CN104999881B - A kind of changeable Active control suspension of double mode - Google Patents
A kind of changeable Active control suspension of double mode Download PDFInfo
- Publication number
- CN104999881B CN104999881B CN201510393841.8A CN201510393841A CN104999881B CN 104999881 B CN104999881 B CN 104999881B CN 201510393841 A CN201510393841 A CN 201510393841A CN 104999881 B CN104999881 B CN 104999881B
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- valve
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- suspension
- hydraulic cylinder
- hydraulic
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/06—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/06—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected fluid
- B60G21/073—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected fluid between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
Abstract
The invention discloses a kind of changeable Active control suspension of double mode, the double mode is：Pattern one, suspension actuator hydraulic cylinder independent control, it is active suspension modes；Pattern two, the diagonal intarconnected cotrol of left and right sides hydraulic cylinder, actively to interconnect suspension modes.Pattern switching valve can control coaxial actuator hydraulic cylinder chamber diagonally to connect oil circuit break-make.The changeable Active control suspension of the double mode, it can switch between pattern one and pattern two.When side acceleration suffered by automobile is less than threshold values, pattern switching valve is closed, and the diagonal oil circuit for connecting left and right sides hydraulic cylinder chamber is disconnected, electric-controlled hydraulic servo valve works independently simultaneously, the output that is used as power is controlled respectively, into Active suspension control pattern, to improve comfortableness；When side acceleration reaches threshold values, the conducting of pattern switching valve, left and right sides hydraulic cylinder upper and lower cavity is cross interconnected, and into suspension modes are actively interconnected, coaxial suspension can only need the electric-controlled hydraulic servo valve of side to work, to improve anti-rolling capability.
Description
Technical field
The present invention relates to automobile Active control suspension field, particularly have with ride comfort control based on Active suspension control
Make and actively interconnect Suspension control dual-mode control system based on the anti-Roll control of vehicle body, being needed according to operating mode can be at two kind
Switch between Active Control Mode.
Background technology
First, the comfortableness of suspension system often has contradiction with control stability, softer suspension can reduce vehicle body and add
Speed, comfortableness is improved, but thus designs high-comfort to sacrifice suspension work space as cost, suspension dynamic deflection increase,
Add the probability for hitting rubber limited block；During Turning travel, softer suspension makes body gesture change become greatly, angle of heel mistake
Greatly, it is unfavorable to control stability.And conversely, harder suspension can reduce wheel dynamic load and improve attachment security, reduction suspension moves
Amount of deflection, which reduces, hits limited block possibility, while can reduce the vehicle roll angle under lateral forces, improves control stability,
But the adverse effect that comfortableness can be brought to reduce.In order to more effectively play the effect of suspension, Active suspension described in pattern one
The popular direction of vehicle suspension development is turned into instead of passive suspension.
Second, motor turning or out of hand by under lateral external force operating mode, easily rolling, or even rollover event occurs,
Casualty rate is high.The especially vehicle such as car, commercial car, engineering machinery, suv and pick up, center of gravity height be present, wheelspan is relative to car body
The problems such as height of C.G. is narrow, and lateral load transfer is big, in the case where urgent modified line, tempo turn or larger side force are disturbed
By by big moment resulting from sidesway, easily turn on one's side, data shows to die from vehicle rollover accident per year over 10000 people, accounts for traffic
The 20% of the total death toll of accident.
Hydraulic pressure interconnects suspension and the upper and lower chamber of hydraulic cylinder of coaxial left and right side suspension is intersected into connected, hydraulic tube with fluid pressure line
Road is also connected with high pressure accumulator, and passive type hydraulic pressure interconnection suspension can be provided than the common passively bigger roll stiffness of suspension, favorably
In reducing vehicle roll angle, but only by passive interconnection, under the big side force operating mode such as emergency turn its improvement it is limited, it is necessary to
Active intarconnected cotrol is intervened.
