CN104309436B

CN104309436B - There is vehicle active suspension actuator and the control method thereof of energy confession function

Info

Publication number: CN104309436B
Application number: CN201410603285.8A
Authority: CN
Inventors: 寇发荣
Original assignee: Xian University of Science and Technology
Current assignee: Xian University of Science and Technology
Priority date: 2014-10-29
Filing date: 2014-10-29
Publication date: 2015-09-02
Anticipated expiration: 2034-10-29
Also published as: CN104309436A

Abstract

The invention discloses a kind of vehicle active suspension actuator with energy confession function, comprise outer sleeve, guide rod, orienting sleeve, first inner sleeve, second inner sleeve and the first guiding and sealing arrangement, piston is connected with bottom guide rod, guide rod middle and upper part is connected with permanent magnet, second inner sleeve is wound with coil, in outer sleeve, bottom is provided with baffle plate, outer sleeve inner bottom part is provided with brshless DC motor, baffle plate top is provided with Hydraulic Pump, in first inner sleeve, bottom is connected with the second guiding and sealing arrangement, the rotating shaft of brshless DC motor is connected with the rotating shaft of Hydraulic Pump, first hydraulic fluid port of Hydraulic Pump is threaded with tapped bore, the top of the first inner sleeve is provided with through hole, lead at baffle plate and second and one section of first inner sleeve between sealing arrangement is provided with lower through-hole, the invention also discloses a kind of control method with the vehicle active suspension actuator of energy confession function.The present invention can extend the service life of Vehicular accumulator cell, and active suspension can be made to be in best vibration damping state.

Description

There is vehicle active suspension actuator and the control method thereof of energy confession function

Technical field

The invention belongs to automobile suspension system technical field, be specifically related to a kind of vehicle active suspension actuator and the control method thereof with energy confession function.

Background technology

When automobile travels on road surface, due to the out-of-flat on road surface and automobile acceleration and deceleration, the operation such as to turn to can cause producing between automobile spring carried mass and nonspring carried mass relative displacement, thus cause automobile to produce vibration.Shock absorber in the passive suspension of tradition be the form that rubs by this part mechanical energy for thermal energy consumption dissipates, thus produce dumping force and to decay the vibration of automobile.Simultaneously, traditional passive suspension due to the parameters such as stiffness and damping be changeless, so can only ensure that automobile is issued to optimum performance at the specific road condition of one and moving velocity, this just makes vehicle running smoothness and travelling comfort receive certain impact.

Active suspension is exactly state of kinematic motion according to automobile and surface conditions, the in time parameter of adjustable suspension, makes it be in best vibration damping state.To be exactly vibration that road surface is inputted absorbed what be passed to that vehicle body takes a step forward or offset its essence; In active suspension system, the realization of design to ACTIVE CONTROL of actuator plays conclusive effect.But the actuator in active suspension often needs outside extra to provide energy, makes its energy consumption increase.In order to address this problem, someone proposes energy self-supply type active suspension actuator of electric, but energy self-supply type active suspension actuator of electric of the prior art also exists that complex structure, low-response, poor reliability, energy consumption are large, high in cost of production defect.Such as application number be 201010108889.7 Chinese patent disclose a kind of electrohydraulic energy-regenerative type shock absorber, this electrohydraulic energy-regenerative type shock absorber comprises hydraulic circuit, operating room and piston, this operating room is pistons work chamber and energy storage power generation chamber two parts by baffle for separating, wherein: piston is arranged in pistons work chamber, it is connected with the upper mounting base of outside by piston push rod; HM Hydraulic Motor is arranged in energy storage power generation chamber, and it is connected with the rotary generator of outside by transmission shaft; Energy storage is arranged in energy storage power generation chamber, and it is positioned at below dividing plate; Hydraulic circuit and multiple check valve form hydraulic pressure rectifier bridge, and hydraulic circuit adopts the form of exocoel in piston is arranged external pipeline outward or plunger designs become.Under this electrohydraulic energy-regenerative type shock absorber only can be operated in the pattern of energy feedback, by adjusting the electric current of electrical generator, and then the electromagnetic resistance square of adjustment electrical generator, thus adjust the dumping force of whole suspension system, the control process of what its essence completed is semi-active suspension, owing to not having the output of active controlling force, damping effect and control law design thereof are restricted, and also will affect the ride comfort of vehicle traveling and the raising degree of road-holding property simultaneously.

In addition, the control method of energy self-supply type active suspension actuator of electric of the prior art often lays particular stress on the performance in a certain respect of active suspension, there is no the overall performance of complex energy self-supply type active suspension actuator of electric, cause actuator ACTIVE CONTROL DeGrain in the course of the work, between energy feedback pattern and Active Control Mode, conversion rate is too frequent, cause the hesitation that system is serious, also have larger impact to the life-span of storage battery; And need to improve to the control method of motor speed in actuator in prior art, prior art can't make active suspension be in best vibration damping state.

Summary of the invention

Technical matters to be solved by this invention is for above-mentioned deficiency of the prior art, provide a kind of structure simple, realize convenient and cost is low, can actv. reclaim that vibrational energy, energy regenerative efficiency are high, working stability and high, the practical vehicle active suspension actuator with energy confession function of reliability.

For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of vehicle active suspension actuator with energy confession function, it is characterized in that: comprise actuator body and actuator controller, the input end of described actuator controller being connected to voltage sensor for detecting the output voltage of Vehicular accumulator cell, for the spring carried mass displacement pickup that detects spring carried mass displacement and the nonspring carried mass displacement pickup for detecting nonspring carried mass displacement, described Vehicular accumulator cell being connected to battery charging circuit, described actuator body comprises outer sleeve and guide rod, described outer sleeve top is fixedly connected with orienting sleeve, in described outer sleeve, bottom is set with the first inner sleeve, described outer sleeve internal upper part is set with the second inner sleeve, middle part is sealedly connected with and is fastened on first between the first inner sleeve and the second inner sleeve and leads and sealing arrangement in described outer sleeve, described guide rod has stretched in the second inner sleeve through orienting sleeve, and stretched in the first inner sleeve through the first guiding and sealing arrangement, the bottom of described guide rod is connected with the piston being sealedly connected on the first inner sleeve inside, the middle and upper part of described guide rod is connected with the permanent magnet be positioned at above the first guiding and sealing arrangement, described second inner sleeve is wound with coil, running of hydraulic power oil gap is left between the outer wall of described first inner sleeve middle and upper part and the inwall of outer sleeve, bottom and the outer sleeve of described first inner sleeve are tightly connected, in described outer sleeve, bottom is provided with the baffle plate contacted with the bottom end face of the first sleeve, described outer sleeve inner bottom part is provided with the brshless DC motor be positioned at below baffle plate, described baffle plate top is provided with Hydraulic Pump, in described first inner sleeve, bottom is connected together and is positioned at second guiding and the sealing arrangement at Hydraulic Pump top, the middle position of described second guiding and sealing arrangement is provided with tapped bore, the rotating shaft of described brshless DC motor is connected with the rotating shaft of Hydraulic Pump, first hydraulic fluid port of described Hydraulic Pump is threaded with tapped bore, the inner cavity be positioned at above piston of described first inner sleeve is upper oil cavitie, the inner cavity be positioned at below piston of described first inner sleeve is lower oil cavitie, second hydraulic fluid port of described Hydraulic Pump is located in the second guiding and the lower oil cavitie between sealing arrangement and baffle plate, hydraulic oil is provided with in described upper oil cavitie and in lower oil cavitie, the top of described first inner sleeve is provided with near the position of the first guiding and sealing arrangement the upper through hole circulated between upper oil cavitie and running of hydraulic power oil gap for hydraulic oil, lead at baffle plate and second and one section of first inner sleeve between sealing arrangement be provided with the lower through-hole circulated between lower oil cavitie and running of hydraulic power oil gap for hydraulic oil, described coil is connected with battery charging circuit by rectifier, the outer wall of described outer sleeve is provided with control capsule, described actuator controller is arranged in control capsule, and mouth and the battery charging circuit of described brshless DC motor and actuator controller connect.

The above-mentioned vehicle active suspension actuator with energy confession function, is characterized in that: described first leads and be provided with an O RunddichtringO between sealing arrangement and the inwall of outer sleeve.

The above-mentioned vehicle active suspension actuator with energy confession function, is characterized in that: described piston is connected with the bottom thread of guide rod, and the bottom thread of described guide rod is connected with the first nut for Location guide; The 2nd O RunddichtringO is provided with between the inwall of described piston and the first inner sleeve.

The above-mentioned vehicle active suspension actuator with energy confession function, is characterized in that: described permanent magnet is threaded with the middle and upper part of guide rod, and the middle and upper part of described guide rod is threaded for the second nut of fixed permanent magnet.

The above-mentioned vehicle active suspension actuator with energy confession function, is characterized in that: be provided with the 3rd O RunddichtringO between the bottom of described first inner sleeve and outer sleeve.

The above-mentioned vehicle active suspension actuator with energy confession function, is characterized in that: the rotating shaft of described brshless DC motor is connected by coupler with the rotating shaft of Hydraulic Pump; The rotating shaft of described brshless DC motor is connected with and contacts with the bottom surface of baffle plate and for preventing hydraulic oil from flowing to oil sealing below baffle plate.

