CN104918802B - 主动减振系统 - Google Patents

主动减振系统 Download PDF

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CN104918802B
CN104918802B CN201380070161.1A CN201380070161A CN104918802B CN 104918802 B CN104918802 B CN 104918802B CN 201380070161 A CN201380070161 A CN 201380070161A CN 104918802 B CN104918802 B CN 104918802B
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supporting member
body structure
acceleration
control unit
active
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CN104918802A (zh
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M·威莱姆斯
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Audi AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
    • B60G13/001—Arrangements for attachment of dampers
    • B60G13/003—Arrangements for attachment of dampers characterised by the mounting on the vehicle body or chassis of the damper unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G7/00—Pivoted suspension arms; Accessories thereof
    • B60G7/006—Attaching arms to sprung or unsprung part of vehicle, characterised by comprising attachment means controlled by an external actuator, e.g. a fluid or electrical motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G7/00—Pivoted suspension arms; Accessories thereof
    • B60G7/02—Attaching arms to sprung part of vehicle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/54—Arrangements for attachment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/11—Mounting of sensors thereon
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/11—Mounting of sensors thereon
    • B60G2204/112—Mounting of sensors thereon on dampers, e.g. fluid dampers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/12—Mounting of springs or dampers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/14—Mounting of suspension arms
    • B60G2204/143—Mounting of suspension arms on the vehicle body or chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/15—Mounting of subframes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
    • B60G2204/41—Elastic mounts, e.g. bushings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/62—Adjustable continuously, e.g. during driving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/102—Acceleration; Deceleration vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/90—Other conditions or factors
    • B60G2400/91—Frequency
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/16—Running
    • B60G2800/162—Reducing road induced vibrations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/916—Body Vibration Control

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Vehicle Body Suspensions (AREA)
  • Vibration Prevention Devices (AREA)
  • Fluid-Damping Devices (AREA)

Abstract

本发明涉及一种用于对车身结构的高频振动激励进行衰减的主动减振系统(10)，在车身结构上设置有用于撑靠底盘部件的减振支承器(12)，所述减振支承器(12)包括用于固定在车身结构上的第一支承元件(14)和用于固定在底盘部件上的第二支承元件(16)，还设置有主动调节元件(18)，其中设置有控制单元(20)和对车身结构的加速度进行检测的加速度传感器(22)，控制单元(20)的输入参量包括车身结构的竖直加速度(aD)，为此控制单元(20)与加速度传感器(22)连接，此外主动调节元件(18)由控制单元(20)控制。本发明的特征在于，第一支承元件(14)和第二支承元件(16)通过主动调节元件(18)连接，此外在第二支承元件(16)上布置有加速度传感器(24)。