Third, Active suspension control described in pattern one increases actuator on the basis of common passive suspension, i.e., in every side
Suspension at, an electric-controlled hydraulic servo actuator in parallel with spring and shock absorber, the master of power is realized according to certain control strategy
Dynamic control output, using vehicle body acceleration control as main target, can effectively improve comfortableness, while take into account suspension dynamic deflection and car
Dynamic loading is taken turns, but for by roll motion caused by side force, especially larger side force, which causes, significantly to be rolled, and it is controlled
Effect is limited.Suspension is actively interconnected described in pattern two, the pattern can utilize passive interconnection outstanding using vehicle roll angle control as target
The big roll stiffness of frame, advantageously reduces control energy consumption, and the active control under the pattern can realize that vehicle roll angle is stably taken office
Angle needed for meaning, control body roll motion, but it still has deficiency, the ride comfort of vehicle is almost and passive outstanding in this mode
Frame is the same, and comfortableness is not so good as Active suspension described in pattern one.
Therefore, for the Active suspension of actuator independent control described in pattern one and the left and right side hydraulic pressure described in pattern two
Cylinder chamber it is diagonal it is cross interconnected actively interconnect suspension each advantage and disadvantage, the present invention devise can between two kinds of control models freedom
The double mode Active control suspension of switching.
The content of the invention
Analysis understands that common Active suspension control takes into account suspension within the specific limits while effectively improving ride comfort
Dynamic deflection and the dynamic wheel load surely relevant with grasping, but need more actuator simultaneously compared to interconnection suspension, Active suspension
Work, controller decoupling is complicated, and effect actively interconnects not as described in pattern two in roll motion caused by lateral force resisting
Control.Although and actively interconnect suspension and be not so good as pattern one to the control effect of comfortableness, when anti-side is inclined, active hydraulic pressure interconnection
Suspension then takes full advantage of the raising of roll stiffness after interconnection, and same axletree only needs an actuator that active anti-side can be achieved
Incline control, complicated decoupling is not present in controller, furthermore because active intarconnected cotrol is using vehicle roll angle as control targe, passes through conjunction
Suitable control algolithm, vehicle roll angle can be made to increase substantially anti-rolling capability to any angle desired definite value Tracing Control.
According to the respective advantage of two kinds of active controls, the present invention proposes one kind can be in pattern one, i.e. Active suspension pattern
With pattern two, i.e., the double mode Active control suspension switched between active hydraulic pressure interconnection suspension modes.Used when anti-side is inclined
Pattern two, and the use pattern one under other operating modes, improve comfortableness.By switching control of the present invention, can improve flat
It is pliable, it can also improve inclination effect.
The changeable Active control suspension of double mode of the present invention is included positioned at spring 15, shock absorber 14, asymmetric liquid
Cylinder pressure 1 and electric-controlled hydraulic servo valve 5, accumulator 3, hydraulic pump and pattern switching valve 12.Accumulator is oil-gas type, gas
There is Preliminary pressure-filled, have choke valve between accumulator outlet and connecting line；Hydraulic cylinder is between vehicle body and wheel, with suspension
Spring, shock absorber it is in parallel, each upper and lower chamber of hydraulic cylinder is connected by pipeline with automatically controlled servo valve, by automatically controlled servo valve control
Into the flow and pressure of hydraulic cylinder.
The changeable Active control suspension of described double mode is characterised by that the hydraulic cylinder of arranged on left and right sides also passes through connecting line
It is connected simultaneously with pattern switching valve, switching valve there are two kinds of working conditions：Oil circuit is closed and connected with oil circuit.It is left when oil circuit is closed
The pipeline of side and the pipeline on right side are not communicated with, i.e., left and right hydraulic cylinder fluid can not communicate, and the control model is pattern one, is passed through
The independent control that actuator is used as power at each suspension is realized in electric-controlled hydraulic servo valve action；When switching valve oil circuit is connected, left side
The epicoele of hydraulic cylinder is connected with the cavity of resorption of right side hydraulic cylinder, and the cavity of resorption of right side hydraulic cylinder is connected with the epicoele of left side hydraulic cylinder, this
When be pattern two, can by electric-controlled hydraulic servo valve act realize active hydraulic pressure intarconnected cotrol.
The changeable Active control suspension of described double mode is characterised by when entering common Active suspension pattern, left,
The electric-controlled hydraulic servo valve on right side works simultaneously, and control left and right sides hydraulic cylinder is used as power.
The changeable Active control suspension of described double mode be characterised by when enter actively interconnect suspension modes when, left and right sides
Electric-controlled hydraulic servo valve close first, only realize active intarconnected cotrol by a servo valve events, reduce energy consumption and simplification
Controller design, only allow and left and right servo valve while work when flow is big.