Present invention also offers and a kind ofly in time can regulate the parameter of active suspension, make active suspension be in best vibration damping state, the control method with the vehicle active suspension actuator of energy confession function of actuator ACTIVE CONTROL effect in the course of the work can be highlighted better, it is characterized in that the method comprises the following steps:

Step I, the voltage sensor output voltage to Vehicular accumulator cell detects in real time, spring carried mass displacement pickup detects in real time to spring carried mass displacement, nonspring carried mass displacement pickup detects in real time to nonspring carried mass displacement, actuator controller to voltage sensor senses to the spring carried mass displacement signal that detects of the output voltage signal of Vehicular accumulator cell, spring carried mass displacement pickup and the nonspring carried mass displacement signal that detects of nonspring carried mass displacement pickup carry out periodic samples;

Step II, the sampled output voltage of the Vehicular accumulator cell obtained of actuator controller compares with the working mode change voltage threshold that presets, when the output voltage of Vehicular accumulator cell is less than working mode change voltage threshold, described actuator controller does not export the control signal to brshless DC motor, under described vehicle active suspension actuator is operated in energy regenerative pattern, concrete working process is: body vibrations drives guide rod motion, guide rod drives piston and permanent magnet motion, magnetic field changes, coil cutting magnetic induction line produces induced electric motive force, the induced electric motive force produced is by after rectifier rectification, charge to Vehicular accumulator cell through battery charging circuit again, simultaneously, when the piston is moving down, hydraulic oil in upper oil cavitie enters Hydraulic Pump by the first hydraulic fluid port of tapped bore and Hydraulic Pump, Hydraulic Pump drives brshless DC motor to rotate, brshless DC motor rotates and produces electric energy, charge to Vehicular accumulator cell through battery charging circuit, hydraulic oil enters in the second guiding and the lower oil cavitie between sealing arrangement and baffle plate through the second hydraulic fluid port of Hydraulic Pump again, then flows back to upper oil cavitie through lower through-hole, running of hydraulic power oil gap and upper through hole, when the piston is moving up, hydraulic oil flows in the second guiding and the lower oil cavitie between sealing arrangement and baffle plate by upper through hole, running of hydraulic power oil gap, lower through-hole, hydraulic oil enters Hydraulic Pump by the second hydraulic fluid port of Hydraulic Pump, Hydraulic Pump drives brshless DC motor to rotate, brshless DC motor rotates and produces electric energy, charge to Vehicular accumulator cell through battery charging circuit, hydraulic oil enters through the first hydraulic fluid port of Hydraulic Pump and to lead and in lower oil cavitie between sealing arrangement at piston and second,

When the output voltage of Vehicular accumulator cell is greater than working mode change voltage threshold, described actuator controller carries out analyzing and processing according to the method for fuzzy control to its sample the spring carried mass displacement signal that obtains and nonspring carried mass displacement signal, obtain dutycycle and control according to the rotating speed of dutycycle to brshless DC motor, under described vehicle active suspension actuator is operated in active power consumption pattern, concrete working process is: drive Hydraulic Pump to rotate when brshless DC motor rotates, when Hydraulic Pump rotates, hydraulic oil is by upper through hole, running of hydraulic power oil gap, lower through-hole flows to lower oil cavitie, again from lower through-hole, running of hydraulic power oil gap and upper through hole flow back to upper oil cavitie, along with hydraulic oil is at upper oil cavitie and lower oil cavitie internal circulation flow, promotion piston pumps, and then on guide rod, produce response active force and pass to vehicle body.

Above-mentioned method, is characterized in that: actuator controller described in step II carries out analyzing and processing according to the method for fuzzy control to its sample the spring carried mass displacement signal that obtains and nonspring carried mass displacement signal, and the detailed process obtaining dutycycle is:

Step one, actuator controller are according to formula to its i-th time spring carried mass displacement signal obtained of sampling with nonspring carried mass displacement signal differ from, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when obtaining sampling for i-th time _i; Wherein, the value of i is natural number;

Step 2, actuator controller are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _idifferentiate, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when obtaining sampling for i-th time _ithe rate of change of t in time

Step 3, actuator controller are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _iquantize, obtain deviation e _iquantification amount E _i; Wherein, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when being i-th sampling _iquantizing factor, obtaining value method be: as i=1, as i>1 and | e _i| during <0.02,

K_{1}^{i} = 1.2 \times K_{1}^{i - 1} \times e_{i};

As i>1 and 0.02≤| e _i| when≤0.04,

K_{1}^{i} = 0.78 \times K_{1}^{i - 1} \times e_{i};

As i>1 and | e _i| during >0.04, deviation e _iquantification amount E _idomain be [-6,6];

Step 4, actuator controller are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _ithe rate of change of t in time quantize, obtain deviation e _ithe rate of change of t in time quantification amount wherein, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when being i-th sampling _ithe rate of change of t in time quantizing factor, obtaining value method be: as i=1,

K_{2}^{i} = K_{2}^{1} = 6;

As i>1 and

| e_{c}^{i} | < 0.08

Time,

K_{2}^{i} = 1.8 \times K_{2}^{- 1} \times e_{c}^{i};

As i>1 and

0.08 \leq | e_{c}^{i} | \leq 0.6

Time,

K_{2}^{i} = 1.5 \times K_{2}^{i - 1} \times e_{c}^{i};

As i>1 and

| e_{c}^{i} | > 0.6

Time,

K_{2}^{i} = 1.75 \times K_{2}^{i - 1} \times e_{c}^{i};

Deviation e _ithe rate of change of t in time quantification amount domain be [-6,6];

Step 5, actuator controller are to deviation e _iquantification amount E _icarry out integer according to the method rounded up, obtain deviation e _iquantification amount E _iinteger result and by deviation e _iquantification amount E _iinteger result as first input E ' of fuzzy control _i;

Step 6, actuator controller are to deviation e _ithe rate of change of t in time quantification amount carry out integer according to the method rounded up, obtain deviation e _ithe rate of change of t in time quantification amount integer result as second input of fuzzy control

Step 7, actuator controller are according to first of fuzzy control input E ' _iwith second input of fuzzy control inquire about the fuzzy polling list pre-established by actuator controller be stored in actuator controller internal storage, obtain the output Γ of fuzzy control _i;

Step 8, actuator controller are according to formula to the output Γ of fuzzy control _iadjust, obtain the duty cycle alpha that actuator controller controls brshless DC motor _i; Wherein, for the output Γ to fuzzy control _icarry out the factor of proportionality adjusted, obtaining value method be: as i=1,

K_{3}^{i} = K_{3}^{1} = 0.5;

As i>1 and | e _i| <0.02 or

| e_{c}^{i} | < 0.08

Time,

K_{3}^{i} = 0.9 \times K_{3}^{i - 1};

As i>1 and 0.02≤| e _i|≤0.04 or

0.08 \leq | e_{c}^{i} | \leq 0.6

Time,

K_{3}^{i} = 1.2 \times K_{3}^{i - 1};

As i>1 and | e _i| >0.04 or

| e_{c}^{i} | > 0.6

Time,

K_{3}^{i} = 1.0 \times K_{3}^{i - 1} .

Above-mentioned method, is characterized in that: the process that actuator controller described in step 7 pre-establishes fuzzy polling list is:

Step 701, spring carried mass displacement pickup detect in real time to spring carried mass displacement, nonspring carried mass displacement pickup detects in real time to nonspring carried mass displacement, and the spring carried mass displacement signal that actuator controller detects spring carried mass displacement pickup and the nonspring carried mass displacement signal that nonspring carried mass displacement pickup detects carry out periodic samples;

Step 702, actuator controller are according to formula to its i-th time spring carried mass displacement signal obtained of sampling with nonspring carried mass displacement signal differ from, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when obtaining sampling for i-th time _i; Wherein, the value of i is natural number;

Step 703, actuator controller are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _idifferentiate, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when obtaining sampling for i-th time _ithe rate of change of t in time

Step 704, actuator controller are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _iquantize, obtain deviation e _iquantification amount E _i; Wherein, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when being i-th sampling _iquantizing factor, obtaining value method be: as i=1, as i>1 and | e _i| during <0.02,

K_{1}^{i} = 1.2 \times K_{1}^{i - 1} \times e_{i};

As i>1 and 0.02≤| e _i| when≤0.04,

K_{1}^{i} = 0.78 \times K_{1}^{i - 1} \times e_{i};

Step 705, actuator controller are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _ithe rate of change of t in time quantize, obtain deviation e _ithe rate of change of t in time quantification amount wherein, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when being i-th sampling _ithe rate of change of t in time quantizing factor, obtaining value method be: as i=1,

K_{2}^{i} = K_{2}^{1} = 6;

As i>1 and

| e_{c}^{i} | < 0.08

Time,

K_{2}^{i} = 1.8 \times K_{2}^{i - 1} \times e_{c}^{i};

As i>1 and

0.08 \leq | e_{c}^{i} | \leq 0.6

Time,

K_{2}^{i} = 1.5 \times K_{2}^{i - 1} \times e_{c}^{i};

As i>1 and

| e_{c}^{i} | > 0.6

Time,

K_{2}^{i} = 1.75 \times K_{2}^{i - 1} \times e_{c}^{i};

Step 706, actuator controller are to deviation e _iquantification amount E _icarry out Fuzzy processing, its detailed process is as follows:

Step 7061, definition deviation e _iquantification amount E _ifringe set be honest, center, just little, zero, negative little, negative in, negative large;

Step 7062, actuator controller are according to deviation e _iquantification amount E _itriangular membership

t r i m f (E_{i}, a_{1}, b_{1}, c_{1}) = \{\begin{matrix} 0, & E_{i} \leq a_{1} \\ \frac{E_{i} - a_{1}}{b_{1} - a_{1}}, & a_{1} \leq E_{i} \leq b_{1} \\ \frac{c_{1} - E_{i}}{c_{1} - b_{1}}, & b_{1} \leq E_{i} \leq c_{1} \\ 0 & c_{1} \leq E_{i} \end{matrix}\}