Description

主动减振系统
技术领域
本发明涉及一种用于对车身结构的高频振动进行衰减的主动减振系统以及对向车身结构的高频振动输入进行衰减的方法。
背景技术
在DE19935391A1中公开了被动减振器。
根据现有技术已知了(像在DE 10 2008 046 876 A1中描述地那样)，通过如下方式实现车轮和车身之间的振动优化：对例如使用活塞缸结构的弹簧滑柱的被动减振系统进行控制以实现车身结构的减振。
根据DE 10 2008 046 876 A1，可以通过调节阻尼力确定对振动的衰减。阻尼力通过操控控制设备在检测车身结构的竖直加速度和车轮的竖直加速度的情况下实现。借助于信号处理设备为双模块化阻尼力的控制设备调节产生控制信号。
这些方法的缺点在于，必须控制整个弹簧减振器元件，才能禁止振动传输，这又影响了行驶性能。
上文所述类型的减振装置由DE 19642827A1公开。
DE 10 2004 032 470 A1公开了用于支撑冲击减振器的主动减振器支承件，其包括线圈装置，其沿轴向方向作用在一衔铁上以控制减振性能，该衔铁与冲击减振器连接。调节参量根据车身结构和减振器的加速度设定。
DE 10 2008 046 876 A1公开了测量车轮和车身的加速度。
发明内容
本发明的任务在于，建议一种改进的用于车身结构的减振装置以及一种相应的方法。
已知根据本发明的减振系统具有用于使底盘部件撑靠在车身结构上的减振支承器。所述减振支承器包括用于把支承器固定在车身结构上的第一支承元件和用于固定在底盘部件本身上的第二支承元件。还在车身结构和轮毂托架之间设置了主动调节元件，所述主动调节元件通过控制器操控。控制器的输入参量包括车身结构的加速度，尤其是竖直加速度，为此加速度传感器设置在车身结构上，其中第一支承元件和第二支承元件通过主动调节元件相互连接。
根据本发明，第二支承元件通过弹性体连接与底盘部件耦合，并且
在第二支承元件上布置有加速度传感器。因此该传感器测量第二支承元件的竖直加速度。
因此，车身结构加速度和第二支承元件的加速度形成了用于操控主动调节元件的控制器的输入参量。
尤其如此设计控制器，即该控制器操控主动调节元件以使化车身结构的竖直加速度最小。控制器可以设计为PID、PD或必要时设计为PI控制器。
例如底盘部件可以是减振器的活塞杆，其中活塞杆通过弹性体轨件与作为第二支承元件的外圈连接。该外圈设有用于第二支承元件的加速度传感器。外圈通过主动调节器，尤其是压电执行器支承在车身结构上，尤其是车辆的弹簧滑柱顶部上。
在本发明的有利的设计方案中，可以优选在弹簧滑柱顶部的附近设置用于测量车身结构的竖直加速度的加速度传感器。
主动调节元件基本上以与外圈的运动反相的方式工作，以便尽可能不把高频振动传输至弹簧滑柱顶部。
由此明显减小了弹簧滑柱顶部区域中车身的竖直加速度，这又使由于道路激励引起的显著噪声。
此外，还提出了一种对经底盘部件向车身结构的高频振动输入进行衰减的方法，底盘部件通过减振支承器与车身结构连接，减振支承器包括第一支承元件和第二支承元件。通过对主动调节元件进行控制控制器可以使车身结构的竖直加速度最小化。该控制器为此将车身结构的竖直加速度以及第二支承元件的竖直加速度用作输入参量，其中车辆加速度是控制参量，该控制参量应当被最小化。
为了最小化车身结构的加速度根据本发明规定：布置在第二支承元件上的加速度传感器检测外圈加速度的干扰参量。该干扰参量输入控制器的控制算法。通过在控制器中考虑该干扰参量能够有效地最小化第一支承元件处的车辆加速度控制。
附图说明
由下文的说明结合在附图中示出的实施例得到本发明的其它优点、特征和应用可能性。
在说明书和附图中使用在下文所附的附图标记列表中使用的概念和相应的附图标记。附图示出：
图1示意性示出一种减振系统；以及
图2是控制结构的示意图。
具体实施方式
图1示意性示出减振系统10。该减振系统10包括减振支承器12，所述减振支承器具有第一支承元件14和第二支承元件16。第一支承元件14和第二支承元件16通过主动调节元件18彼此连接。
主动调节元件18可以通过控制单元20控制，为此主动调节元件与该控制单元20连接。
此外，在第一支承元件14和第二支承元件16上分别设置有各至少一个加速度传感器22、24用以测量相应的支承元件的竖直加速度。
如图1所示，第一支承元件14与弹簧滑柱顶部，即车身结构连接。因此，分派给第一支承元件14的加速度传感器22测量该区域中车身结构的加速度。
第二支承元件16设计为弹性体支承件的外圈。该外圈通过弹性体部件28与底盘部件——在这种情况下与弹簧滑柱的活塞杆26——连接。
为了控制车身结构的加速度，加速度传感器22、24与控制单元20连接。
根据图2中控制单元20的象征性的图示进一步说明工作方式。
图2示出控制单元20的示意性控制结构。
控制单元20包括控制器30。偏差e(t)作为控制器30的输入参量，所述偏差由期望的竖直车身结构加速度(d2SDom/dt2)Soll和由实际的由加速度传感器22测得的车身结构加速度(d2SDom/dt2)Ist＝aD的差值得到。在该例子中，车身结构加速度对应于弹簧滑柱顶部的加速度。
控制器30输出调节信号s(t)用于操控主动调节元件18。在考虑第二支承元件16(在此是外圈)的加速度的情况下输出调节信号，d2S外圈/dt2＝aA。因为外圈的加速度也作为干扰参量进入受控对象32中，所以可以通过这种方式保证极其有效地最小化车身结构中的高频振动。
附图标记列表
10 减振系统
12 减振支承器
14 第一支承元件
16 第二支承元件
18 主动调节元件
20 控制单元
22 加速度传感器
24 加速度传感器
26 活塞杆
28 弹性体部件
30 控制器
32 受控对象
aD 顶部加速度
aA 外圈加速度
s(t)主动调节元件的调节参量
e(t)偏差

Claims (4)

1.一种用于对车身结构的高频振动激励进行衰减的主动减振系统(10)，设置有用于使底盘部件撑靠在车身结构上的减振支承器(12)，所述减振支承器(12)包括用于固定在车身结构上的第一支承元件(14)和用于固定在底盘部件上的第二支承元件(16)，还设置有主动调节元件(18)，其中设置有控制单元(20)和对车身结构的加速度进行检测的第一加速度传感器(22)，控制单元(20)的输入参量包括车身结构的竖直加速度(aD)，为此控制单元(20)与第一加速度传感器(22)连接，此外主动调节元件(18)由控制单元(20)控制，其中，第一支承元件(14)和第二支承元件(16)通过主动调节元件(18)相互连接，其特征在于，第二支承元件通过弹性体连接与底盘部件耦合，在第二支承元件(16)上布置有与控制单元(20)连接的第二加速度传感器(24)。
2.根据权利要求1所述的主动减振系统(10)，其特征在于，第二支承元件(16)是弹性体减振支承器(12)的外圈，所述外圈通过弹性体支承件与活塞杆(26)连接。
3.一种用于利用根据权利要求1或2所述的主动减振系统(10)对向车身结构的高频振动输入进行衰减的方法，其特征在于，对车身结构的竖直加速度(aD)和第二支承元件(16)的竖直加速度(aA)进行检测，通过控制器(30)控制主动调节元件(18)，以通过最小化车身结构的竖直加速度(aD)实现振动减弱，其中，第二支承元件的竖直加速度(aA)影响控制器(30)的行为。
4.根据权利要求3所述的方法，其特征在于，控制器(30)是PID控制器、PI控制器或PD控制器。
CN201380070161.1A 2013-01-11 2013-12-11 主动减振系统 Expired - Fee Related CN104918802B (zh)

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EP2765329A1 (de) * 2013-02-11 2014-08-13 Siemens Aktiengesellschaft Vorrichtung zum mechanischen Einstellen eines Schwingungsverhaltens eines Maschinenelements
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