CN104843004A - Transport vehicle active roll-over prevention control apparatus based on integrated adjustment of differential braking and oil-gas suspension - Google Patents
Transport vehicle active roll-over prevention control apparatus based on integrated adjustment of differential braking and oil-gas suspension Download PDFInfo
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- CN104843004A CN104843004A CN201510325863.0A CN201510325863A CN104843004A CN 104843004 A CN104843004 A CN 104843004A CN 201510325863 A CN201510325863 A CN 201510325863A CN 104843004 A CN104843004 A CN 104843004A
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- 239000000725 suspension Substances 0.000 title claims abstract description 105
- 230000002265 prevention Effects 0.000 title abstract 4
- 230000001133 acceleration Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 3
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 103
- 239000000446 fuel Substances 0.000 claims description 96
- 238000004146 energy storage Methods 0.000 claims description 42
- 238000005516 engineering process Methods 0.000 abstract description 4
- 239000003921 oil Substances 0.000 description 32
- 239000010720 hydraulic oil Substances 0.000 description 16
- 239000007788 liquid Substances 0.000 description 10
- 239000000284 extract Substances 0.000 description 4
- 238000004904 shortening Methods 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/22—Suspension systems
- B60W2710/223—Stiffness
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention, which belongs to the technical field of the active safety control of the transport vehicle and especially relates to the active roll-over prevention control technology for the road transport vehicles mainly for passenger transport and freight, brings forward a transport vehicle active roll-over prevention control apparatus based on integrated adjustment of differential braking and oil-gas suspension. According to the control system, various sensors are used for collecting driving state parameters of a transport vehicle; the signal collected in a current state is transformed and analyzed; and after logical operation, an actual operation state of the transport vehicle is estimated and whether a dangerous roll-over situation exists in a next state of the vehicle is deduced. And braking pressure control solenoid valves are controlled to adjust brakes of all wheels, thereby realizing differential braking of wheels and reducing the lateral acceleration of the transport vehicle. Meanwhile, vehicle height control solenoid valves are controlled to adjust heights of the two ends of the vehicle frame, thereby preventing the roll-over prevention of the transport vehicle during the driving process.
Description
Technical field
The present invention relates to transport vehicle active safety control field, especially a kind of transport vehicle by differential braking and hydro pneumatic suspension comprehensive adjustment is anti-rollover control setup initiatively.
Background technology
Over-the-road transportation vehicle mainly comprises the form such as passenger traffic, shipping, also integral type, the version such as hanging is divided into, most over-the-road transportation vehicle active safety control technology is short of relatively, only installs a set of safety system of ABS and is used for preventing the safety problem such as defective steering stabilizer, stall.And over-the-road transportation vehicle is because centroid position is high, vehicle body is longer, running at high speed, more easily there is rollover accident when travelling in sharp turn, the personal casualty caused and property damage larger; At present, active heeling-proof inclining bar, differential braking is adopted to regulate the active anti-rollover that can realize vehicle to a certain extent, but active heeling-proof inclining bar complex structure, to produce anti-bank moment size limited, differential braking can not work under emergency brake state, and therefore these technology carry out there is certain defect and deficiency in initiatively anti-rollover control under some operating condition of over-the-road transportation vehicle.
Summary of the invention
To the present invention is directed in prior art existing problem, propose a kind of transport vehicle initiatively anti-rollover control setup by differential braking and hydro pneumatic suspension comprehensive adjustment.