Calculate deviation e _iquantification amount E _icorresponding fringe be subordinate to angle value trimf (E _i, a ₁, b ₁, c ₁), and according to maximum membership grade principle determination deviation e _iquantification amount E _icorresponding fringe, and as deviation e _iquantification amount E _iunder two kinds of different fringes corresponding be subordinate to angle value equal time, choose and be less than deviation e _iquantification amount E _ifringe corresponding to data be deviation e _iquantification amount E _icorresponding fringe; Wherein, a ₁for deviation e _iquantification amount E _ithe abscissa on the left summit of triangle base corresponding to triangular membership, b ₁for deviation e _iquantification amount E _ithe abscissa on the right summit of triangle base corresponding to triangular membership, c ₁for deviation e _iquantification amount E _ithe abscissa on triangular-shaped upper portion summit corresponding to triangular membership; When fringe is honest, a ₁=4, b ₁=6, c ₁=8; When fringe is for center, a ₁=2, b ₁=4, c ₁=6; When fringe is just hour, a ₁=0, b ₁=2, c ₁=4; When fringe is zero, a ₁=-2, b ₁=0, c ₁=2; When fringe is negative hour, a ₁=-4, b ₁=-2, c ₁=0; When fringe is for bearing middle, a ₁=-6, b ₁=-4, c ₁=-2; When fringe is for time negative large, a ₁=-8, b ₁=-6, c ₁=-4;

Step 707, actuator controller are to deviation e _ithe rate of change of t in time quantification amount carry out Fuzzy processing, its detailed process is as follows:

Step 7071, definition deviation e _ithe rate of change of t in time quantification amount fringe set be honest, center, just little, zero, negative little, negative in, negative large;

Step 7072, actuator controller are according to deviation e _ithe rate of change of t in time quantification amount triangular membership

t r i m f (E_{c}^{i}, a_{2}, b_{2}, c_{2}) = \{\begin{matrix} 0, & E_{c}^{i} \leq a_{2} \\ \frac{E_{c}^{i} - a_{2}}{b_{2} - a_{2}}, & a_{2} \leq E_{c}^{i} \leq b_{2} \\ \frac{c_{2} - E_{c}^{i}}{c_{2} - b_{2}}, & b_{2} \leq E_{c}^{i} \leq c_{2} \\ 0 & c_{2} \leq E_{c}^{i} \end{matrix}\}

Calculate deviation e _ithe rate of change of t in time quantification amount corresponding fringe be subordinate to angle value and according to maximum membership grade principle determination deviation e _ithe rate of change of t in time quantification amount corresponding fringe, and as deviation e _ithe rate of change of t in time quantification amount under two kinds of different fringes corresponding be subordinate to angle value equal time, choose and be less than deviation e _ithe rate of change of t in time quantification amount fringe corresponding to data be deviation e _ithe rate of change of t in time quantification amount corresponding fringe; Wherein, a ₂for deviation e _ithe rate of change of t in time quantification amount the abscissa on the left summit of triangle base corresponding to triangular membership, b ₂for deviation e _ithe rate of change of t in time quantification amount the abscissa on the right summit of triangle base corresponding to triangular membership, c ₂for deviation e _ithe rate of change of t in time quantification amount the abscissa on triangular-shaped upper portion summit corresponding to triangular membership; When fringe is honest, a ₂=4, b ₂=6, c ₂=8; When fringe is for center, a ₂=2, b ₂=4, c ₂=6; When fringe is just hour, a ₂=0, b ₂=2, c ₂=4; When fringe is zero, a ₂=-2, b ₂=0, c ₂=2; When fringe is negative hour, a ₂=-4, b ₂=-2, c ₂=0; When fringe is for bearing middle, a ₂=-6, b ₂=-4, c ₂=-2; When fringe is for time negative large, a ₂=-8, b ₂=-6, c ₂=-4;

The output Γ that step 708, ambiguity in definition control _ifringe set be honest, center, just little, zero, negative little, negative in, negative large, formulate fuzzy control according to deviation e _iquantification amount E _icorresponding fringe and deviation e _ithe rate of change of t in time quantification amount corresponding fringe obtains the output Γ of fuzzy control _ithe fuzzy control rule of fringe, and according to the output Γ of described fuzzy control rule determination fuzzy control _ifringe;

Wherein, described fuzzy control rule is:

As deviation e _iquantification amount E _icorresponding fringe and deviation e _ithe rate of change of t in time quantification amount corresponding fringe be respectively negative large or negative little and the negative large or zero-sum of negative large and negative large or negative neutralization negative large or negative large and negative in or negative neutralization negative in or negative little and negative middle time, the output Γ of described fuzzy control _ifor honest;

As deviation e _iquantification amount E _icorresponding fringe and deviation e _ithe rate of change of t in time quantification amount corresponding fringe be respectively negative large and negative little negative neutralization is negative little or negative little and negative little or zero-sum bear little or negative large and zero time, the output Γ of described fuzzy control _ifor center;

As deviation e _iquantification amount E _icorresponding fringe and deviation e _ithe rate of change of t in time quantification amount corresponding fringe be respectively negative neutralization zero or negative little and zero or negative large and just little or negative neutralization just hour, the output Γ of described fuzzy control _ifor just little;

As deviation e _iquantification amount E _icorresponding fringe and deviation e _ithe rate of change of t in time quantification amount corresponding fringe be respectively just neutralize negative large or honest and negative large or just neutralizing negative in or just little and negative little or zero-sum zero or negative large and center or negative neutralization center or negative large and honest or negative when neutralizing honest, the output Γ of described fuzzy control _ibe zero;

As deviation e _iquantification amount E _icorresponding fringe and deviation e _ithe rate of change of t in time quantification amount corresponding fringe be respectively honest and negative in or just neutralizing negative little or honest and negative little or just little and zero time, the output Γ of described fuzzy control _ifor negative little;

As deviation e _iquantification amount E _icorresponding fringe and deviation e _ithe rate of change of t in time quantification amount corresponding fringe be respectively just neutralize zero or honest and zero or zero-sum just little or just little and just little or just neutralizing just little or honest and just little or negative little and center or just little and center, or time negative little and honest, the output Γ of described fuzzy control _iin negative;

As deviation e _iquantification amount E _icorresponding fringe and deviation e _ithe rate of change of t in time quantification amount corresponding fringe be respectively zero-sum center just neutralizing center or honest and center or zero-sum is honest just little and honest or just neutralizing honest or honest and honest time, the output Γ of described fuzzy control _ifor negative large;

Step 709, output Γ to described fuzzy control _ifringe carry out anti fuzzy method process, its detailed process is:

Step 7091, define the output Γ of described fuzzy control _idomain be [-7,7];

Step 7092, actuator controller are according to the output Γ of fuzzy control _itriangular membership

t r i m f (Γ_{i}, a_{3}, b_{3}, c_{3}) = \{\begin{matrix} 0, & Γ_{i} \leq a_{3} \\ \frac{Γ_{i} - a_{3}}{b_{3} - a_{3}}, & a_{3} \leq Γ_{i} \leq b_{3} \\ \frac{c_{3} - Γ_{i}}{c_{3} - b_{2}}, & b_{3} \leq Γ_{i} \leq c_{3} \\ 0 & c_{3} \leq Γ_{i} \end{matrix}\}

Calculate the output Γ of fuzzy control _ieach fringe under the output Γ of fuzzy control _idomain [-7,7] in each integer corresponding be subordinate to angle value trimf (Γ _i, a ₃, b ₃, c ₃), and by the output Γ of fuzzy control under certain fringe _idomain [-7,7] in the output Γ being subordinate to the fuzzy control corresponding to maxim in angle value corresponding to each integer _ivalue be defined as the output Γ of described fuzzy control _ithe result of anti fuzzy method; Wherein, a ₃for the output Γ of fuzzy control _ithe abscissa on the left summit of triangle base corresponding to triangular membership, b ₃for the output Γ of fuzzy control _ithe abscissa on the right summit of triangle base corresponding to triangular membership, c ₃for the output Γ of fuzzy control _ithe abscissa on triangular-shaped upper portion summit corresponding to triangular membership; When fringe is honest, a ₃=5, b ₃=7, c ₃=9; When fringe is for center, a ₃=3, b ₃=5, c ₃=7; When fringe is just hour, a ₃=0, b ₃=3, c ₃=5; When fringe is zero, a ₃=-3, b ₃=0, c ₃=2; When fringe is negative hour, a ₃=-5, b ₃=-2, c ₃=0; When fringe is for bearing middle, a ₃=-7, b ₃=-5, c ₃=-3; When fringe is for time negative large, a ₃=-9, b ₃=-7, c ₃=-5;

Step 7010, repetition step 701 arrive step 709, until obtain deviation e _iquantification amount E _idomain [-6,6] in 13 integers and deviation e _ithe rate of change of t in time quantification amount domain [-6,6] in the output Γ of 169 kinds of 13 integers combinations and described fuzzy control _ithe one-to-one relationship of the result of anti fuzzy method;

Step 7011, by deviation e _iquantification amount E _idomain [-6,6] in 13 integers and deviation e _ithe rate of change of t in time quantification amount domain [-6,6] in the output Γ of 169 kinds of 13 integers combinations and described fuzzy control _ithe one-to-one relationship of the result of anti fuzzy method is formulated to fuzzy polling list.