The changeable Active control suspension of described double mode is characterised by can be according to the size of side force (side acceleration)
Switch between the Active suspension pattern and active hydraulic pressure interconnection suspension modes, when side acceleration caused by side force
During less than switching threshold values, switching control valve is closed, now controlled with vehicle body acceleration based on, improve traveling smooth-going
Property；When side acceleration caused by side force reaches switching threshold values, switching control valve is in connected state, now with body side
Based on pitch angle control, anti-Roll control is carried out, passes through corresponding control strategy, moreover it is possible to it is required to realize that vehicle roll angle is stabilized to
Fixed value, anti-rolling capability is greatly improved, improve stability.
Brief description of the drawings
Fig. 1 is the changeable Active control suspension partial schematic diagram a of double mode, and switching valve core 13 in the figure goes to closing
State, the left and right side hydraulic cylinder of same axletree do not interconnect, and the electric-controlled hydraulic pilot valve of left and right side simultaneously and works independently,
Common Active suspension control described in Dietary behavior one, to improve ride comfort as control targe.
Fig. 2 is the changeable Active control suspension partial schematic diagram b of double mode, and switching valve core 13 in the figure goes to connection
State, same axletree left and right side hydraulic cylinder is cross interconnected, i.e. left side hydraulic cylinder epicoele connects with right side hydraulic cylinder cavity of resorption, left side
Hydraulic cylinder cavity of resorption connects with right side hydraulic cylinder epicoele, and the electric-controlled hydraulic pilot valve of left and right side only needs an action, another
Close, the active hydraulic pressure of Dietary behavior two interconnection suspension modes, to improve roll stability as target.
Fig. 3 is the changeable Active control suspension mechanism map of double mode.
Fig. 4 is the changeable Active control suspension control flow chart of double mode.
Fig. 5 is changeable double mode Active control suspension control principle drawing.
1：Left side hydraulic cylinder；2：Connected pipes；3：Left side accumulator；4：Left side choke valve；5：Left side servo valve；6：Left side
Servo Valve's Slide Valve；7：Right side accumulator；8：Right side choke valve；9：Right side hydraulic cylinder；10：Right side servo valve；11：Right side servo valve
Guiding valve；12：Switch valve body；13：Switch valve core；14：Shock absorber；15：Spring
Embodiment
As shown in Figures 1 to 3, left side hydraulic cylinder 1 and right side hydraulic cylinder 9 be between vehicle body and wheel, respectively with left and right sides
Spring, shock absorber it is in parallel, the epicoele outlet of left side hydraulic cylinder 1 passes through oil pipe and pilot valve 5, accumulator 3 and pattern
Switching valve 12 connects, and has choke valve 4 in the exit of accumulator 3, and hydraulic cylinder epicoele outlet in right side passes through oil pipe and SERVO CONTROL
Valve 10, accumulator 7 and pattern switching valve 12 are connected, and have choke valve 8 in the exit of accumulator 7, left side hydraulic cylinder cavity of resorption goes out
Mouth is connected by oil pipe with pilot valve 5 and pattern switching valve 12, the outlet of right side hydraulic cylinder cavity of resorption and pilot valve 10
And pattern switching valve 12 connects, switching valve core 13 is rotatable, realizes that switching valve is closed with connecting two states.
As shown in Figure 4, Figure 5, sensor detection side acceleration aySignal, it will check that signal sends ECU to, ECU is simultaneously
Control signal is passed into pattern switching valve and pilot valve, as side acceleration ayNot up to threshold values a0When, pattern switching valve
Switching valve core 13 is gone to closed mode, now cut off the interconnection of the oil circuit of left and right hydraulic cylinder, into Active suspension pattern,
Servo valve control makes the self contained function simultaneously of electric-controlled hydraulic servo valve 5 and 10 according to control strategy, to control based on vehicle body acceleration
Target adjustment guiding valve 6,11 positions are wanted, regulation accelerates into the fluid flow and pressure of left and right side hydraulic cylinder to reduce vehicle body
Degree, realizes ride comfort control.