By the transport vehicle initiatively anti-rollover control setup of differential braking and hydro pneumatic suspension comprehensive adjustment, comprise front axle, Hydraulic Pump, hydraulic reservoir, vehicle frame, first height sensor, first hydro pneumatic suspension, first wheel, first wheel speed sensors, first drg, first ride height control electromagnetic valve, first braking pressure control electromagnetic valve, hydraulic tubing, steering wheel angle position transduser, gyroscope, 3-axis acceleration sensor, second braking pressure control electromagnetic valve, second brake, second wheel speed sensors, second wheel, second height sensor, second hydro pneumatic suspension, second ride height control electromagnetic valve, rear axle, 3rd height sensor, 3rd hydro pneumatic suspension, 3rd wheel, third round speed sensor, 3rd drg, 3rd ride height control electromagnetic valve, 3rd braking pressure control electromagnetic valve, initiatively anti-rollover controller, 4th braking pressure control electromagnetic valve, 4th ride height control electromagnetic valve, 4th drg, fourth round speed sensor, 4th wheel, 4th hydro pneumatic suspension, 4th height sensor, energy storage, vehicle frame is installed with hydraulic reservoir, Hydraulic Pump, energy storage, the first ride height control electromagnetic valve, the second ride height control electromagnetic valve, the 3rd ride height control electromagnetic valve, the 4th ride height control electromagnetic valve, the first braking pressure control electromagnetic valve, the second braking pressure control electromagnetic valve, the 3rd braking pressure control electromagnetic valve, the 4th braking pressure control electromagnetic valve, hydraulic reservoir is connected with Hydraulic Pump by hydraulic tubing, Hydraulic Pump is connected by hydraulic tubing with energy storage, first ride height control electromagnetic valve is a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage by hydraulic tubing, fuel return hole is connected with hydraulic reservoir by hydraulic tubing, oil outlet is connected with the first hydro pneumatic suspension by hydraulic tubing, first hydro pneumatic suspension upper end and vehicle frame are connected to a fixed, first hydro pneumatic suspension lower end and front axle are connected to a fixed, the left end of front axle is installed with the first wheel, first wheel is installed with the first drg, first braking pressure control electromagnetic valve is also a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage by hydraulic tubing, oil outlet is connected with the first drg by hydraulic tubing, fuel return hole is connected with hydraulic reservoir by hydraulic tubing, second ride height control electromagnetic valve is a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage by hydraulic tubing, fuel return hole is connected with hydraulic reservoir by hydraulic tubing, oil outlet is connected with the second hydro pneumatic suspension by hydraulic tubing, second hydro pneumatic suspension upper end and vehicle frame are connected to a fixed, second hydro pneumatic suspension lower end and rear axle are connected to a fixed, the left end of rear axle is installed with the second wheel, second wheel is installed with second brake, second braking pressure control electromagnetic valve is also a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage by hydraulic tubing, oil outlet is connected with second brake by hydraulic tubing, fuel return hole is connected with hydraulic reservoir by hydraulic tubing, 3rd ride height control electromagnetic valve is a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage by hydraulic tubing, fuel return hole is connected with hydraulic reservoir by hydraulic tubing, oil outlet is connected with the 3rd hydro pneumatic suspension by hydraulic tubing, 3rd hydro pneumatic suspension upper end and vehicle frame are connected to a fixed, 3rd hydro pneumatic suspension lower end and rear axle are connected to a fixed, the right-hand member of rear axle is installed with the 3rd wheel, 3rd wheel is installed with the 3rd drg, 3rd braking pressure control electromagnetic valve is also a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage by hydraulic tubing, oil outlet is connected with the 3rd drg by hydraulic tubing, fuel return hole is connected with hydraulic reservoir by hydraulic tubing, 4th ride height control electromagnetic valve is a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage by hydraulic tubing, fuel return hole is connected with hydraulic reservoir by hydraulic tubing, oil outlet is connected with the 4th hydro pneumatic suspension by hydraulic tubing, 4th hydro pneumatic suspension upper end and vehicle frame are connected to a fixed, 4th hydro pneumatic suspension lower end and front axle are connected to a fixed, the right-hand member of front axle is installed with the 4th wheel, 4th wheel is installed with the 4th drg, 4th braking pressure control electromagnetic valve is also a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage by hydraulic tubing, oil outlet is connected with the 4th drg by hydraulic tubing, fuel return hole is connected with hydraulic reservoir by hydraulic tubing, gyroscope is fixedly mounted on the centroid position of vehicle frame, 3-axis acceleration sensor is fixedly mounted on the vehicle frame at gyroscope rear, steering wheel angle position transduser is fixedly mounted on steering shaft, first height sensor is fixedly mounted on the vehicle frame near the first hydro pneumatic suspension, second height sensor is fixedly mounted on the vehicle frame near the second hydro pneumatic suspension, 3rd height sensor is fixedly mounted on the vehicle frame near the 3rd hydro pneumatic suspension, 4th height sensor is fixedly mounted on the vehicle frame near the 4th hydro pneumatic suspension, first wheel speed sensors is fixedly mounted on the first wheel, second wheel speed sensors is fixedly mounted on the second wheel, third round speed sensor is fixedly mounted on the 3rd wheel, fourth round speed sensor is fixedly mounted on the 4th wheel, initiatively the signal input port of anti-rollover controller respectively with 3-axis acceleration sensor, steering wheel angle position transduser, gyroscope, first height sensor, second height sensor, 3rd height sensor, 4th height sensor, first wheel speed sensors, second wheel speed sensors, third round speed sensor, fourth round speed sensor electrical connects, initiatively the signal output port of anti-rollover controller respectively with Hydraulic Pump, first ride height control electromagnetic valve, second ride height control electromagnetic valve, 3rd ride height control electromagnetic valve, 4th ride height control electromagnetic valve, first braking pressure control electromagnetic valve, second braking pressure control electromagnetic valve, 3rd braking pressure control electromagnetic valve, 4th braking pressure control electromagnetic valve electrical connection.