Above-mentioned method, is characterized in that: fuzzy polling list described in step 7011 describe in words into:

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value be respectively-6 and-6, or-6 and-4, or-6 and-2, or-6 and-1, or-6 and 0, or-4 and-6, or-4 and-4, or-4 and-2, or-4 and-1, or-4 and 0, or when-3 and-6, the output Γ of described fuzzy control _ithe result of anti fuzzy method is 7;

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value be respectively-6 and-5, or-6 and-3, or-5 and-6, or-5 and-5, or-5 and-4, or-5 and-3, or-5 and-2, or-5 and-1, or-5 and 0, or-4 and-5, or-4 and-3, or-3 and-5, or-3 and-4, or-3 and-3, or-3 and-2, or-3 and-1, or when-3 and 0, the output Γ of described fuzzy control _ithe result of anti fuzzy method is 6;

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value be respectively-2 and-3, or-1 and-3, or when 0 and-3, the output Γ of described fuzzy control _ithe result of anti fuzzy method is 5;

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value be respectively-6 and 1, or-5 and 1, or-4 and 1, or-6 and 2, or-5 and 2, or-4 and 2, or-2 and-6, or-1 and-6, or 0 and-6, or-2 and-5, or-1 and-5, or 0 and-5, or-2 and-4, or-1 and-4, or 0 and-4, or-1 and-5, or-2 and-2, or-1 and-2, or-2 and-1, or-1 and-1, or when-2 and 0, the output Γ of described fuzzy control _ithe result of anti fuzzy method is 4;

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value when being respectively-3 and 1, the output Γ of described fuzzy control _ithe result of anti fuzzy method is 3;

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value be respectively 1 and-6, or 1 and-5, or 2 and-5, or 1 and-4, or 1 and-3, or 2 and-3, or-3 and 2, or-6 and 3, or-5 and 3, or when-4 and 3, the output Γ of described fuzzy control _ithe result of anti fuzzy method is 2;

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value be respectively 2 and-6, or 2 and-4, or 0 and-2, or 0 and-1, or-1 and 0, or-2 and 1, or when 2 and-3, the output Γ of described fuzzy control _ithe result of anti fuzzy method is 1;

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value be respectively 3 and-6, or 4 and-6, or 5 and-6, or 6 and-6, or 3 and-5, or 4 and-5, or 5 and-5, or 6 and-5, or 3 and-4, or 4 and-4, or 6 and-4, or 3 and-3, or 1 and-2, or 2 and-2, or 3 and-4, or 1 and-1, or-2 and 2, or-1 and 2, or-3 and 3, or-2 and 3, or-1 and 3, or-6 and 4, or-5 and 4, or-4 and 4, or-6 and 5, or-5 and 5, or-4 and 5, or-6 and 6, or-5 and 6, or when-4 and 6, the output Γ of described fuzzy control _ithe result of anti fuzzy method is 0;

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value be respectively 1 and 0, or 0 and 1, or 0 and 2, or 0 and 3, or-3 and 4, or-2 and 4, or-3 and 5, or-2 and 5, or-3 and 6, or-2 and 6, or when-1 and 6, the output Γ of described fuzzy control _ithe result of anti fuzzy method is-1;

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value be respectively 4 and-3, or 5 and-3, or 6 and-3, or when-1 and 5, the output Γ of described fuzzy control _ithe result of anti fuzzy method is-2;

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value be respectively 3 and-2, or 2 and-1, or 3 and-1, or 1 and 3, or 2 and 3, or when-1 and 4, the output Γ of described fuzzy control _ithe result of anti fuzzy method is-3;

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value be respectively 4 and-2, or 5 and-2, or 6 and-2, or 4 and-1, or 5 and-1, or 6 and-1, or 2 and 0, or 1 and 1, or 2 and 1, or 1 and 2, or 2 and 2, or 0 and 4, or 1 and 4, or 2 and 4, or 0 and 5, or 1 and 5, or 2 and 5, or 0 and 6, or 1 and 6, or when 2 and 6, the output Γ of described fuzzy control _ithe result of anti fuzzy method is-4;

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value be respectively 3 and 0, or 5 and 0, or 3 and 1, or 5 and 1, or 3 and 2, or 5 and 2, or 3 and 3, or 4 and 3, or 5 and 3, or 6 and 3, or 3 and 4, or 5 and 4, or 3 and 5, or 4 and 5, or 5 and 5, or 6 and 5, or 3 and 6, or when 5 and 6, the output Γ of described fuzzy control _ithe result of anti fuzzy method is-6;

As deviation e _iquantification amount E _iwith deviation e _ithe rate of change of t in time quantification amount value be respectively 4 and 0, or 6 and 0, or 4 and 1, or 6 and 1, or 4 and 2, or 6 and 2, or 4 and 4, or 6 and 4, or 4 and 6, or when 6 and 6, the output Γ of described fuzzy control _ithe result of anti fuzzy method is-7.

The present invention compared with prior art has the following advantages:

1, the structure of vehicle active suspension actuator of the present invention is simple, rationally novel in design, and realization is convenient and cost is low.

2, when cut off the electricity supply power supply or electric quantity of power supply not enough time, under vehicle active suspension actuator of the present invention can be operated in energy regenerative pattern, when connecting accumulation electrical source and powering, under vehicle active suspension actuator of the present invention is operated in active power consumption pattern, energy regenerative pattern does not interfere with each other with active power consumption pattern, independently carry out, vibrational energy can be reclaimed by actv., realize the autonomous energy supply of actuator.

3, vehicle active suspension actuator of the present invention with first guiding and sealing arrangement for boundary line, divide into upper and lower two parts, in upper part, guide rod is equipped with permanent magnet, second inner sleeve is wound with coil, when body vibrations drives guide rod motion, guide rod up-and-down movement, on guide rod, permanent magnet moves thereupon, magnetic field changes, coil cutting magnetic induction line produces induced electric motive force, the induced electric motive force produced can pass to Vehicular accumulator cell by wire, for Vehicular accumulator cell energy storage, like this, under energy regenerative pattern, except brshless DC motor rotates the electric energy produced, have the induced electric motive force produced in coil simultaneously, improve the organic efficiency of energy, in lower part, Hydraulic Pump is coaxially connected with brshless DC motor, initiatively under power consumption pattern, the rotating speed of brshless DC motor is controlled by actuator controller, thus the rotating speed of hydraulic control pump, and then reach the effect controlling to export active force, in time can regulate the parameter of active suspension, make it be in best vibration damping state.

4, the working stability of vehicle active suspension actuator of the present invention and reliability high, not easily et out of order, without the need to frequent maintenance and repair.

5, the control method with the vehicle active suspension actuator of energy confession function of the present invention combines the overall performance of described vehicle active suspension actuator, whether actuator controller is greater than according to the output voltage of Vehicular accumulator cell the mode of operation that the working mode change voltage threshold preset changes described vehicle active suspension actuator, described vehicle active suspension actuator can not be too frequent in energy regenerative pattern and the conversion rate initiatively between power consumption pattern, the hesitation that system is serious can not be caused, effectively can extend the service life of Vehicular accumulator cell; And, actuator controller carries out analyzing and processing according to the method for fuzzy control to its sample the spring carried mass displacement signal that obtains and nonspring carried mass displacement signal, obtain the dutycycle that brshless DC motor is controlled, the rotating speed of brshless DC motor is controlled, in time can regulate the parameter of active suspension, make active suspension be in best vibration damping state, actuator ACTIVE CONTROL effect in the course of the work can be highlighted better.

6, in the present invention, with obtaining value method can either ensure rapidity and the stability of the control method of vehicle active suspension actuator, can avoid again producing overshoot, the control method of vehicle active suspension actuator is made to enter stable state accuracy scope as early as possible, the control method of this vehicle active suspension actuator is made to have certain adaptive ability and good robustness, ensure that vehicle active suspension actuator has good dynamic and stability precision, control effective.

7, the control method of vehicle active suspension actuator of the present invention, pre-establish fuzzy polling list, and fuzzy polling list is stored in the internal storage of actuator controller, then each vehicle active suspension actuator to be controlled, only need by inquiry fuzzy polling list, can be exported according to the input of fuzzy control, be improve control efficiency.

8, of the present invention practical, result of use is good, is convenient to promote the use of.

In sum, the present invention realizes convenient and cost is low, working stability and reliability high, energy regenerative efficiency is high, effectively can extend the service life of Vehicular accumulator cell, in time can regulate the parameter of active suspension, active suspension is made to be in best vibration damping state, practical.

Below by drawings and Examples, technical scheme of the present invention is described in further detail.

Accompanying drawing explanation

Fig. 1 is the structural representation that the present invention has the vehicle active suspension actuator of energy confession function.

Fig. 2 is the circuit connecting relation schematic diagram of actuator controller of the present invention and other each several part.

Fig. 3 is deviation e of the present invention _iquantification amount E _itriangular membership figure.

Fig. 4 is deviation e of the present invention _ithe rate of change of t in time quantification amount triangular membership figure.

Fig. 5 is the output Γ of fuzzy control of the present invention _itriangular membership figure.

Description of reference numerals:

1-guide rod; 2-coupler; 3-coil;

4-permanent magnet; 5-upper through hole; 6-upper oil cavitie;

7-the first inner sleeve; 8-running of hydraulic power oil gap; 9-piston;

10-outer sleeve; 11-lower oil cavitie; 12-Hydraulic Pump;

13-lower through-hole; 14-oil sealing; 15-brshless DC motor;

16-orienting sleeve; 17-the second inner sleeve; 18-the second nut;

19-the first guiding and sealing arrangement; 20-the one O RunddichtringO; 21-Hydraulic Pump;

22-the two O RunddichtringO; 23-the first nut; 24-the second guiding and sealing arrangement;

24-1-tapped bore; 25-baffle plate; 26-the three O RunddichtringO;

27-actuator controller; 28-voltage sensor; 29-spring carried mass displacement pickup;

30-nonspring carried mass displacement pickup; 31-control capsule; 32-Vehicular accumulator cell;

33-battery charging circuit; 34-rectifier.

