of vehicle body of prior art detects principle schematic;
Fig. 1 b is the pitch angle of vehicle body control system structural drawing one of prior art;
Fig. 1 c is the pitch angle of vehicle body control system structural drawing two of prior art;
Fig. 2 is vehicle body luffing angle detection system structural representation according to an embodiment of the invention;
Fig. 3 is the stator component of left front torsion bar mechanism among Fig. 2 and the structural representation of corresponding rotor elements combination;
Fig. 4 is the stator component of left front torsion bar mechanism among Fig. 2 and the schematic cross-section of corresponding rotor elements combination;
Fig. 5 is the stator component of right front torsion bar mechanism among Fig. 2 and the schematic cross-section of corresponding rotor elements combination;
Fig. 6 is the stator component of left back torsion bar mechanism among Fig. 2 and the schematic cross-section of corresponding rotor elements combination;
Fig. 7 is the stator component of right back torsion bar mechanism among Fig. 2 and the schematic cross-section of corresponding rotor elements combination;
Fig. 8 is vehicle body luffing angle synoptic diagram;
Fig. 9 is piston rod displacement and vehicle body with respect to the concern synoptic diagram of wheel in the displacement of vertical direction;
Figure 10 is the synoptic diagram that concerns of the vehicle body angle of pitch and piston rod displacement.
Figure 11 is the structural representation of pitch angle of vehicle body control system embodiment one of the present invention;
Figure 12 is the stress deformation characteristic synoptic diagram of block rubber among Figure 11;
Figure 13 is the structural representation of pitch angle of vehicle body control system embodiment two of the present invention.
Label list:
11 gyroscopes, 12 lower swing arms
13 vehicle bodies, 14 wheels
1 left front wheel shaft 2 right front wheel shafts
3 left front torsion bar mechanism 4 right front torsion bar mechanisms
5 left back wheel shaft 6 right back wheel shafts
7 left back torsion bar mechanism 8 right back torsion bar mechanisms
9 left front stator component 10 right front stator components
111 left back stator component 112 right back stator components
113 hydraulic cylinders, 114 pistons
115 pistons, 116 piston rods
117 piston rods, 118 piston rods, 119 baffle plates
15 piston rods, 101 left front oil circuits
102 left front No. two oil circuits 201 right front oil circuits
202 right front No. two oil circuits 301 left back oil circuits
302 left back No. two oil circuits 401 right back oil circuits
402 right back No. two oil circuits
31 left front torsion bar mechanism secter pats
The torsion element of 32 left front torsion bar mechanisms
The rotor elements of 33 left front torsion bar mechanisms
41 right front torsion bar mechanism secter pats
The torsion element of 42 right front torsion bar mechanisms
The rotor elements of 43 right front torsion bar mechanisms
501 piston rods, 502 piston rods, 503 blocks, 504 blocks
601 block rubbers, 602 block rubbers
71 left back torsion bar mechanism secter pats
The torsion element of 72 left back torsion bar mechanisms
The rotor elements of 73 left back torsion bar mechanisms
81 right back torsion bar mechanism secter pats
The torsion element of 82 right back torsion bar mechanisms
The rotor elements of 83 right back torsion bar mechanisms
The hf vehicle body at the front suspension place with respect to wheel displacement in the vertical direction;
The hr vehicle body at the rear suspension place with respect to wheel displacement in the vertical direction;
The distance L piston rod displacement θ angle of pitch of W antero posterior axis
Embodiment
(1) embodiment of pitch angle of vehicle body detection system
According to one embodiment of present invention, provide a kind of pitch angle of vehicle body detection system, comprising: front torsion bar mechanism, rear torsion bar mechanism, Hydraulic coupling system, displacement measuring device, luffing angle computing unit.