Beneficial effect of the present invention: control setup can prejudge the unsafe condition whether transport vehicle NextState exists rollover, prevent transport vehicle in traveling from turning on one's side suddenly, the driving safety of transport vehicle can be improved, reduce the generation of traffic accident, improve the safety control of chaufeur, reduce economic loss.
Accompanying drawing explanation
Fig. 1 is the structural representation of control setup of the present invention.
1-front axle in figure, 2-Hydraulic Pump, 3-hydraulic reservoir, 4-vehicle frame, 5-first height sensor, 6-first hydro pneumatic suspension, 7-first wheel, 8-first wheel speed sensors, 9-first drg, 10-first ride height control electromagnetic valve, 11-first braking pressure control electromagnetic valve, 12-hydraulic tubing, 13-steering wheel angle position transduser, 14-gyroscope, 15-3-axis acceleration sensor, 16-second braking pressure control electromagnetic valve, 17-second brake, 18-second wheel speed sensors, 19-second wheel, 20-second height sensor, 21-second hydro pneumatic suspension, 22-second ride height control electromagnetic valve, 23-rear axle, 24-the 3rd height sensor, 25-the 3rd hydro pneumatic suspension, 26-the 3rd wheel, 27-third round speed sensor, 28-the 3rd drg, 29-the 3rd ride height control electromagnetic valve, 30-the 3rd braking pressure control electromagnetic valve, 31-is anti-rollover controller initiatively, 32-the 4th braking pressure control electromagnetic valve, 33-the 4th ride height control electromagnetic valve, 34-the 4th drg, 35-fourth round speed sensor, 36-the 4th wheel, 37-the 4th hydro pneumatic suspension, 38-the 4th height sensor, 39-energy storage.
Detailed description of the invention
As shown in Figure 1, by the transport vehicle initiatively anti-rollover control setup of differential braking and hydro pneumatic suspension comprehensive adjustment, front axle 1 is comprised, Hydraulic Pump 2, hydraulic reservoir 3, vehicle frame 4, first height sensor 5, first hydro pneumatic suspension 6, first wheel 7, first wheel speed sensors 8, first drg 9, first ride height control electromagnetic valve 10, first braking pressure control electromagnetic valve 11, hydraulic tubing 12, steering wheel angle position transduser 13, gyroscope 14, 3-axis acceleration sensor 15, second braking pressure control electromagnetic valve 16, second brake 17, second wheel speed sensors 18, second wheel 19, second height sensor 20, second hydro pneumatic suspension 21, second ride height control electromagnetic valve 22, rear axle 23, 3rd height sensor 24, 3rd hydro pneumatic suspension 25, 3rd wheel 26, third round speed sensor 27, 3rd drg 28, 3rd ride height control electromagnetic valve 29, 3rd braking pressure control electromagnetic valve 30, initiatively anti-rollover controller 31, 4th braking pressure control electromagnetic valve 32, 4th ride height control electromagnetic valve 33, 4th drg 34, fourth round speed sensor 35, 4th wheel 36, 4th hydro pneumatic suspension 37, 4th height sensor 38, energy storage 39, vehicle frame 4 is installed with hydraulic reservoir 3, Hydraulic Pump 2, energy storage 39, first ride height control electromagnetic valve 10, second ride height control electromagnetic valve 22, the 3rd ride height control electromagnetic valve 29, the 4th ride height control electromagnetic valve 33, first braking pressure control electromagnetic valve 11, second braking pressure control electromagnetic valve 16, the 3rd braking pressure control electromagnetic valve 30, the 4th braking pressure control electromagnetic valve 32, hydraulic reservoir 3 is connected with Hydraulic Pump 2 by hydraulic tubing 12, Hydraulic Pump 2 is connected by hydraulic tubing 12 with energy storage 39, first ride height control electromagnetic valve 10 is three-position three-way valves, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage 39 by hydraulic tubing 12, fuel return hole is connected with hydraulic reservoir 3 by hydraulic tubing 12, oil outlet is connected with the first hydro pneumatic suspension 6 by hydraulic tubing 12, first hydro pneumatic suspension 6 upper end and vehicle frame 4 are connected to a fixed, first hydro pneumatic suspension 6 lower end and front axle 1 are connected to a fixed, the left end of front axle 1 is installed with the first wheel 7, first wheel 7 is installed with the first drg 9, first braking pressure control electromagnetic valve 11 is also a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage 39 by hydraulic tubing 12, oil outlet is connected with the first drg 9 by hydraulic tubing 12, fuel return hole is connected with hydraulic reservoir 3 by hydraulic tubing 12, second ride