Detailed description of the invention

As depicted in figs. 1 and 2, the vehicle active suspension actuator with energy confession function of the present invention, comprise actuator body and actuator controller 27, the input end of described actuator controller 27 being connected to voltage sensor 28 for detecting the output voltage of Vehicular accumulator cell 32, for the spring carried mass displacement pickup 29 that detects spring carried mass displacement and the nonspring carried mass displacement pickup 30 for detecting nonspring carried mass displacement, described Vehicular accumulator cell 32 being connected to battery charging circuit 33, described actuator body comprises outer sleeve 10 and guide rod 1, described outer sleeve 10 top is fixedly connected with orienting sleeve 16, in described outer sleeve 10, bottom is set with the first inner sleeve 7, described outer sleeve 10 internal upper part is set with the second inner sleeve 17, in described outer sleeve 10, middle part is sealedly connected with and is fastened on first between the first inner sleeve 7 and the second inner sleeve 17 and leads and sealing arrangement 19, described guide rod 1 has stretched in the second inner sleeve 17 through orienting sleeve 16, and stretched in the first inner sleeve 7 through the first guiding and sealing arrangement 19, the bottom of described guide rod 1 is connected with the piston 9 being sealedly connected on the first inner sleeve 7 inside, the middle and upper part of described guide rod 1 is connected with the permanent magnet 4 be positioned at above the first guiding and sealing arrangement 19, described second inner sleeve 17 is wound with coil 3, running of hydraulic power oil gap 8 is left between the outer wall of described first inner sleeve 7 middle and upper part and the inwall of outer sleeve 10, bottom and the outer sleeve 10 of described first inner sleeve 7 are tightly connected, in described outer sleeve 10, bottom is provided with the baffle plate 25 contacted with the bottom end face of the first sleeve 7, described outer sleeve 10 inner bottom part is provided with the brshless DC motor 15 be positioned at below baffle plate 25, described baffle plate 25 top is provided with Hydraulic Pump 12, in described first inner sleeve 7, bottom is connected together and is positioned at second guiding and the sealing arrangement 24 at Hydraulic Pump 12 top, the middle position of described second guiding and sealing arrangement 24 is provided with tapped bore, the rotating shaft of described brshless DC motor 15 is connected with the rotating shaft of Hydraulic Pump 12, first hydraulic fluid port of described Hydraulic Pump 12 is threaded with tapped bore, the described first inner sleeve 7 inside cavity be positioned at above piston 9 is upper oil cavitie 6, the described first inner sleeve 7 inside cavity be positioned at below piston 9 is lower oil cavitie 11, second hydraulic fluid port of described Hydraulic Pump 12 is located in the second guiding and the lower oil cavitie between sealing arrangement 24 and baffle plate 25 11, hydraulic oil 21 is provided with in described upper oil cavitie 6 with in lower oil cavitie 11, the top of described first inner sleeve 7 is provided with near the position of the first guiding and sealing arrangement 19 the upper through hole 5 circulated between upper oil cavitie 6 and running of hydraulic power oil gap 8 for hydraulic oil 21, lead at baffle plate 25 and second and one section of first inner sleeve 7 between sealing arrangement 24 be provided with the lower through-hole 13 circulated between lower oil cavitie 11 and running of hydraulic power oil gap 8 for hydraulic oil 21, described coil 3 is connected with battery charging circuit 33 by rectifier 34, the outer wall of described outer sleeve 10 is provided with control capsule 31, described actuator controller 27 is arranged in control capsule 31, and mouth and the battery charging circuit 33 of described brshless DC motor 15 and actuator controller 27 connect.

In the present embodiment, between the inwall of described first guiding and sealing arrangement 19 and outer sleeve 10, be provided with an O RunddichtringO 20.Described piston 9 is connected with the bottom thread of guide rod 1, and the bottom thread of described guide rod 1 is connected with the first nut 23 for Location guide 1; The 2nd O RunddichtringO 22 is provided with between described piston 9 and the inwall of the first inner sleeve 7.Described permanent magnet 4 is threaded with the middle and upper part of guide rod 1, and the middle and upper part of described guide rod 1 is threaded for the second nut 18 of fixed permanent magnet 4.The 3rd O RunddichtringO 26 is provided with between the bottom of described first inner sleeve 7 and outer sleeve 10.The rotating shaft of described brshless DC motor 15 is connected by coupler 2 with the rotating shaft of Hydraulic Pump 12; The rotating shaft of described brshless DC motor 15 is connected with and contacts with the bottom surface of baffle plate 25 and for preventing hydraulic oil 21 from flowing to oil sealing 14 below baffle plate 25.

The control method with the vehicle active suspension actuator of energy confession function of the present invention, comprises the following steps:

The output voltage of step I, voltage sensor 28 pairs of Vehicular accumulator cells 32 detects in real time, the 29 pairs of spring carried mass displacements of spring carried mass displacement pickup detect in real time, the 30 pairs of nonspring carried mass displacements of nonspring carried mass displacement pickup detect in real time, and the spring carried mass displacement signal that the output voltage signal of the Vehicular accumulator cell 32 that actuator controller 27 pairs of voltage sensors 28 detect, spring carried mass displacement pickup 29 detect and the nonspring carried mass displacement signal that nonspring carried mass displacement pickup 30 detects carry out periodic samples; During concrete enforcement, the described sampling period is 0.25s ~ 1s;

Step II, the sampled output voltage of the Vehicular accumulator cell 32 obtained of actuator controller 27 compares with the working mode change voltage threshold that presets, when the output voltage of Vehicular accumulator cell 32 is less than working mode change voltage threshold, described actuator controller 27 does not export the control signal to brshless DC motor 15, under described vehicle active suspension actuator is operated in energy regenerative pattern, concrete working process is: body vibrations drives guide rod 1 to move, guide rod 1 drives piston 9 and permanent magnet 4 to move, magnetic field changes, coil 3 cutting magnetic induction line produces induced electric motive force, the induced electric motive force produced is by after rectifier 34 rectification, charge to Vehicular accumulator cell 32 through battery charging circuit 33 again, simultaneously, when piston 9 moves downward, hydraulic oil 21 in upper oil cavitie 6 enters Hydraulic Pump 12 by the first hydraulic fluid port of tapped bore and Hydraulic Pump 12, Hydraulic Pump 12 drives brshless DC motor 15 to rotate, brshless DC motor 15 rotates and produces electric energy, charge to Vehicular accumulator cell 32 through battery charging circuit 33, hydraulic oil 21 enters in the second guiding and the lower oil cavitie 11 between sealing arrangement 24 and baffle plate 25 through the second hydraulic fluid port of Hydraulic Pump 12 again, then flows back to upper oil cavitie 6 through lower through-hole 13, running of hydraulic power oil gap 8 and upper through hole 5, when piston 9 upward movement, hydraulic oil 21 flows in the second guiding and the lower oil cavitie 11 between sealing arrangement 24 and baffle plate 25 by upper through hole 5, running of hydraulic power oil gap 8, lower through-hole 13, hydraulic oil 21 enters Hydraulic Pump 12 by the second hydraulic fluid port of Hydraulic Pump 12, Hydraulic Pump 12 drives brshless DC motor 15 to rotate, brshless DC motor 15 rotates and produces electric energy, charge to Vehicular accumulator cell 32 through battery charging circuit 33, hydraulic oil 21 enters through the first hydraulic fluid port of Hydraulic Pump 12 and to lead and in lower oil cavitie 11 between sealing arrangement 24 at piston 9 and second,

When the output voltage of Vehicular accumulator cell 32 is greater than working mode change voltage threshold, described actuator controller 27 carries out analyzing and processing according to the method for fuzzy control to its sample the spring carried mass displacement signal that obtains and nonspring carried mass displacement signal, obtain dutycycle and control according to the rotating speed of dutycycle to brshless DC motor 15, under described vehicle active suspension actuator is operated in active power consumption pattern, concrete working process is: drive Hydraulic Pump 12 to rotate when brshless DC motor 15 rotates, when Hydraulic Pump 12 rotates, hydraulic oil 21 is by upper through hole 5, running of hydraulic power oil gap 8, lower through-hole 13 flows to lower oil cavitie 11, again from lower through-hole 13, running of hydraulic power oil gap 8 and upper through hole 5 flow back to upper oil cavitie 6, along with hydraulic oil 21 is at upper oil cavitie 6 and lower oil cavitie 11 internal circulation flow, promote piston 9 to pump, and then on guide rod 1, produce response active force and pass to vehicle body.

During concrete enforcement, described working mode change voltage threshold is 9.6V.