Front torsion bar mechanism comprises torsion element and rotor elements, and the torsion element of this front torsion bar mechanism is connected on the automobile front suspension, and for example, the torsion element of front torsion bar mechanism is fixedly connected on the wheel shaft of automobile front suspension, swing arm or the vibration damper; Perhaps, the torsion element of front torsion bar mechanism is connected on the suspension rod by ball pivot, suspension rod is connected on wheel shaft, swing arm or the vibration damper of automobile front suspension (present embodiment describe on the wheel shaft that is fixedly connected on automobile front suspension for example) by ball pivot again, and this front torsion bar mechanism changes into respect to vehicle body this automobile front suspension the rotatablely moving of rotor elements of this front torsion bar mechanism in the translation motion of vertical direction;
Rear torsion bar mechanism comprises torsion element and rotor elements, and torsion element of torsion bar mechanism is connected on the rear overhang rack after this, and for example, the torsion element of rear torsion bar mechanism is fixedly connected on the wheel shaft of rear overhang rack, swing arm or the vibration damper; Perhaps, the torsion element of rear torsion bar mechanism is connected on the suspension rod by ball pivot, suspension rod is connected on wheel shaft, swing arm or the vibration damper of rear overhang rack (present embodiment describe on the wheel shaft that is fixedly connected on rear overhang rack for example) by ball pivot again, and torsion bar mechanism is with this rear overhang rack rotatablely moving with respect to the rotor elements of vehicle body torsion bar mechanism after the translation motion of vertical direction changes into this after this;
This front torsion bar mechanism and rear torsion bar mechanism are hinged on the vehicle body by linkage respectively.
The Hydraulic coupling system comprises: hydraulic cylinder, front stator element, rear stator component, hydraulic circuit.Hydraulic cylinder inside is provided with piston, is connected with piston rod on this piston.
The front stator element cooperates with the rotor elements that is somebody's turn to do front torsion bar mechanism, and between forms two independently transformable airtight hydraulic spaces; For example, the rotor elements of this front torsion bar mechanism has outwardly secter pat laterally in its week, and this front stator element has to projecting inward secter pat in its week to the inside, forms two independently transformable airtight hydraulic spaces between two secter pats;
Rear stator component cooperates with the rotor elements that is somebody's turn to do rear torsion bar mechanism, and between forms two independently transformable airtight hydraulic spaces; For example, rotor elements of torsion bar mechanism has outwardly secter pat laterally in its week after this, and stator component has to projecting inward secter pat in its week to the inside after this, forms two independently transformable airtight hydraulic spaces between two secter pats.
This hydraulic circuit is communicated with this hydraulic cylinder and each airtight hydraulic space, and be configured such that rotatablely moving of each rotor elements promotes the movement of this piston in hydraulic cylinder by this hydraulic circuit, and this automobile front suspension and rear overhang rack with respect to the translation motion in the opposite direction of vehicle body in the vertical direction so that this piston is mobile in the same direction.
Displacement measuring device is measured the displacement of piston by being connected with piston rod.
The luffing angle computing unit can be that independent module also can be integrated in the electronic control unit of automobile, and its displacement meter according to measured piston is calculated the luffing angle of vehicle body.According to one embodiment of present invention, this luffing angle computing unit calculates the luffing angle of vehicle body: θ=arctan (C*L)/W according to following formula
Wherein, θ is the luffing angle of vehicle body, and L is the displacement of piston, and W is the distance of antero posterior axis, and C is scale-up factor, and this scale-up factor is by calculative determination or by experiment demarcation.
According to first specific embodiment of the present invention, be somebody's turn to do front torsion bar mechanism and should only have respectively one by rear torsion bar mechanism, and should before the automobile front suspension that connects of torsion bar mechanism and be connected the same side that rear overhang rack that rear torsion bar mechanism connects is positioned at automobile, for example all be positioned at the left side of automobile, or all be positioned at the right side of automobile.
According to second specific embodiment of the present invention, should before torsion bar mechanism comprise left and right two independently before torsion bar mechanism, should after torsion bar mechanism comprise left and right two independently after torsion bar mechanism, and the automobile front suspension that this Hydraulic coupling system further is configured such that arranged on left and right sides with respect to the translation motion in the same direction of vehicle body in the vertical direction so that this piston is mobile in the same direction, and the rear overhang rack of arranged on left and right sides with respect to the translation motion in the same direction of vehicle body in the vertical direction so that this piston is mobile in the same direction.In this case, can adopt stator component behind left and right two front stator elements and left and right two, the rotor elements of each torsion bar mechanism cooperates with corresponding stator component respectively.Rotor elements and stator component cooperate formed each airtight hydraulic space to be communicated with hydraulic cylinder by hydraulic circuit respectively.
The below is specifically described as an example of second specific embodiment example:
To shown in Figure 7, in this specific embodiment, detection system comprises left front wheel shaft 1 such as Fig. 2, right front wheel shaft 2, left front torsion bar mechanism 3, right front torsion bar mechanism 4, left back wheel shaft 5, right back wheel shaft 6, left back torsion bar mechanism 7, right back torsion bar mechanism 8, left front stator component 9, right front stator component 10, left back stator component 111, right back stator component 112, hydraulic cylinder 113, piston 114, piston rod 15, a left front oil circuit 101, left front No. two oil circuits 102, a right front oil circuit 201, right front No. two oil circuits 202, a left back oil circuit 301, left back No. two oil circuits 302, a right back oil circuit 401, right back No. two oil circuits 402.
Left front torsion bar mechanism 3, right front torsion bar mechanism 4, left back torsion bar mechanism 7, right back torsion bar mechanism 8 adopts the torsion bar of rod shaped structure, each torsion bar mechanism comprises respectively torsion element (such as the label 32,42,72,82 among Fig. 2) and rotor elements (such as the label 33,43,73,83 among Fig. 2), torsion element is used for being connected to wheel shaft, and rotor elements is used for cooperating with stator component, and the outside, rotor elements end is respectively equipped with secter pat 31,41,71,81.
Left front stator component 9, right front stator component 10, left back stator component 111, right back stator component 112 is cylindrical shape, inside is provided with secter pat, form respectively two independently transformable airtight hydraulic spaces between the secter pat of the secter pat of each rotor elements and corresponding stator component, wherein be full of hydraulic oil; Hydraulic cylinder 113 is tubular construction, and closed at both ends is only passed for piston rod 15; Piston 114 is cylindrical; Piston rod 15 is cylindrical bar; Hydraulic circuit all adopts iron pipeline, all is full of hydraulic oil in hydraulic cylinder 113 and the hydraulic circuit.
Left front torsion bar mechanism 3 is fixedly mounted on the front left wheel axle 1, and is hinged on the vehicle body; Right front torsion bar mechanism 4 is fixedly mounted on the right front wheel axle 2, and is hinged on the vehicle body; Left back torsion bar mechanism 7 is fixedly mounted on the left back axletree 5, and is hinged on the vehicle body; Right back torsion bar mechanism 8 is fixedly mounted on the right rear wheel axle 6, and is hinged on the vehicle body.
Left front torsion bar mechanism 3 contact with left front stator component 9 on being installed in vehicle body by the secter pat 31 in the end outside, and left front stator component 9 passes through side contacts outside the secter pat of inside and left front torsion bar mechanism 3 ends; Right front torsion bar mechanism 4 contact with right front stator component 10 on being installed in vehicle body by the secter pat 41 in the end outside, and right front stator component 10 passes through side contacts outside the secter pat of inside and right front torsion bar mechanism 4 ends; Left back torsion bar mechanism 7 contact with left back stator component 111 on being installed in vehicle body by the secter pat 71 in the end outside, and left back stator component 111 passes through side contacts outside the secter pat of inside and left back torsion bar mechanism 7 ends; Right back torsion bar mechanism 8 contact with right back stator component 112 on being installed in vehicle body by the secter pat 81 in the end outside, and right back stator component 112 passes through side contacts outside the secter pat of inside and right back torsion bar mechanism 8 ends.
All be full of hydraulic oil in two confined spaces that the secter pat 31 in the outside, left front torsion bar mechanism 3 ends and the secter pat of left front stator component 9 inside form, two confined spaces link to each other respectively with the right chamber of hydraulic cylinder 113, left chamber by oil circuit 101, oil circuit 102; All be full of hydraulic oil in two confined spaces that the secter pat 41 in the outside, right front torsion bar mechanism 4 ends and the secter pat of right front stator component 10 inside form, two confined spaces link to each other respectively with the left chamber of hydraulic cylinder 113, right chamber by oil circuit 201, oil circuit 202; All be full of hydraulic oil in two confined spaces that the secter pat 71 in the outside, left back torsion bar mechanism 7 ends and the secter pat of left back stator component 111 inside form, two confined spaces link to each other respectively with the left chamber of hydraulic cylinder 113, right chamber by oil circuit 301, oil circuit 302; All be full of hydraulic oil in two confined spaces that the secter pat 81 in the outside, right back torsion bar mechanism 8 ends and the secter pat of right back stator component 112 inside form, two confined spaces link to each other respectively with the right chamber of hydraulic cylinder 113, left chamber by oil circuit 401, oil circuit 402; Hydraulic cylinder 113 is fixedly mounted on the vehicle body, and the outside of piston 114 contacts with the inwall of hydraulic cylinder 113, and piston rod 15 contacts with the two ends perforate inwall of hydraulic cylinder 113.
When brake hard, the body forward structure nutation, the front suspension compression, body tail is lifted simultaneously, and rear suspension is upheld; The relative vehicle body of front-wheel moves upward, and the relative vehicle body of trailing wheel moves downward; Left front wheel shaft 1 moves upward, being fixed on left front torsion bar mechanism 3 on the left front wheel shaft 1 sees behind the car and turns clockwise, the secter pat 31 of left front torsion bar mechanism 3 ends and the secter pat generation relative motion of left front stator component 9 inside, hydraulic oil enters in the left chamber of hydraulic cylinder 113 by left front No. two oil circuits 102 from the confined space that the secter pat of the secter pat 31 of left front torsion bar mechanism 3 ends and left front stator component 9 inside forms, piston 114 moves right, in another confined space that hydraulic oil enters left front torsion bar mechanism 3 ends by a left front oil circuit 101 from the right chamber of hydraulic cylinder 113 secter pat 31 and the secter pat of left front stator component 9 inside form.
Right front wheel shaft 2 moves upward, being fixed on right front torsion bar mechanism 4 on the right front wheel shaft 2 sees behind the car and is rotated counterclockwise, the secter pat 41 of right front torsion bar mechanism 4 ends and the secter pat generation relative motion of right front stator component 10 inside, hydraulic oil enters in the left chamber of hydraulic cylinder 113 by a right front oil circuit 201 from the confined space that the secter pat of the secter pat 41 of right front torsion bar mechanism 4 ends and right front stator component 10 inside forms, piston 114 moves right, in another confined space that hydraulic oil enters right front torsion bar mechanism 4 ends by right front No. two oil circuits 202 from the right chamber of hydraulic cylinder 113 secter pat 41 and the secter pat of right front stator component 10 inside form.
Left back wheel shaft 5 moves downward, being fixed on left back torsion bar mechanism 7 on the left back wheel shaft 5 sees behind the car and is rotated counterclockwise, the secter pat 71 of left back torsion bar mechanism 7 ends and the secter pat generation relative motion of left back stator component 111 inside, hydraulic oil enters in the left chamber of hydraulic cylinder 113 by a left back oil circuit 301 from the confined space that the secter pat of the secter pat 71 of left back torsion bar mechanism 7 ends and left back stator component 111 inside forms, piston 114 moves right, in another confined space that hydraulic oil enters left back torsion bar mechanism 7 ends by left back No. two oil circuits 302 from the right chamber of hydraulic cylinder 113 secter pat 71 and the secter pat of left back stator component 111 inside form.