height control electromagnetic valve 22 is three-position three-way valves, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage 39 by hydraulic tubing 12, fuel return hole is connected with hydraulic reservoir 3 by hydraulic tubing 12, oil outlet is connected with the second hydro pneumatic suspension 21 by hydraulic tubing 12, second hydro pneumatic suspension 21 upper end and vehicle frame 4 are connected to a fixed, second hydro pneumatic suspension 21 lower end and rear axle 23 are connected to a fixed, the left end of rear axle 23 is installed with the second wheel 19, second wheel 19 is installed with second brake 17, second braking pressure control electromagnetic valve 16 is also a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage 39 by hydraulic tubing 12, oil outlet is connected with second brake 17 by hydraulic tubing 12, fuel return hole is connected with hydraulic reservoir 3 by hydraulic tubing 12, 3rd ride height control electromagnetic valve 29 is three-position three-way valves, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage 39 by hydraulic tubing 12, fuel return hole is connected with hydraulic reservoir 3 by hydraulic tubing 12, oil outlet is connected with the 3rd hydro pneumatic suspension 25 by hydraulic tubing 12, 3rd hydro pneumatic suspension 25 upper end and vehicle frame 4 are connected to a fixed, 3rd hydro pneumatic suspension 25 lower end and rear axle 23 are connected to a fixed, the right-hand member of rear axle 23 is installed with the 3rd wheel 26, 3rd wheel 26 is installed with the 3rd drg 28, 3rd braking pressure control electromagnetic valve 30 is also a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage 39 by hydraulic tubing 12, oil outlet is connected with the 3rd drg 28 by hydraulic tubing 12, fuel return hole is connected with hydraulic reservoir 3 by hydraulic tubing 12, 4th ride height control electromagnetic valve 33 is three-position three-way valves, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage 39 by hydraulic tubing 12, fuel return hole is connected with hydraulic reservoir 3 by hydraulic tubing 12, oil outlet is connected with the 4th hydro pneumatic suspension 37 by hydraulic tubing 12, 4th hydro pneumatic suspension 37 upper end and vehicle frame 4 are connected to a fixed, 4th hydro pneumatic suspension 37 lower end and front axle 1 are connected to a fixed, the right-hand member of front axle 1 is installed with the 4th wheel 36, 4th wheel 36 is installed with the 4th drg 34, 4th braking pressure control electromagnetic valve 32 is also a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage 39 by hydraulic tubing 12, oil outlet is connected with the 4th drg 34 by hydraulic tubing 12, fuel return hole is connected with hydraulic reservoir 3 by hydraulic tubing 12, gyroscope 14 is fixedly mounted on the centroid position of vehicle frame 4, 3-axis acceleration sensor 15 is fixedly mounted on the vehicle frame 4 at gyroscope 14 rear, steering wheel angle position transduser 13 is fixedly mounted on steering shaft, first height sensor 5 is fixedly mounted on the vehicle frame 4 near the first hydro pneumatic suspension 6, second height sensor 20 is fixedly mounted on the vehicle frame 4 near the second hydro pneumatic suspension 21, 3rd height sensor 24 is fixedly mounted on the vehicle frame 4 near the 3rd hydro pneumatic suspension 25, 4th height sensor 38 is fixedly mounted on the vehicle frame 4 near the 4th hydro pneumatic suspension 37, first wheel speed sensors 8 is fixedly mounted on the first wheel 7, second wheel speed sensors 18 is fixedly mounted on the second wheel 19, third round speed sensor 27 is fixedly mounted on the 3rd wheel 26, fourth round speed sensor 35 is fixedly mounted on the 4th wheel 36, initiatively the signal input port of anti-rollover controller 31 respectively with 3-axis acceleration sensor 15, steering wheel angle position transduser 13, gyroscope 14, first height sensor 5, second height sensor 20, 3rd height sensor 24, 4th height sensor 38, first wheel speed sensors 8, second wheel speed sensors 18, third round speed sensor 27, fourth round speed sensor 35 is electrically connected, initiatively the signal output port of anti-rollover controller 31 respectively with Hydraulic Pump 2, first ride height control electromagnetic valve 10, second ride height control electromagnetic valve 22, 3rd ride height control electromagnetic valve 29, 4th ride height control electromagnetic valve 33, first braking pressure control electromagnetic valve 11, second braking pressure control electromagnetic valve 16, 3rd braking pressure control electromagnetic valve 30, 4th braking pressure control electromagnetic valve 32 is electrically connected.