In the present embodiment, actuator controller 27 described in step II carries out analyzing and processing according to the method for fuzzy control to its sample the spring carried mass displacement signal that obtains and nonspring carried mass displacement signal, and the detailed process obtaining dutycycle is:

Step one, actuator controller 27 are according to formula to its i-th time spring carried mass displacement signal obtained of sampling with nonspring carried mass displacement signal differ from, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when obtaining sampling for i-th time _i; Wherein, the value of i is natural number;

Step 2, actuator controller 27 are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _idifferentiate, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when obtaining sampling for i-th time _ithe rate of change of t in time

Step 3, actuator controller 27 are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _iquantize, obtain deviation e _iquantification amount E _i; Wherein, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when being i-th sampling _iquantizing factor, obtaining value method be: as i=1, as i>1 and | e _i| during <0.02,

K_{1}^{i} = 1.2 \times K_{1}^{i - 1} \times e_{i};

As i>1 and 0.02≤| e _i| when≤0.04,

K_{1}^{i} = 0.78 \times K_{1}^{i - 1} \times e_{i};

Step 4, actuator controller 27 are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _ithe rate of change of t in time quantize, obtain deviation e _ithe rate of change of t in time quantification amount wherein, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when being i-th sampling _ithe rate of change of t in time quantizing factor, obtaining value method be: as i=1,

K_{2}^{i} = K_{2}^{1} = 6;

As i>1 and

| e_{c}^{i} | < 0.08

Time,

K_{2}^{i} = 1.8 \times K_{2}^{i - 1} \times e_{c}^{i};

As i>1 and

0.08 \leq | e_{c}^{i} | \leq 0.6

Time,

K_{2}^{i} = 1.5 \times K_{2}^{i - 1} \times e_{c}^{i};

As i>1 and

| e_{c}^{i} | > 0.6

Time, deviation e _ithe rate of change of t in time quantification amount domain be [-6,6];

Step 5, actuator controller 27 couples of deviation e _iquantification amount E _icarry out integer according to the method rounded up, obtain deviation e _iquantification amount E _iinteger result and by deviation e _iquantification amount E _iinteger result as first input E ' of fuzzy control _i;

Step 6, actuator controller 27 couples of deviation e _ithe rate of change of t in time quantification amount carry out integer according to the method rounded up, obtain deviation e _ithe rate of change of t in time quantification amount integer result as second input of fuzzy control

Step 7, actuator controller 27 are according to first of fuzzy control input E ' _iwith second input of fuzzy control inquire about the fuzzy polling list pre-established by actuator controller 27 be stored in actuator controller 27 internal storage, obtain the output Γ of fuzzy control _i;

Step 8, actuator controller 27 are according to formula to the output Γ of fuzzy control _iadjust, obtain the duty cycle alpha that actuator controller 27 controls brshless DC motor 15 _i; Wherein, for the output Γ to fuzzy control _icarry out the factor of proportionality adjusted, obtaining value method be: as i=1,

K_{3}^{i} = K_{3}^{1} = 0.5;

As i>1 and | e _i| <0.02 or

| e_{c}^{i} | < 0.08

Time,

K_{3}^{i} = 0.9 \times K_{3}^{i - 1};

As i>1 and 0.02≤| e _i|≤0.04 or

0.08 \leq | e_{c}^{i} | \leq 0.6

Time,

K_{3}^{i} = 1.2 \times K_{3}^{i - 1};

As i>1 and | e _i| >0.04 or

| e_{c}^{i} | > 0.6

Time,

K_{3}^{i} = 1.0 \times K_{3}^{i - 1} .

In the present embodiment, the process that actuator controller 27 described in step 7 pre-establishes fuzzy polling list is:

Step 701, spring carried mass displacement pickup detect in real time to spring carried mass displacement, nonspring carried mass displacement pickup detects in real time to nonspring carried mass displacement, and the spring carried mass displacement signal that actuator controller 27 pairs of spring carried mass displacement pickups detect and the nonspring carried mass displacement signal that nonspring carried mass displacement pickup detects carry out periodic samples; During concrete enforcement, the described sampling period is 0.25s ~ 1s;

Step 702, actuator controller 27 are according to formula to its i-th time spring carried mass displacement signal obtained of sampling with nonspring carried mass displacement signal differ from, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when obtaining sampling for i-th time _i; Wherein, the value of i is natural number;

Step 703, actuator controller 27 are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _idifferentiate, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when obtaining sampling for i-th time _ithe rate of change of t in time

Step 704, actuator controller 27 are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _iquantize, obtain deviation e _iquantification amount E _i; Wherein, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when being i-th sampling _iquantizing factor, obtaining value method be: as i=1, as i>1 and | e _i| during <0.02,

K_{1}^{i} = 1.2 \times K_{1}^{i - 1} \times e_{i};

As i>1 and 0.02≤| e _i| when≤0.04,

K_{1}^{i} = 0.78 \times K_{1}^{i - 1} \times e_{i};

Step 705, actuator controller 27 are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _ithe rate of change of t in time quantize, obtain deviation e _ithe rate of change of t in time quantification amount wherein, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when being i-th sampling _ithe rate of change of t in time quantizing factor, obtaining value method be: as i=1,

K_{2}^{i} = K_{2}^{1} = 6;

As i>1 and

| e_{c}^{i} | < 0.08

Time,

K_{2}^{i} = 1.8 \times K_{2}^{i - 1} \times e_{c}^{i};

As i>1 and

0.08 \leq | e_{c}^{i} | \leq 0.6

Time,

K_{2}^{i} = 1.5 \times K_{2}^{i - 1} \times e_{c}^{i};

As i>1 and

| e_{c}^{i} | > 0.6

Step 706, actuator controller 27 couples of deviation e _iquantification amount E _icarry out Fuzzy processing, its detailed process is as follows:

Step 7062, actuator controller 27 are according to deviation e _iquantification amount E _itriangular membership

t r i m f (E_{i}, a_{1}, b_{1}, c_{1}) = \{\begin{matrix} 0, & E_{i} \leq a_{1} \\ \frac{E_{i} - a_{1}}{b_{1} - a_{1}}, & a_{1} \leq E_{i} \leq b_{1} \\ \frac{c_{1} - E_{i}}{c_{1} - b_{1}}, & b_{1} \leq E_{i} \leq c_{1} \\ 0 & c_{1} \leq E_{i} \end{matrix}\}

Calculate deviation e _iquantification amount E _icorresponding fringe be subordinate to angle value trimf (E _i, a ₁, b ₁, c ₁), and according to maximum membership grade principle determination deviation e _iquantification amount E _icorresponding fringe, by deviation e _iquantification amount E _ithe fringe being subordinate to angle value maximum be defined as deviation e _iquantification amount E _icorresponding fringe, and as deviation e _iquantification amount E _iunder two kinds of different fringes corresponding be subordinate to angle value equal time, choose and be less than deviation e _iquantification amount E _ifringe corresponding to data be deviation e _iquantification amount E _icorresponding fringe; Wherein, a ₁for deviation e _iquantification amount E _ithe abscissa on the left summit of triangle base corresponding to triangular membership, b ₁for deviation e _iquantification amount E _ithe abscissa on the right summit of triangle base corresponding to triangular membership, c ₁for deviation e _iquantification amount E _ithe abscissa on triangular-shaped upper portion summit corresponding to triangular membership; When fringe is honest, a ₁=4, b ₁=6, c ₁=8; When fringe is for center, a ₁=2, b ₁=4, c ₁=6; When fringe is just hour, a ₁=0, b ₁=2, c ₁=4; When fringe is zero, a ₁=-2, b ₁=0, c ₁=2; When fringe is negative hour, a ₁=-4, b ₁=-2, c ₁=0; When fringe is for bearing middle, a ₁=-6, b ₁=-4, c ₁=-2; When fringe is for time negative large, a ₁=-8, b ₁=-6, c ₁=-4;

During concrete enforcement, be PB by honest letter representation, be PM by center letter representation, be PS by just little letter representation, be ZE by small incidental expenses letter representation, be NS by negative little letter representation, be NM by negative middle letter representation, be NB by negative large letter representation, described deviation e _iquantification amount E _itriangular membership be graphically the form of Fig. 3; The abscissa of Fig. 3 is deviation e _iquantification amount E _idomain, the ordinate of Fig. 3 is deviation e _iquantification amount E _icorresponding fringe be subordinate to angle value trimf (E _i, a ₁, b ₁, c ₁).

Step 707, actuator controller 27 couples of deviation e _ithe rate of change of t in time quantification amount carry out Fuzzy processing, its detailed process is as follows:

Step 7072, actuator controller 27 are according to deviation e _ithe rate of change of t in time quantification amount triangular membership

t r i m f (E_{c}^{i}, a_{2}, b_{2}, c_{2}) = \{\begin{matrix} 0, & E_{c}^{i} \leq a_{2} \\ \frac{E_{c}^{i} - a_{2}}{b_{2} - a_{2}}, & a_{2} \leq E_{c}^{i} \leq b_{2} \\ \frac{c_{2} - E_{c}^{i}}{c_{2} - b_{2}}, & b_{2} \leq E_{c}^{i} \leq c_{2} \\ 0 & c_{2} \leq E_{c}^{i} \end{matrix}\}

Calculate deviation e _ithe rate of change of t in time quantification amount corresponding fringe be subordinate to angle value and according to maximum membership grade principle determination deviation e _ithe rate of change of t in time quantification amount corresponding fringe, by deviation e _ithe rate of change of t in time quantification amount the fringe being subordinate to angle value maximum be defined as deviation e _ithe rate of change of t in time quantification amount corresponding fringe, and as deviation e _ithe rate of change of t in time quantification amount under two kinds of different fringes corresponding be subordinate to angle value equal time, choose and be less than deviation e _ithe rate of change of t in time quantification amount fringe corresponding to data be deviation e _ithe rate of change of t in time quantification amount corresponding fringe; Wherein, a ₂for deviation e _ithe rate of change of t in time quantification amount the abscissa on the left summit of triangle base corresponding to triangular membership, b ₂for deviation e _ithe rate of change of t in time quantification amount the abscissa on the right summit of triangle base corresponding to triangular membership, c ₂for deviation e _ithe rate of change of t in time quantification amount the abscissa on triangular-shaped upper portion summit corresponding to triangular membership; When fringe is honest, a ₂=4, b ₂=6, c ₂=8; When fringe is for center, a ₂=2, b ₂=4, c ₂=6; When fringe is just hour, a ₂=0, b ₂=2, c ₂=4; When fringe is zero, a ₂=-2, b ₂=0, c ₂=2; When fringe is negative hour, a ₂=-4, b ₂=-2, c ₂=0; When fringe is for bearing middle, a ₂=-6, b ₂=-4, c ₂=-2; When fringe is for time negative large, a ₂=-8, b ₂=-6, c ₂=-4;