When making side acceleration a in steering situation or by larger side outward forceyMore than or equal to threshold values a0When, ECU will be controlled
Signal processed passes to mode switching controller and servo valve control device, and mode switching controller rotates control switching valve core 13
To on-state, now, left side hydraulic cylinder epicoele is connected with right side hydraulic cylinder cavity of resorption by oil pipe, switching valve 12, left side hydraulic pressure
Cylinder cavity of resorption is connected with right hydraulic cylinder epicoele by oil pipe, switching valve 12, suspension modes is interconnected into active hydraulic pressure；Servo valve control
Device processed makes the guiding valve 6 (or 11) of electric-controlled hydraulic servo valve 5 (or 10) stop to intermediateness, is failure to actuate, electric-controlled hydraulic servo valve 10
(or 5) adjust the position of guiding valve 11 (or 6) according to the vehicle roll angle control law of design, and regulation enters arranged on left and right sides hydraulic pressure
The flow and pressure of cylinder, active intarconnected cotrol is carried out, to control vehicle roll angle.
Claims (7)
1. a kind of changeable Active control suspension of double mode, including it is spring between vehicle body and vehicle bridge, shock absorber, non-right
Claim hydraulic cylinder, electric-controlled hydraulic servo valve, accumulator, choke valve and pattern switching valve, hydraulic pump, sensor, pattern switching control
Device, servo valve control device and ECU processed, it is characterised in that：
There is the asymmetric hydraulic actuator being arranged in parallel with shock absorber and spring in each suspension position of automobile, actuator is by hydraulic pressure
Cylinder, electric-controlled hydraulic servo valve and connected pipes composition, the upper and lower chamber of hydraulic cylinder on same axletree by fluid pressure line respectively with electricity
Control hydraulic efficiency servo-valve, accumulator connect with pattern switching valve, and the sensor is for detecting the side acceleration of the vehicle body simultaneously
The side acceleration is sent to the ECU, when the side acceleration is less than threshold values, the ECU sends control signal
To the mode switching controller and servo valve control device, so that the mode switching controller controls the pattern switching valve to make
Switching valve core goes to closed mode, and makes the servo valve control device control the electric-controlled hydraulic servo valve to control vehicle body to add
Speed is the position that main target adjusts guiding valve；When the side acceleration is more than or equal to the threshold values, the ECU is sent
Control signal is to mode switching controller and servo valve control device, so that the mode switching controller controls the switching valve valve
Core is rotated to on-state, and the body roll for making the servo valve control device control the electric-controlled hydraulic servo valve according to design
The position of angle control law adjustment guiding valve.
2. the changeable Active control suspension of double mode according to claim 1, it is characterised in that pattern switching valve can be real
Hydraulic path opens and closes two states in existing valve, realizes the interconnection of left and right side hydraulic cylinder and Disconnected mode.
3. the changeable Active control suspension of double mode according to claim 1 or 2, it is characterised in that when pattern switching valve
During in connected state, into anti-Roll control active hydraulic pressure interconnect suspension modes, left side hydraulic cylinder epicoele by oil pipe with
Left side electric-controlled hydraulic servo valve, left side choke valve, left side accumulator, pattern switching valve, the automatically controlled servo valve in right side, right side hydraulic cylinder
Cavity of resorption connects, and left side hydraulic cylinder cavity of resorption passes through oil pipe and left side electric-controlled hydraulic servo valve, pattern switching valve, right side choke valve, the right side
Side accumulator, the automatically controlled servo valve in right side, the connection of right side hydraulic cylinder epicoele, when interconnecting suspension modes into active hydraulic pressure, left side electricity
Hydraulic efficiency servo-valve is controlled to flow to the flow and pressure of hydraulic cylinder according to control strategy regulating slide valve position, control, realize what is be used as power
Regulation, right side electric-controlled hydraulic servo valve guiding valve is failure to actuate, in halted state, to reduce energy consumption；Also allowed for when flow is larger
Arranged on left and right sides electric-controlled hydraulic servo valve simultaneously participates in control.
4. the changeable Active control suspension of double mode according to claim 3, it is characterised in that when entrance active hydraulic pressure
When interconnecting suspension modes, control system reduces body roll motion using vehicle roll angle as control targe.
5. the changeable Active control suspension of double mode according to claim 1 or claim 2, it is characterised in that at pattern switching valve
When closed mode, into Active suspension pattern, i.e. left and right side hydraulic actuator is separately controlled, and the liquid of left side hydraulic cylinder is not
Right side hydraulic cylinder can be flowed into, the automatically controlled servo-fluid pressure valve in left side and the electric-controlled hydraulic servo valve on right side are adjusted respectively according to control strategy
From spool position, into the flow and pressure of left and right sides hydraulic cylinder, realization is used as power control for regulation respectively.
6. the changeable Active control suspension of double mode according to claim 1, it is characterised in that pattern switching valve is rotary valve
Or guiding valve, realize the upper and lower chamber of left and right side hydraulic cylinder diagonally interconnection and left and right side hydraulic cylinder oil circuit cut-off two states.
7. the changeable Active control suspension of double mode according to claim 1, it is characterised in that electric-controlled hydraulic servo valve is
Symmetrical Valve or Asymmetry Valve.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510393841.8A CN104999881B (en) | 2015-07-07 | 2015-07-07 | A kind of changeable Active control suspension of double mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510393841.8A CN104999881B (en) | 2015-07-07 | 2015-07-07 | A kind of changeable Active control suspension of double mode |
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| CN104999881A CN104999881A (en) | 2015-10-28 |
| CN104999881B true CN104999881B (en) | 2018-04-06 |
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Families Citing this family (9)
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| CN105383254A (en) * | 2015-12-04 | 2016-03-09 | 管中林 | Driven suspension circulating interconnection system capable of achieving all-directional pitching prevention |
| CN105730182B (en) * | 2016-01-29 | 2018-06-19 | 管中林 | A kind of oil gas automotive suspension interacted system with multiple functions |
| CN108327506B (en) * | 2017-01-20 | 2019-11-22 | 比亚迪股份有限公司 | Automobile and its active engine mount control system |
| CN109703314A (en) * | 2017-10-26 | 2019-05-03 | 郑州宇通客车股份有限公司 | The vehicle and its suspension system that anti-side is turned over |
| CN108215701B (en) * | 2017-12-26 | 2020-07-21 | 北京理工大学 | Vehicle, transverse stabilizer bar system with switchable rigidity and switching method thereof |
| CN107939894A (en) * | 2017-12-29 | 2018-04-20 | 山东大学 | A kind of ambulance stretcher vibrating isolation system and its method of work |
| CN109774399B (en) * | 2019-01-15 | 2021-12-14 | 南昌大学 | Semi-active control method for hydraulic interconnected suspension for identifying pavement excitation frequency range |
| CN110497760B (en) * | 2019-08-07 | 2020-09-18 | 燕山大学 | Active and passive dual-mode switchable vehicle suspension system and switching method thereof |
| CN113460107B (en) * | 2021-06-08 | 2022-06-24 | 合肥工业大学 | Anti-roll hydraulic interconnection system for railway vehicle |
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| DE4100236A1 (en) * | 1990-01-16 | 1991-07-25 | Jaeckle Gmbh Maschinen Und Ger | Wheeled vehicle with shock-absorbers esp. for forestry - has changeover valve allowing reciprocal flows of oil between reservoir and upper and lower damping chambers |
| CN101765727B (en) * | 2007-05-21 | 2012-01-18 | 悉尼科技大学 | Interconnected suspension systems |
| DE102008006187B4 (en) * | 2008-01-26 | 2015-03-05 | Audi Ag | Motor vehicle with improved wheel damping |
| CN103930288B (en) * | 2011-11-09 | 2016-10-19 | 爱信精机株式会社 | The draft hitch of vehicle |
| CN102632803B (en) * | 2012-05-03 | 2015-06-10 | 德州学院 | Novel hydraulic energy-regenerative damping system |
| CN103434363A (en) * | 2013-08-08 | 2013-12-11 | 常州万安汽车部件科技有限公司 | Pitching-proof and heeling-proof hydraulic interconnected suspension system |
| CN203780258U (en) * | 2014-04-03 | 2014-08-20 | 江苏大学 | Rear suspension for hydraulic interconnection torsion-eliminated suspension |
| CN104044429B (en) * | 2014-06-04 | 2017-01-25 | 江苏大学 | Hydraulic interconnection ISD (Inerter-Spring-Damper) hanger bracket |
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