In transport vehicle driving process, initiatively anti-rollover controller 31 is by the acceleration signal of 3-axis acceleration sensor 15 collection vehicle, steering wheel angle signal is gathered by steering wheel angle position transduser 13, bodywork height signal is gathered by height sensor, wheel velocity signal is gathered by wheel speed sensors, yaw rate signal is gathered by gyroscope 14, initiatively anti-rollover controller 31 is by transforming the signal of current collection, analyze, through logic operation, estimate the actual motion state of transport vehicle, it is dangerous that prediction judges whether vehicle NextState exists rollover.
When transport vehicle is at straight-line travelling during the tendency of oriented right side-overturn, initiatively anti-rollover controller 31 is respectively to Hydraulic Pump 2, first ride height control electromagnetic valve 10, second ride height control electromagnetic valve 22, the 3rd ride height control electromagnetic valve 29, the 4th ride height control electromagnetic valve 33 output command; Hydraulic Pump 2 extracts hydraulic oil by hydraulic tubing 12 from hydraulic reservoir 3, by hydraulic tubing 12, hydraulic oil is transported to energy storage 39, energy storage 39 passes through hydraulic tubing 12 respectively to the 3rd ride height control electromagnetic valve 29, the 4th ride height control electromagnetic valve 33 conveying liquid force feed, hydraulic oil to be transported to the 3rd hydro pneumatic suspension 25 by hydraulic tubing 12 by the 3rd ride height control electromagnetic valve 29, the 4th ride height control electromagnetic valve 33, the 4th hydro pneumatic suspension the 37, three hydro pneumatic suspension 25, the 4th hydro pneumatic suspension 37 extend and impel the right side of vehicle frame 4 to raise; Meanwhile, first hydro pneumatic suspension 6, second hydro pneumatic suspension 21 passes through hydraulic tubing 12 respectively to the first ride height control electromagnetic valve 10, second ride height control electromagnetic valve 22 conveying liquid force feed, hydraulic oil is put back to hydraulic reservoir 3 by hydraulic tubing 12 by the first ride height control electromagnetic valve 10, second ride height control electromagnetic valve 22, first hydro pneumatic suspension 6, second hydro pneumatic suspension 21 shortening impels the left side of vehicle frame 4 to reduce, and prevents transport vehicle from turning on one's side.
When transport vehicle is at straight-line travelling during the tendency of oriented left side-turning, initiatively anti-rollover controller 31 is respectively to Hydraulic Pump 2, first ride height control electromagnetic valve 10, second ride height control electromagnetic valve 22, 3rd ride height control electromagnetic valve 29, 4th ride height control electromagnetic valve 33 output command, Hydraulic Pump 2 extracts hydraulic oil by hydraulic tubing 12 from hydraulic reservoir 3, by hydraulic tubing 12, hydraulic oil is transported to energy storage 39, energy storage 39 passes through hydraulic tubing 12 respectively to the first ride height control electromagnetic valve 10, second ride height control electromagnetic valve 22 conveying liquid force feed, first ride height control electromagnetic valve 10, hydraulic oil is transported to the first hydro pneumatic suspension 6 by hydraulic tubing 12 by the second ride height control electromagnetic valve 22, second hydro pneumatic suspension 21, first hydro pneumatic suspension 6, second hydro pneumatic suspension 21 extends and impels the left side of vehicle frame 4 to raise, meanwhile, 3rd hydro pneumatic suspension 25, the 4th hydro pneumatic suspension 37 pass through hydraulic tubing 12 respectively to the 3rd ride height control electromagnetic valve 29, the 4th ride height control electromagnetic valve 33 conveying liquid force feed, hydraulic oil is put back to hydraulic reservoir 3 by hydraulic tubing 12 by the 3rd ride height control electromagnetic valve 29, the 4th ride height control electromagnetic valve 33,3rd hydro pneumatic suspension 25, the 4th hydro pneumatic suspension 37 shortening impel the right side of vehicle frame 4 to reduce, and prevent transport vehicle from turning on one's side.
When transport vehicle turns left during the tendency of oriented right side-overturn, initiatively anti-rollover controller 31 is respectively to Hydraulic Pump 2, first ride height control electromagnetic valve 10, second ride height control electromagnetic valve 22, the 3rd ride height control electromagnetic valve 29, the 4th ride height control electromagnetic valve 33, the 3rd braking pressure control electromagnetic valve 30, the 4th braking pressure control electromagnetic valve 32 output command, Hydraulic Pump 2 extracts hydraulic oil by hydraulic tubing 12 from hydraulic reservoir 3, by hydraulic tubing 12, hydraulic oil is transported to energy storage 39, energy storage 39 passes through hydraulic tubing 12 respectively to the 3rd ride height control electromagnetic valve 29, 4th ride height control electromagnetic valve 33, 3rd braking pressure control electromagnetic valve 30, 4th braking pressure control electromagnetic valve 32 conveying liquid force feed, 3rd ride height control electromagnetic valve 29, hydraulic oil is transported to the 3rd hydro pneumatic suspension 25 by hydraulic tubing 12 by the 4th ride height control electromagnetic valve 33, 4th hydro pneumatic suspension 37, 3rd hydro pneumatic suspension 25, 4th hydro pneumatic suspension 37 extends and impels the right side of vehicle frame 4 to raise, 3rd braking pressure control electromagnetic valve 30, 4th braking pressure control electromagnetic valve 32 passes through hydraulic tubing 12 respectively to the 3rd drg 28, 4th drg 34 conveying liquid force feed, make the 3rd wheel 26, 4th wheel 36 starts braking, thus reduce the lateral acceleration of transport vehicle, meanwhile, first hydro pneumatic suspension 6, second hydro pneumatic suspension 21 passes through hydraulic tubing 12 respectively to the first ride height control electromagnetic valve 10, second ride height control electromagnetic valve 22 conveying liquid force feed, hydraulic oil is put back to hydraulic reservoir 3 by hydraulic tubing 12 by the first ride height control electromagnetic valve 10, second ride height control electromagnetic valve 22, first hydro pneumatic suspension 6, second hydro pneumatic suspension 21 shortening impels the left side of vehicle frame 4 to reduce, and prevents transport vehicle from turning on one's side.
When transport vehicle is turned right during the tendency of oriented left side-turning, initiatively anti-rollover controller 31 is respectively to Hydraulic Pump 2, first ride height control electromagnetic valve 10, second ride height control electromagnetic valve 22, 3rd ride height control electromagnetic valve 29, 4th ride height control electromagnetic valve 33, first braking pressure control electromagnetic valve 11, second braking pressure control electromagnetic valve 16 output command, Hydraulic Pump 2 extracts hydraulic oil by hydraulic tubing 12 from hydraulic reservoir 3, by hydraulic tubing 12, hydraulic oil is transported to energy storage 39, energy storage 39 passes through hydraulic tubing 12 respectively to the first ride height control electromagnetic valve 10, second ride height control electromagnetic valve 22 conveying liquid force feed, first ride height control electromagnetic valve 10, hydraulic oil is transported to the first hydro pneumatic suspension 6 by hydraulic tubing 12 by the second ride height control electromagnetic valve 22, second hydro pneumatic suspension 21, first hydro pneumatic suspension 6, second hydro pneumatic suspension 21 extends and impels the left side of vehicle frame 4 to raise, first braking pressure control electromagnetic valve 11, second braking pressure control electromagnetic valve 16 passes through hydraulic tubing 12 respectively to the first drg 9, second brake 17 conveying liquid force feed, make the first wheel 7, second wheel 19 start braking, thus reduce the lateral acceleration of transport vehicle, meanwhile, 3rd hydro pneumatic suspension 25, the 4th hydro pneumatic suspension 37 pass through hydraulic tubing 12 respectively to the 3rd ride height control electromagnetic valve 29, the 4th ride height control electromagnetic valve 33 conveying liquid force feed, hydraulic oil is put back to hydraulic reservoir 3 by hydraulic tubing 12 by the 3rd ride height control electromagnetic valve 29, the 4th ride height control electromagnetic valve 33,3rd hydro pneumatic suspension 25, the 4th hydro pneumatic suspension 37 shortening impel the right side of vehicle frame 4 to reduce, and prevent transport vehicle from turning on one's side.