During concrete enforcement, be PB by honest letter representation, be PM by center letter representation, be PS by just little letter representation, be ZE by small incidental expenses letter representation, be NS by negative little letter representation, be NM by negative middle letter representation, be NB by negative large letter representation, described deviation e _ithe rate of change of t in time quantification amount triangular membership be graphically the form of Fig. 4; The abscissa of Fig. 4 is deviation e _ithe rate of change of t in time quantification amount domain, the ordinate of Fig. 4 is deviation e _ithe rate of change of t in time quantification amount corresponding fringe be subordinate to angle value

Wherein, described fuzzy control rule is:

During concrete enforcement, be PB by honest letter representation, be PM by center letter representation, be PS by just little letter representation, be ZE by small incidental expenses letter representation, be NS by negative little letter representation, be NM by negative middle letter representation, be NB by negative large letter representation, described fuzzy control rule form is expressed as table 1:

Table 1 fuzzy control rule table

Step 7091, define the output Γ of described fuzzy control _idomain be [-7,7];

Step 7092, actuator controller 27 are according to the output Γ of fuzzy control _itriangular membership

t r i m f (Γ_{i}, a_{3}, b_{3}, c_{3}) = \{\begin{matrix} 0, & Γ_{i} \leq a_{3} \\ \frac{Γ_{i} - a_{3}}{b_{3} - a_{3}}, & a_{3} \leq Γ_{i} \leq b_{3} \\ \frac{c_{3} - Γ_{i}}{c_{3} - b_{3}}, & b_{3} \leq Γ_{i} \leq c_{3} \\ 0 & c_{3} \leq Γ_{i} \end{matrix}\}

During concrete enforcement, be PB by honest letter representation, be PM by center letter representation, be PS by just little letter representation, be ZE by small incidental expenses letter representation, be NS by negative little letter representation, be NM by negative middle letter representation, be NB by negative large letter representation, the output Γ of described fuzzy control _itriangular membership be graphically the form of Fig. 5; The abscissa of Fig. 5 is the output Γ of fuzzy control _idomain, the ordinate of Fig. 5 is the output Γ of fuzzy control _icorresponding fringe be subordinate to angle value trimf (Γ _i, a ₃, b ₃, c ₃).

In the present embodiment, fuzzy polling list described in step 7011 describe in words into:

During concrete enforcement, the form of fuzzy polling list described in step 7011 is expressed as table 2:

Table 2 fuzzy polling list

The above; it is only preferred embodiment of the present invention; not the present invention is imposed any restrictions, every above embodiment is done according to the technology of the present invention essence any simple modification, change and equivalent structure change, all still belong in the protection domain of technical solution of the present invention.

Claims

1. one kind has the vehicle active suspension actuator of energy confession function, it is characterized in that: comprise actuator body and actuator controller (27), the input end of described actuator controller (27) is connected to the voltage sensor (28) for detecting the output voltage of Vehicular accumulator cell (32), for the spring carried mass displacement pickup (29) that detects spring carried mass displacement and the nonspring carried mass displacement pickup (30) for detecting nonspring carried mass displacement, described Vehicular accumulator cell (32) is connected to battery charging circuit (33), described actuator body comprises outer sleeve (10) and guide rod (1), described outer sleeve (10) top is fixedly connected with orienting sleeve (16), described outer sleeve (10) interior bottom is set with the first inner sleeve (7), described outer sleeve (10) internal upper part is set with the second inner sleeve (17), middle part is sealedly connected with and is fastened on first between the first inner sleeve (7) and the second inner sleeve (17) and leads and sealing arrangement (19) in described outer sleeve (10), described guide rod (1) has stretched in the second inner sleeve (17) through orienting sleeve (16), and stretched in the first inner sleeve (7) through the first guiding and sealing arrangement (19), the bottom of described guide rod (1) is connected with and is sealedly connected on the inner piston (9) of the first inner sleeve (7), the middle and upper part of described guide rod (1) is connected with the permanent magnet (4) being positioned at the first guiding and sealing arrangement (19) top, described second inner sleeve (17) is wound with coil (3), running of hydraulic power oil gap (8) is left between the outer wall of described first inner sleeve (7) middle and upper part and the inwall of outer sleeve (10), bottom and the outer sleeve (10) of described first inner sleeve (7) are tightly connected, described outer sleeve (10) interior bottom is provided with the baffle plate (25) contacted with the bottom end face of the first sleeve (7), described outer sleeve (10) inner bottom part is provided with the brshless DC motor (15) being positioned at baffle plate (25) below, described baffle plate (25) top is provided with Hydraulic Pump (12), the interior bottom of described first inner sleeve (7) is connected together and is positioned at second guiding and the sealing arrangement (24) at Hydraulic Pump (12) top, the middle position of described second guiding and sealing arrangement (24) is provided with tapped bore, the rotating shaft of described brshless DC motor (15) is connected with the rotating shaft of Hydraulic Pump (12), first hydraulic fluid port of described Hydraulic Pump (12) is threaded with tapped bore, the cavity that described first inner sleeve (7) inside is positioned at piston (9) top is upper oil cavitie (6), the cavity that described first inner sleeve (7) inside is positioned at piston (9) below is lower oil cavitie (11), second hydraulic fluid port of described Hydraulic Pump (12) is located in the second guiding and the lower oil cavitie (11) between sealing arrangement (24) and baffle plate (25), hydraulic oil (21) is provided with in described upper oil cavitie (6) and in lower oil cavitie (11), the top of described first inner sleeve (7) is provided with near the position of the first guiding and sealing arrangement (19) the upper through hole (5) circulated between upper oil cavitie (6) and running of hydraulic power oil gap (8) for hydraulic oil (21), be positioned at baffle plate (25) and second lead and one section of first inner sleeve (7) between sealing arrangement (24) be provided with the lower through-hole (13) circulated between lower oil cavitie (11) and running of hydraulic power oil gap (8) for hydraulic oil (21), described coil (3) is connected with battery charging circuit (33) by rectifier (34), the outer wall of described outer sleeve (10) is provided with control capsule (31), described actuator controller (27) is arranged in control capsule (31), and mouth and the battery charging circuit (33) of described brshless DC motor (15) and actuator controller (27) connect.

2. according to the vehicle active suspension actuator with energy confession function according to claim 1, it is characterized in that: between the inwall of described first guiding and sealing arrangement (19) and outer sleeve (10), be provided with an O RunddichtringO (20).

3. according to the vehicle active suspension actuator with energy confession function according to claim 1, it is characterized in that: described piston (9) is connected with the bottom thread of guide rod (1), and the bottom thread of described guide rod (1) is connected with the first nut (23) for Location guide (1); The 2nd O RunddichtringO (22) is provided with between the inwall of described piston (9) and the first inner sleeve (7).

4. according to the vehicle active suspension actuator with energy confession function according to claim 1, it is characterized in that: described permanent magnet (4) is threaded with the middle and upper part of guide rod (1), and the middle and upper part of described guide rod (1) is threaded for second nut (18) of fixed permanent magnet (4).

5. according to the vehicle active suspension actuator with energy confession function according to claim 1, it is characterized in that: between the bottom of described first inner sleeve (7) and outer sleeve (10), be provided with the 3rd O RunddichtringO (26).

6. according to the vehicle active suspension actuator with energy confession function according to claim 1, it is characterized in that: the rotating shaft of described brshless DC motor (15) is connected by coupler (2) with the rotating shaft of Hydraulic Pump (12); The rotating shaft of described brshless DC motor (15) is connected with and contacts with the bottom surface of baffle plate (25) and oil sealing (14) for preventing hydraulic oil (21) from flowing to baffle plate (25) below.

7., to the method that the vehicle active suspension actuator as claimed in claim 1 with energy confession function controls, it is characterized in that the method comprises the following steps:

Step I, the output voltage of voltage sensor (28) to Vehicular accumulator cell (32) detects in real time, spring carried mass displacement pickup (29) detects in real time to spring carried mass displacement, nonspring carried mass displacement pickup (30) detects in real time to nonspring carried mass displacement, actuator controller (27) is to the output voltage signal of the Vehicular accumulator cell (32) that voltage sensor (28) detects, the spring carried mass displacement signal that spring carried mass displacement pickup (29) detects and the nonspring carried mass displacement signal that nonspring carried mass displacement pickup (30) detects carry out periodic samples,

Step II, the sampled output voltage of the Vehicular accumulator cell (32) obtained of actuator controller (27) compares with the working mode change voltage threshold that presets, when the output voltage of Vehicular accumulator cell (32) is less than working mode change voltage threshold, described actuator controller (27) does not export the control signal to brshless DC motor (15), under described vehicle active suspension actuator is operated in energy regenerative pattern, concrete working process is: body vibrations drives guide rod (1) motion, guide rod (1) drives piston (9) and permanent magnet (4) motion, magnetic field changes, coil (3) cutting magnetic induction line produces induced electric motive force, the induced electric motive force produced is by after rectifier (34) rectification, charge to Vehicular accumulator cell (32) through battery charging circuit (33) again, simultaneously, when piston (9) moves downward, hydraulic oil (21) in upper oil cavitie (6) enters Hydraulic Pump (12) by the first hydraulic fluid port of tapped bore and Hydraulic Pump (12), Hydraulic Pump (12) drives brshless DC motor (15) to rotate, brshless DC motor (15) rotates and produces electric energy, charge to Vehicular accumulator cell (32) through battery charging circuit (33), hydraulic oil (21) enters in the second guiding and the lower oil cavitie (11) between sealing arrangement (24) and baffle plate (25) through the second hydraulic fluid port of Hydraulic Pump (12) again, again through lower through-hole (13), running of hydraulic power oil gap (8) and upper through hole (5) flow back to upper oil cavitie (6), when piston (9) upward movement, hydraulic oil (21) is by upper through hole (5), running of hydraulic power oil gap (8), lower through-hole (13) flows in the second guiding and the lower oil cavitie (11) between sealing arrangement (24) and baffle plate (25), hydraulic oil (21) enters Hydraulic Pump (12) by the second hydraulic fluid port of Hydraulic Pump (12), Hydraulic Pump (12) drives brshless DC motor (15) to rotate, brshless DC motor (15) rotates and produces electric energy, charge to Vehicular accumulator cell (32) through battery charging circuit (33), hydraulic oil (21) enters through the first hydraulic fluid port of Hydraulic Pump (12) and to lead and in lower oil cavitie (11) between sealing arrangement (24) at piston (9) and second,