Right back wheel shaft 6 moves downward, being fixed on right back torsion bar mechanism 8 on the right back wheel shaft 6 sees behind the car and turns clockwise, the secter pat 81 of right back torsion bar mechanism 8 ends and the secter pat generation relative motion of right back stator component 112 inside, hydraulic oil enters in the left chamber of hydraulic cylinder 113 by right back No. two oil circuits 402 from the confined space that the secter pat of the secter pat 81 of right back torsion bar mechanism 8 ends and right back stator component 112 inside forms, piston 114 moves right, in another confined space that hydraulic oil enters right back torsion bar mechanism 8 ends by a right back oil circuit 401 from the right chamber of hydraulic cylinder 113 secter pat 81 and the secter pat of right back stator component 112 inside form.
Hydraulic oil enters in the left chamber of hydraulic cylinder 113 from left front No. two oil circuits 102, a right front oil circuit 201, a left back oil circuit 301, right back No. two oil circuits 402, pushing piston 114 moves right, hydraulic oil in the right chamber of hydraulic cylinder 113 flows out from a left front oil circuit 101, right front No. two oil circuits 202, left back No. two oil circuits 302, a right back oil circuit 401, by measuring the displacement of piston rod 15, obtain the luffing angle of vehicle body.
Extremely shown in Figure 10 such as Fig. 8, among the figure:
The hf-vehicle body at the front suspension place with respect to wheel displacement in the vertical direction;
The hr-vehicle body at the rear suspension place with respect to wheel displacement in the vertical direction;
The distance of W-antero posterior axis;
The displacement of L-piston rod;
C-scale-up factor, scale-up factor can be by calculative determinations or are demarcated by experiment.
In the displacement in the vertical direction of fore suspension and rear suspension place relative wheel, the computation process of the vehicle body angle of pitch is as follows according to vehicle body:
Suppose that vehicle body leans forward, vehicle body is hf (hf is negative value among the figure) at the front suspension place with respect to wheel displacement in the vertical direction, vehicle body is hr (among the figure hr on the occasion of) at the rear suspension place with respect to wheel displacement in the vertical direction, and the distance of antero posterior axis is W, then pitching angle theta=the arctan of automobile (hf-hr)/W, hf-hr=C*L, θ=arctan (C*L)/W then, by experience as can be known, the angle of pitch amplitude of vehicle body generally is no more than 5 degree, therefore, θ ≈ (C*L)/W.
Need to prove, understand specifically the movement that rotatablely moves to promote piston in hydraulic cylinder that how to utilize torsion bar mechanism in above-described embodiment take rotor elements and stator component as preferred embodiment, those skilled in the art expect easily that according to description of the invention other alternative method realizes utilizing the pushing piston that rotatablely moves to move, and these alternative methods also within the scope of the invention.
The present invention provides a kind of automobile simultaneously, and it has such as the described pitch angle of vehicle body detection system of above-mentioned technical scheme.
The present invention is simple in structure, and cost is low, and is easy for installation, precision is high, Real-time Measuring measures the vehicle body angle of pitch of automobile accurately, and can be self-adaptive headlamp system or other Auto Electronic Controlled System dynamically vehicle body angle of pitch parameter is provided accurately, but wide popularization and application.
(2) embodiment of pitch angle of vehicle body control system
Embodiment one
As shown in figure 11, the structure that the structure that present embodiment adopts and embodiment shown in Figure 2 adopt is basic identical, difference is there is not displacement measuring device, but adopt position-limit mechanism that the displacement of this piston 114 is limited, with the luffing angle of control vehicle body, thus the luffing of inhibition vehicle body.
Position-limit mechanism comprises: two piston rods 501,502, and it is connected to the both sides of piston 114, and extends to respectively outside the hydraulic cylinder 113, and the end of these two piston rods is respectively arranged with block 503,504; Flexible member (adopting the block rubber 601,602 be enclosed within on the piston rod 113 in the present embodiment) be installed on block 503,504 and the end face of corresponding hydraulic cylinder between, the displacement of limited piston bar, thereby the displacement of limited piston 114.
Like this, block rubber 601,602 and hydraulic cylinder 113 and block 503,504 power of having an effect, increasing along with block rubber 601,602 rubber deformation, acting force is delivered to suspension by Hydraulic coupling system and torsion bar mechanism, limit extension extension and the rear suspension compression of front suspension (or limited) of front suspension compression and rear suspension, effectively controlled the luffing of vehicle body.
Be the stress deformation characteristic synoptic diagram of block rubber as shown in figure 12, block rubber is for becoming the flexible member of rigidity.Certainly the present invention also can adopt other flexible member, spring for example, and these are all within protection scope of the present invention.
Embodiment two
As shown in figure 13, the structure that the structure that present embodiment adopts and embodiment shown in Figure 2 adopt is basic identical, difference is there is not displacement measuring device, and the structure of hydraulic cylinder inside, piston, piston rod, and variation has occured the interface position of hydraulic cylinder and each hydraulic circuit.
In the present embodiment, adopt baffle plate 119 that hydraulic cylinder is divided into a left side in the middle of the hydraulic cylinder 114, right two parts, on a left side, right two parts arrange respectively a piston 114,115, and adopt piston rod 116 to pass baffle plate 119 with a left side, the piston 114 of right two parts, 115 couple together, each hydraulic circuit of vehicle left side and the interface of hydraulic cylinder are positioned at the left-hand component of hydraulic cylinder, each hydraulic circuit on vehicle right side and the interface of hydraulic cylinder are positioned at the right-hand component of hydraulic cylinder, and position-limit mechanism adopts and utilizes the mode in piston clogging hydraulic loop to carry out spacing, wherein, the interface of hydraulic cylinder and each hydraulic circuit is set at two pistons 114,115 when moving to preposition, these two pistons 114,115 stop up the interface of this hydraulic cylinder and each hydraulic circuit, thus limited piston 114,115 displacement.
Preferably, be connected with the piston rod 117 that extends to outside the hydraulic cylinder in the outside of piston 114, be connected with the piston rod 118 that extends to outside the hydraulic cylinder in the outside of piston 115, and the sectional area of each piston rod is piston cross-section amasss half.
After the vehicle body angle of pitch reaches design angle, when for example piston moves right preset distance, can stop up oil circuit 101, oil circuit 302, oil circuit 202 and oil circuit 401, piston can not continue to move right; Equally, when piston is moved to the left preset distance, can stop up oil circuit 102, oil circuit 301, oil circuit 201 and oil circuit 402, piston can not continue to be moved to the left.The torsion bar mechanism of forward and backward suspension will produce acting force to the vertical movement of suspension, limit extension extension and the rear suspension compression of front suspension (or limited) of front suspension compression and rear suspension, effectively control the luffing of vehicle body.
Certainly, position-limit mechanism of the present invention also can adopt and comprise and be arranged at the block that (for example is arranged at the inside of hydraulic cylinder) on the hydraulic cylinder, the range of movement of its limited piston, or the range of movement of the piston rod that links to each other with piston of restriction can play the effect of limited piston displacement equally.
The present invention provides a kind of automobile simultaneously, and it has such as the described pitch angle of vehicle body control system of above-mentioned technical scheme.
The present invention adopts the pitch angle of vehicle body control system of mechanical hydraulic-pressure type, pass through position-limit mechanism, suppress automobile when concavo-convex road traveling, acceleration or braking fore suspension and rear suspension towards the larger motion of the kinetic vehicle body pitching of different directions, simple in structure, easy for installation, can effectively control and reduce the angle of pitch (such as automobile emergency brake time the vehicle body angle of pitch) of body of a motor car, improve the stability of vehicle body and occupant's comfort level, and cost is low, but wide popularization and application.
More than with reference to the accompanying drawings of the preferred embodiments of the present invention, those skilled in the art do not depart from the scope and spirit of the present invention, and can have multiple flexible program to realize the present invention.For example, the feature that illustrates or describe as the part of an embodiment can be used for another embodiment to obtain another embodiment.Below only for the better feasible embodiment of the present invention, be not so limit to interest field of the present invention, the equivalence that all utilizations instructions of the present invention and accompanying drawing content are done changes, and all is contained within the interest field of the present invention.
Claims (10)
1. pitch angle of vehicle body detection system comprises:
Front torsion bar mechanism, it is connected on the automobile front suspension, and described automobile front suspension is changed into rotatablely moving of described front torsion bar mechanism with respect to vehicle body in the translation motion of vertical direction;
Rear torsion bar mechanism, it is connected on the rear overhang rack, and described rear overhang rack is changed into rotatablely moving of described rear torsion bar mechanism with respect to vehicle body in the translation motion of vertical direction;
The Hydraulic coupling system, it comprises that inside is provided with the hydraulic cylinder of piston and the hydraulic circuit that is connected with hydraulic cylinder, and be configured such that described rotatablely moving promotes the movement of described piston in hydraulic cylinder by described hydraulic circuit, and described automobile front suspension and rear overhang rack with respect to the translation motion in the opposite direction of vehicle body in the vertical direction so that described piston is mobile in the same direction;
Displacement measuring device, it is connected on the described piston, measures the displacement of piston;
The luffing angle computing unit, its displacement meter according to measured piston is calculated the luffing angle of vehicle body.
2. pitch angle of vehicle body detection system according to claim 1, it is characterized in that, described front torsion bar mechanism comprises torsion element and rotor elements, the torsion element of described front torsion bar mechanism is connected on the automobile front suspension, and described front torsion bar mechanism changes into respect to vehicle body described automobile front suspension the rotatablely moving of rotor elements of described front torsion bar mechanism in the translation motion of vertical direction;
Described rear torsion bar mechanism comprises torsion element and rotor elements, the torsion element of described rear torsion bar mechanism is connected on the rear overhang rack, and described rear torsion bar mechanism changes into respect to vehicle body described rear overhang rack the rotatablely moving of rotor elements of described rear torsion bar mechanism in the translation motion of vertical direction;
Described Hydraulic coupling system comprises:
The front stator element, it cooperates with the rotor elements of described front torsion bar mechanism, and between forms two independently transformable airtight hydraulic spaces;
Rear stator component, it cooperates with the rotor elements of described rear torsion bar mechanism, and between forms two independently transformable airtight hydraulic spaces;
Described hydraulic circuit is communicated with described hydraulic cylinder and each airtight hydraulic space.
3. pitch angle of vehicle body detection system according to claim 2, it is characterized in that, the rotor elements of described front torsion bar mechanism has outwardly secter pat laterally in its week, described front stator element has to projecting inward secter pat in its week to the inside, forms two independently transformable airtight hydraulic spaces between two secter pats;
The rotor elements of described rear torsion bar mechanism has outwardly secter pat laterally in its week, and described rear stator component has to projecting inward secter pat in its week to the inside, forms two independently transformable airtight hydraulic spaces between two secter pats.
4. automobile, it has such as the described pitch angle of vehicle body detection system of above-mentioned any one claim.
5. pitch angle of vehicle body control system comprises:
Front torsion bar mechanism, it is connected on the automobile front suspension, and described automobile front suspension is changed into rotatablely moving of described front torsion bar mechanism with respect to vehicle body in the translation motion of vertical direction;
Rear torsion bar mechanism, it is connected on the rear overhang rack, and described rear overhang rack is changed into rotatablely moving of described rear torsion bar mechanism with respect to vehicle body in the translation motion of vertical direction;
The Hydraulic coupling system, it comprises that inside is provided with the hydraulic cylinder of piston and the hydraulic circuit that is connected with hydraulic cylinder, and be configured such that described rotatablely moving promotes the movement of described piston in hydraulic cylinder by described hydraulic circuit, and described automobile front suspension and rear overhang rack with respect to the translation motion in the opposite direction of vehicle body in the vertical direction so that described piston is mobile in the same direction;
Position-limit mechanism, its displacement to described piston limits, with the luffing angle of control vehicle body, thus the luffing of inhibition vehicle body.
6. pitch angle of vehicle body control system according to claim 5, it is characterized in that, described front torsion bar mechanism comprises torsion element and rotor elements, the torsion element of described front torsion bar mechanism is connected on the automobile front suspension, and described front torsion bar mechanism changes into respect to vehicle body described automobile front suspension the rotatablely moving of rotor elements of described front torsion bar mechanism in the translation motion of vertical direction;
Described rear torsion bar mechanism comprises torsion element and rotor elements, the torsion element of described rear torsion bar mechanism is connected on the rear overhang rack, and described rear torsion bar mechanism changes into respect to vehicle body described rear overhang rack the rotatablely moving of rotor elements of described rear torsion bar mechanism in the translation motion of vertical direction;
Described Hydraulic coupling system comprises:
The front stator element, it cooperates with the rotor elements of described front torsion bar mechanism, and between forms two independently transformable airtight hydraulic spaces;
Rear stator component, it cooperates with the rotor elements of described rear torsion bar mechanism, and between forms two independently transformable airtight hydraulic spaces;
Described hydraulic circuit is communicated with described hydraulic cylinder and each airtight hydraulic space.
7. pitch angle of vehicle body control system according to claim 6, it is characterized in that, the rotor elements of described front torsion bar mechanism has outwardly secter pat laterally in its week, described front stator element has to projecting inward secter pat in its week to the inside, forms two independently transformable airtight hydraulic spaces between two secter pats;
The rotor elements of described rear torsion bar mechanism has outwardly secter pat laterally in its week, and described rear stator component has to projecting inward secter pat in its week to the inside, forms two independently transformable airtight hydraulic spaces between two secter pats.
8. each described pitch angle of vehicle body control system according to claim 5-7 is characterized in that described position-limit mechanism comprises:
Two piston rods, it is connected to the both sides of described piston, and extends to respectively outside the described hydraulic cylinder, and the end of described two piston rods is respectively arranged with block;
Flexible member, it is installed between the end face of described block and corresponding hydraulic cylinder, limits the displacement of described piston rod, thereby limits the displacement of described piston.
9. each described pitch angle of vehicle body control system according to claim 5-7, it is characterized in that, described position-limit mechanism adopts and utilizes the mode in piston clogging hydraulic loop to carry out spacing, wherein, the interface of described hydraulic cylinder and each hydraulic circuit is set at described piston movement during to preposition, described piston stops up the interface of described hydraulic cylinder and each hydraulic circuit, thereby limits the displacement of described piston.
10. automobile, it has such as any one described pitch angle of vehicle body control system among the above-mentioned claim 5-9.
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| CN201210109491.4A CN103376087B (en) | 2012-04-13 | 2012-04-13 | Pitch angle of vehicle body detection system, control system and corresponding automobile |
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| CN201210109491.4A CN103376087B (en) | 2012-04-13 | 2012-04-13 | Pitch angle of vehicle body detection system, control system and corresponding automobile |
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| CN112172440A (en) * | 2020-10-19 | 2021-01-05 | 合肥工业大学 | Active control device for resisting front pitching of car during braking |
| CN112297747A (en) * | 2020-11-02 | 2021-02-02 | 合肥工业大学 | A pitch angle vibration control device for four wheel drive passenger car |
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| CN103376087B (en) | 2015-07-29 |
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