If the danger that transport vehicle is not turned on one's side, initiatively anti-rollover controller 31 can not output command, and meanwhile, initiatively anti-rollover controller 31 is by various for collection vehicle NextState information, and it is dangerous whether prediction vehicle exists rollover.
Claims (2)
1., by a transport vehicle initiatively anti-rollover control setup for differential braking and hydro pneumatic suspension comprehensive adjustment, comprise front axle [1], Hydraulic Pump [2], hydraulic reservoir [3], vehicle frame [4], first height sensor [5], first hydro pneumatic suspension [6], first wheel [7], first wheel speed sensors [8], first drg [9], first ride height control electromagnetic valve [10], first braking pressure control electromagnetic valve [11], hydraulic tubing [12], steering wheel angle position transduser [13], gyroscope [14], 3-axis acceleration sensor [15], second braking pressure control electromagnetic valve [16], second brake [17], second wheel speed sensors [18], second wheel [19], second height sensor [20], second hydro pneumatic suspension [21], second ride height control electromagnetic valve [22], rear axle [23], 3rd height sensor [24], 3rd hydro pneumatic suspension [25], 3rd wheel [26], third round speed sensor [27], 3rd drg [28], 3rd ride height control electromagnetic valve [29], 3rd braking pressure control electromagnetic valve [30], initiatively anti-rollover controller [31], 4th braking pressure control electromagnetic valve [32], 4th ride height control electromagnetic valve [33], 4th drg [34], fourth round speed sensor [35], 4th wheel [36], 4th hydro pneumatic suspension [37], 4th height sensor [38], energy storage [39], it is characterized in that: vehicle frame [4] is installed with hydraulic reservoir [3], Hydraulic Pump [2], energy storage [39], first ride height control electromagnetic valve [10], second ride height control electromagnetic valve [22], 3rd ride height control electromagnetic valve [29], 4th ride height control electromagnetic valve [33], first braking pressure control electromagnetic valve [11], second braking pressure control electromagnetic valve [16], 3rd braking pressure control electromagnetic valve [30], 4th braking pressure control electromagnetic valve [32], hydraulic reservoir [3] is connected with Hydraulic Pump [2] by hydraulic tubing [12], Hydraulic Pump [2] is connected by hydraulic tubing [12] with energy storage [39], first ride height control electromagnetic valve [10] is a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage [39] by hydraulic tubing [12], fuel return hole is connected with hydraulic reservoir [3] by hydraulic tubing [12], oil outlet is connected with the first hydro pneumatic suspension [6] by hydraulic tubing [12], first hydro pneumatic suspension [6] upper end and vehicle frame [4] are connected to a fixed, first hydro pneumatic suspension [6] lower end and front axle [1] are connected to a fixed, the left end of front axle [1] is installed with the first wheel [7], first wheel [7] is installed with the first drg [9], first braking pressure control electromagnetic valve [11] is also a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage [39] by hydraulic tubing [12], oil outlet is connected with the first drg [9] by hydraulic tubing [12], fuel return hole is connected with hydraulic reservoir [3] by hydraulic tubing [12], second ride height control electromagnetic valve [22] is a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage [39] by hydraulic tubing [12], fuel return hole is connected with hydraulic reservoir [3] by hydraulic tubing [12], oil outlet is connected with the second hydro pneumatic suspension [21] by hydraulic tubing [12], second hydro pneumatic suspension [21] upper end and vehicle frame [4] are connected to a fixed, second hydro pneumatic suspension [21] lower end and rear axle [23] are connected to a fixed, the left end of rear axle [23] is installed with the second wheel [19], second wheel [19] is installed with second brake [17], second braking pressure control electromagnetic valve [16] is also a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage [39] by hydraulic tubing [12], oil outlet is connected with second brake [17] by hydraulic tubing [12], fuel return hole is connected with hydraulic reservoir [3] by hydraulic tubing [12], 3rd ride height control electromagnetic valve [29] is a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage [39] by hydraulic tubing [12], fuel return hole is connected with hydraulic reservoir [3] by hydraulic tubing [12], oil outlet is connected with the 3rd hydro pneumatic suspension [25] by hydraulic tubing [12], 3rd hydro pneumatic suspension [25] upper end and vehicle frame [4] are connected to a fixed, 3rd hydro pneumatic suspension [25] lower end and rear axle [23] are connected to a fixed, the right-hand member of rear axle [23] is installed with the 3rd wheel [26], 3rd wheel [26] is installed with the 3rd drg [28], 3rd braking pressure control electromagnetic valve [30] is also a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage [39] by hydraulic tubing [12], oil outlet is connected with the 3rd drg [28] by hydraulic tubing [12], fuel return hole is connected with hydraulic reservoir [3] by hydraulic tubing [12], 4th ride height control electromagnetic valve [33] is a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage [39] by hydraulic tubing [12], fuel return hole is connected with hydraulic reservoir [3] by hydraulic tubing [12], oil outlet is connected with the 4th hydro pneumatic suspension [37] by hydraulic tubing [12], 4th hydro pneumatic suspension [37] upper end and vehicle frame [4] are connected to a fixed, 4th hydro pneumatic suspension [37] lower end and front axle [1] are connected to a fixed, the right-hand member of front axle [1] is installed with the 4th wheel [36], 4th wheel [36] is installed with the 4th drg [34], 4th braking pressure control electromagnetic valve [32] is also a three-position three-way valve, comprise fuel feed hole, oil outlet, fuel return hole three stomidiums, fuel feed hole is connected with energy storage [39] by hydraulic tubing [12], oil outlet is connected with the 4th drg [34] by hydraulic tubing [12], fuel return hole is connected with hydraulic reservoir [3] by hydraulic tubing [12], gyroscope [14] is fixedly mounted on the centroid position of vehicle frame [4], 3-axis acceleration sensor [15] is fixedly mounted on the vehicle frame [4] at gyroscope [14] rear, steering wheel angle position transduser [13] is fixedly mounted on steering shaft, first height sensor [5] is fixedly mounted on the vehicle frame [4] near the first hydro pneumatic suspension [6], second height sensor [20] is fixedly mounted on the vehicle frame [4] near the second hydro pneumatic suspension [21], 3rd height sensor [24] is fixedly mounted on the vehicle frame [4] near the 3rd hydro pneumatic suspension [25], 4th height sensor [38] is fixedly mounted on the vehicle frame [4] near the 4th hydro pneumatic suspension [37], first wheel speed sensors [8] is fixedly mounted on the first wheel [7], second wheel speed sensors [18] is fixedly mounted on the second wheel [19], third round speed sensor [27] is fixedly mounted on the 3rd wheel [26], fourth round speed sensor [35] is fixedly mounted on the 4th wheel [36], initiatively the signal input port of anti-rollover controller [31] respectively with 3-axis acceleration sensor [15], steering wheel angle position transduser [13], gyroscope [14], first height sensor [5], second height sensor [20], 3rd height sensor [24], 4th height sensor [38], first wheel speed sensors [8], second wheel speed sensors [18], third round speed sensor [27], fourth round speed sensor [35] electrical connection, initiatively the signal output port of anti-rollover controller [31] respectively with Hydraulic Pump [2], first ride height control electromagnetic valve [10], second ride height control electromagnetic valve [22], 3rd ride height control electromagnetic valve [29], 4th ride height control electromagnetic valve [33], first braking pressure control electromagnetic valve [11], second braking pressure control electromagnetic valve [16], 3rd braking pressure control electromagnetic valve [30], 4th braking pressure control electromagnetic valve [32] electrical connection.
2. a kind of transport vehicle by differential braking and hydro pneumatic suspension comprehensive adjustment initiatively anti-rollover control setup as claimed in claim 1, is characterized in that: initiatively anti-rollover controller [31] is by 3-axis acceleration sensor [15], steering wheel angle position transduser [13], gyroscope [14], first height sensor [5], second height sensor [20], 3rd height sensor [24], 4th height sensor [38], first wheel speed sensors [8], second wheel speed sensors [18], third round speed sensor [27], fourth round speed sensor [35] gathers the various information of transport vehicle, through computing, estimate transport vehicle actual motion state, prejudge the danger whether transport vehicle NextState exists rollover, initiatively anti-rollover controller [31] is by hydraulic control pump [2], first ride height control electromagnetic valve [10], second ride height control electromagnetic valve [22], 3rd ride height control electromagnetic valve [29], 4th ride height control electromagnetic valve [33], first braking pressure control electromagnetic valve [11], second braking pressure control electromagnetic valve [16], 3rd braking pressure control electromagnetic valve [30], 4th braking pressure control electromagnetic valve [32], prevents transport vehicle from turning on one's side in the process of moving, improves the driving safety of transport vehicle.
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