When the output voltage of Vehicular accumulator cell (32) is greater than working mode change voltage threshold, described actuator controller (27) carries out analyzing and processing according to the method for fuzzy control to its sample the spring carried mass displacement signal that obtains and nonspring carried mass displacement signal, obtain dutycycle and control according to the rotating speed of dutycycle to brshless DC motor (15), under described vehicle active suspension actuator is operated in active power consumption pattern, concrete working process is: drive Hydraulic Pump (12) to rotate when brshless DC motor (15) rotates, when Hydraulic Pump (12) rotates, hydraulic oil (21) is by upper through hole (5), running of hydraulic power oil gap (8), lower through-hole (13) flows to lower oil cavitie (11), again from lower through-hole (13), running of hydraulic power oil gap (8) and upper through hole (5) flow back to upper oil cavitie (6), along with hydraulic oil (21) is at upper oil cavitie (6) and lower oil cavitie (11) internal circulation flow, promote piston (9) to pump, and then respond active force upper generation of guide rod (1) and pass to vehicle body.

8. in accordance with the method for claim 7, it is characterized in that: actuator controller described in step II (27) carries out analyzing and processing according to the method for fuzzy control to its sample the spring carried mass displacement signal that obtains and nonspring carried mass displacement signal, and the detailed process obtaining dutycycle is:

Step one, actuator controller (27) are according to formula to its i-th time spring carried mass displacement signal obtained of sampling with nonspring carried mass displacement signal differ from, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when obtaining sampling for i-th time _i; Wherein, the value of i is natural number;

Step 2, actuator controller (27) are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _idifferentiate, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when obtaining sampling for i-th time _ithe rate of change of t in time

Step 3, actuator controller (27) are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _iquantize, obtain deviation e _iquantification amount E _i; Wherein, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when being i-th sampling _iquantizing factor, obtaining value method be: as i=1, as i>1 and | e _i| during <0.02,

K_{1}^{i} = 1.2 \times K_{1}^{i - 1} \times e_{i};

As i>1 and 0.02≤| e _i| when≤0.04,

K_{1}^{i} = 0.78 \times K_{1}^{i - 1} \times e_{i};

Step 4, actuator controller (27) are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _ithe rate of change of t in time quantize, obtain deviation e _ithe rate of change of t in time quantification amount wherein, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when being i-th sampling _ithe rate of change of t in time quantizing factor, obtaining value method be: as i=1,

K_{2}^{i} = K_{2}^{1} = 6;

As i>1 and

| e_{c}^{i} | < 0.08

Time,

K_{2}^{i} = 1.8 \times K_{2}^{i - 1} \times e_{c}^{i};

As i>1 and

0.08 \leq | e_{c}^{i} | \leq 0.6

Time,

K_{2}^{i} = 1.5 \times K_{2}^{i - 1} \times e_{c}^{i};

As i>1 and

| e_{c}^{i} | > 0.6

Step 5, actuator controller (27) are to deviation e _iquantification amount E _icarry out integer according to the method rounded up, obtain deviation e _iquantification amount E _iinteger result and by deviation e _iquantification amount E _iinteger result as first input E ' of fuzzy control _i;

Step 6, actuator controller (27) are to deviation e _ithe rate of change of t in time quantification amount carry out integer according to the method rounded up, obtain deviation e _ithe rate of change of t in time quantification amount integer result as second input of fuzzy control

Step 7, actuator controller (27) are according to first of fuzzy control input E ' _iwith second input of fuzzy control inquire about the fuzzy polling list pre-established by actuator controller (27) be stored in actuator controller (27) internal storage, obtain the output Γ of fuzzy control _i;

Step 8, actuator controller (27) are according to formula to the output Γ of fuzzy control _iadjust, obtain the duty cycle alpha that actuator controller (27) controls brshless DC motor (15) _i; Wherein, for the output Γ to fuzzy control _icarry out the factor of proportionality adjusted, obtaining value method be: as i=1,

K_{3}^{i} = K_{3}^{1} = 0.5;

As i>1 and | e _i| <0.02 or

| e_{c}^{i} | < 0.08

Time,

K_{3}^{i} = 0.9 \times K_{3}^{i - 1};

As i>1 and 0.02≤| e _i|≤0.04 or

0.08 \leq | e_{c}^{i} | \leq 0.6

Time,

K_{3}^{i} = 1.2 \times K_{3}^{i - 1};

As i>1 and | e _i| >0.04 or

| e_{c}^{i} | > 0.6

Time,

K_{3}^{i} = 1.0 \times K_{3}^{i - 1} .

9. in accordance with the method for claim 8, it is characterized in that: the process that actuator controller described in step 7 (27) pre-establishes fuzzy polling list is:

Step 701, spring carried mass displacement pickup detect in real time to spring carried mass displacement, nonspring carried mass displacement pickup detects in real time to nonspring carried mass displacement, and the spring carried mass displacement signal that actuator controller (27) detects spring carried mass displacement pickup and the nonspring carried mass displacement signal that nonspring carried mass displacement pickup detects carry out periodic samples;

Step 702, actuator controller (27) are according to formula to its i-th time spring carried mass displacement signal obtained of sampling with nonspring carried mass displacement signal differ from, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when obtaining sampling for i-th time _i; Wherein, the value of i is natural number;

Step 703, actuator controller (27) are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _idifferentiate, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when obtaining sampling for i-th time _ithe rate of change of t in time

Step 704, actuator controller (27) are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _iquantize, obtain deviation e _iquantification amount E _i; Wherein, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when being i-th sampling _iquantizing factor, obtaining value method be: as i=1, as i>1 and | e _i| during <0.02,

K_{1}^{i} = 1.2 \times K_{1}^{i - 1} \times e_{i};

As i>1 and 0.02≤| e _i| when≤0.04,

K_{1}^{i} = 0.78 \times K_{1}^{i - 1} \times e_{i};

Step 705, actuator controller (27) are according to formula the deviation e of system spring carried mass displacement and nonspring carried mass displacement when i-th time is sampled _ithe rate of change of t in time quantize, obtain deviation e _ithe rate of change of t in time quantification amount wherein, the deviation e of system spring carried mass displacement and nonspring carried mass displacement when being i-th sampling _ithe rate of change of t in time quantizing factor, obtaining value method be: as i=1,

K_{2}^{i} = K_{2}^{1} = 6;

As i>1 and

| e_{c}^{i} | < 0.08

Time,

K_{2}^{i} = 1.8 \times K_{2}^{i - 1} \times e_{c}^{i};

As i>1 and

0.08 \leq | e_{c}^{i} | \leq 0.6

Time,

K_{2}^{i} = 1.5 \times K_{2}^{i - 1} \times e_{c}^{i};

As i>1 and

| e_{c}^{i} | > 0.6

Step 706, actuator controller (27) are to deviation e _iquantification amount E _icarry out Fuzzy processing, its detailed process is as follows:

Step 7062, actuator controller (27) are according to deviation e _iquantification amount E _itriangular membership

t r i m f (E_{i}, a_{1}, b_{1}, c_{1}) = \{\begin{matrix} 0, & E_{i} \leq a_{1} \\ \frac{E_{i} - a_{1}}{b_{1} - a_{1}}, & a_{1} \leq E_{i} \leq b_{1} \\ \frac{c_{1} - E_{i}}{c_{1} - b_{1}}, & b_{1} \leq E_{i} \leq c_{1} \\ 0 & c_{1} \leq E_{i} \end{matrix}\}

Step 707, actuator controller (27) are to deviation e _ithe rate of change of t in time quantification amount carry out Fuzzy processing, its detailed process is as follows:

Step 7072, actuator controller (27) are according to deviation e _ithe rate of change of t in time quantification amount triangular membership

t r i m f (E_{c}^{i}, a_{2}, b_{2}, c_{2}) = \{\begin{matrix} 0, & E_{c}^{i} \leq a_{2} \\ \frac{E_{c}^{i} - a_{2}}{b_{2} - a_{2}}, & a_{2} \leq E_{c}^{i} \leq b_{2} \\ \frac{c_{2} - E_{c}^{i}}{c_{2} - b_{2}}, & b_{2} \leq E_{c}^{i} \leq c_{2} \\ 0 & c_{1} \leq E_{c}^{i} \end{matrix}\}

Wherein, described fuzzy control rule is:

Step 7091, define the output Γ of described fuzzy control _idomain be [-7,7];

Step 7092, actuator controller (27) are according to the output Γ of fuzzy control _itriangular membership

t r i m f (Γ_{i}, a_{3}, b_{3}, c_{3}) = \{\begin{matrix} 0, & Γ_{i} \leq a_{3} \\ \frac{Γ_{i} - a_{3}}{b_{3} - a_{3}}, & a_{3} \leq Γ \leq b_{3} \\ \frac{c_{3} - Γ_{i}}{c_{3} - b_{3}}, & b_{3} \leq Γ_{i} \leq b_{3} \\ 0 & c_{3} \leq Γ_{i} \end{matrix}\}

10. in accordance with the method for claim 9, it is characterized in that: fuzzy polling list described in step 7011 describe in words into: