CN105443639B - A kind of automobile active shock based on electro-hydraulic servo - Google Patents
A kind of automobile active shock based on electro-hydraulic servo Download PDFInfo
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- CN105443639B CN105443639B CN201510740465.5A CN201510740465A CN105443639B CN 105443639 B CN105443639 B CN 105443639B CN 201510740465 A CN201510740465 A CN 201510740465A CN 105443639 B CN105443639 B CN 105443639B
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- 230000035939 shock Effects 0.000 title claims abstract description 35
- 239000006096 absorbing agent Substances 0.000 claims abstract description 21
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 12
- 239000002828 fuel tank Substances 0.000 claims description 13
- 239000012530 fluid Substances 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 9
- 230000035800 maturation Effects 0.000 abstract description 5
- 238000013016 damping Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 4
- 239000007788 liquid Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000736199 Paeonia Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Abstract
The present invention provides a kind of automobile active shock based on electro-hydraulic servo, two sides of anterior left and right of automobile are respectively provided with the ultrasonic detector described in one, the ultrasonic detector is connected with the car running computer, car running computer calculates distance of the road surface ahead away from vehicle body using ultrasonic detector, and the front damper for obtaining making body of a motor car smooth-ride is calculated according to the distance, the extension elongation of the hydraulic cylinder piston rod of rear shock absorber, the required extension elongation for the piston rod that the piston lever of reducer hydraulic control device is calculated according to car running computer is to the front damper, the extension elongation of the hydraulic cylinder piston rod of rear shock absorber is controlled.The present invention can control the collapsing length of damper in real time, with technology maturation, cost is relatively low, and active control performance is good, the advantages of being widely used using the flexible of the hydraulic cylinder piston rod in electro-hydraulic servo control technical controlling damper according to the shape on road surface.
Description
Technical field
The automobile absorber with shock-absorbing function is actively planted the present invention relates to automobile technical field, specially one, belongs to vapour
Car technical field.
Background technology
The damping of damping oil controls the stabilization of vehicle body in traditional active damping technology major control damper, is usually
The damping of the fluid entered using throttle valve control in damper, or by controlling the magnetic field outside damper or electric field,
Make the mobility of fluid in damper, i.e. damping changes, and " soft, hard " degree of fluid is constantly converted, so as to control to subtract
" soft, hard " of device is shaken, damper is unlikely to excessive compression or elongation, it is final to keep the relatively steady of vehicle body.This active
Control method cost is higher, and damping fluid property is special, such as occur leakage be difficult supplement, and can not active control vehicle body it is steady
Property, jiggly possibility is simply reduced, therefore greatly limit its application and using effect.
Based on above technical problem, the invention provides a kind of automobile active shock based on electro-hydraulic servo, it is used
Hydraulic cylinder piston rod in electro-hydraulic servo control technical controlling damper it is flexible, can in real time control subtract according to the shape on road surface
The collapsing length of device is shaken, with technology maturation, cost is relatively low, and active control performance is good, and the advantages of being widely used, the present invention is based on
Electro-hydraulic servo control can make vehicle body held stationary active shock in the process of moving.
The content of the invention
It is an object of the invention to provide a kind of structure and using simple, rationally, cost is low, and performance is stable, technology maturation
A kind of automobile active shock based on electro-hydraulic servo.
To achieve the above object, the present invention is adopted the following technical scheme that：A kind of automobile active vibration damping based on electro-hydraulic servo
Device, it includes ultrasonic detector, front damper, rear shock absorber, car running computer, height sensor, acceleration transducer and subtracted
Shake device hydraulic piston rod control device, it is characterised in that two sides of anterior left and right of automobile are respectively provided with the ultrasonic wave described in one
Detector, the ultrasonic detector is connected with the car running computer, and car running computer calculates front using ultrasonic detector
Distance of the road surface away from vehicle body, and obtain making the front damper of body of a motor car smooth-ride, rear damping according to distance calculating
The extension elongation of the hydraulic cylinder piston rod of device, the piston that the piston lever of reducer hydraulic control device is calculated according to car running computer
The required extension elongation of bar is controlled to the extension elongation of the front damper, the hydraulic cylinder piston rod of rear shock absorber.
Further, preferably, the piston lever of reducer hydraulic control device include motor, hydraulic pump, overflow valve,
Check valve, servo valve, hydraulic cylinder, stop valve, accumulator and fuel tank, wherein, the motor is connected with the hydraulic pump, described
Hydraulic pump is connected with the fuel tank, is also connected in parallel and is provided with for adjusting between the oil-out of the hydraulic pump and the fuel tank
The overflow valve of the operating pressure of system, the servo that the hydraulic pump passes through the check valve and front damper and rear shock absorber
Valve is connected, and described servo valve is connected with the oil inlet and oil-out of the front damper and the hydraulic cylinder of rear shock absorber, described
Servo valve is also connected with the fuel tank, is additionally provided with the oil circuit between the oil-out of the hydraulic cylinder and the servo valve described
Stop valve and accumulator.
Further, preferably, the ultrasonic detector sends and receives ultrasonic wave, the car running computer is by meter
The time difference between transmitted wave and close echo is calculated, distance of the road surface ahead away from vehicle body is calculated；The car running computer passes through height
Speed scanning, generates substantial amounts of distance values, forms point cloud, by car running computer by point-cloud fitting into road surface threedimensional model, and ties
The threedimensional model in combining face and the running orbit of vehicle body, obtain the track that will be run and the in the vertical direction of automotive wheel
Curve, the stretching that vehicle-mounted computer obtains making each damper hydraulic cylinder piston rod of vehicle body smooth-ride by certain algorithm is long
Degree, the controlling curve of m- piston rod extension elongation when obtaining.
Further, preferably, the car running computer according to obtain when m- piston rod extension elongation controlling curve
Related data, the car running computer inputs related data the servo valve of each damper, and control is entered damper by servo valve
The fluid of hydraulic cylinder, so that the flexible of piston rod is controlled, and when body sway degree exceedes certain threshold value, vehicle-mounted computer will weight
New adjustment control parameter, the final smoothness for ensureing vehicle body is within the specific limits.
Further, preferably, the height sensor and acceleration transducer are separately positioned on the front-wheel of automobile with after
On wheel.
Further, preferably, the operating pressure of servo valve is 3-10MPa, response frequency is 0-80Hz.
The beneficial effects of the present invention are：
A kind of automobile active shock based on electro-hydraulic servo that the present invention is provided, it uses electro-hydraulic servo control technology control
Hydraulic cylinder piston rod in damper processed it is flexible, the collapsing length of damper can be controlled in real time according to the shape on road surface, had
There is technology maturation, cost is relatively low, active control performance is good, the advantages of being widely used, automobile absorber of the invention, it is based on electricity
Liquid servo control technique is designed, and can make vehicle body held stationary active shock in the process of moving.
Brief description of the drawings
Fig. 1 is a kind of mounting structure schematic diagram of automobile active shock based on electro-hydraulic servo of the present invention；
Fig. 2 is that the running car for installing the automobile absorber of the present invention crosses road surface pit structural representation；
Fig. 3 is a kind of piston lever of reducer hydraulic control dress of automobile active shock based on electro-hydraulic servo of the present invention
The structural representation put；
Fig. 4 is a kind of piston lever of reducer hydraulic control dress of automobile active shock based on electro-hydraulic servo of the present invention
The control principle schematic diagram put；
Wherein, 1, ultrasonic detector, 2, front damper, 3, rear shock absorber, 4, car running computer, 5, height sensor, 6,
Acceleration transducer, 7, motor, 8, hydraulic pump, 9, overflow valve, 10, check valve, 11, servo valve, 12, hydraulic cylinder, 13, cut-off
Valve, 14, accumulator, 15, fuel tank, 16, road surface, 17, pit, 18, piston lever of reducer hydraulic control device.
Embodiment
Come to carry out the present invention detailed description below in conjunction with accompanying drawing.It should be appreciated, however, that accompanying drawing has been provided only more
Understand the present invention well, they should not be interpreted as limitation of the present invention.
As Figure 1-4, the present invention provides a kind of automobile active shock based on electro-hydraulic servo, and it includes ultrasonic wave spy
Survey device 1, front damper 2, rear shock absorber 3, car running computer 4, height sensor 5, acceleration transducer 6 and piston lever of reducer liquid
Pressure control device, it is characterised in that two sides of anterior left and right of automobile are respectively provided with the ultrasonic detector 1 described in one, described
Ultrasonic detector 1 is connected with the car running computer 4, and car running computer 4 calculates road surface ahead away from car using ultrasonic detector 1
The distance of body, and obtain making the liquid of the front damper 2 of body of a motor car smooth-ride, rear shock absorber 3 according to distance calculating
The extension elongation of pressure cylinder piston bar, the piston rod that the piston lever of reducer hydraulic control device 18 is calculated according to car running computer
Required extension elongation is controlled to the extension elongation of the front damper, the hydraulic cylinder piston rod of rear shock absorber.
In the present embodiment, as shown in figure 3, the piston lever of reducer hydraulic control device 18 includes motor 7, hydraulic pressure
Pump 8, overflow valve 9, check valve 10, servo valve 11, hydraulic cylinder 12, stop valve 13, accumulator 14 and fuel tank 15, wherein, the electricity
Motivation 7 is connected with the hydraulic pump 8, and the hydraulic pump 8 is connected with the fuel tank 15, the oil-out of the hydraulic pump 8 with it is described
The overflow valve 9 for being provided with the operating pressure for adjusting system is also connected in parallel between fuel tank 15, the hydraulic pump 8 passes through
The check valve 10 is connected with the P mouths of the servo valve 11 of front damper 2 and rear shock absorber 3, and A, B mouth of described servo valve 11 divide
Oil inlet and oil-out not with the front damper 2 and the hydraulic cylinder of rear shock absorber 3 are connected, and the T mouths of the servo valve 11 are also
It is connected with the fuel tank 15, described cut is additionally provided with the oil circuit between the oil-out and the servo valve 11 of the hydraulic cylinder 12
Only valve 13 and accumulator 14.
The present invention is in damping, and ultrasonic detector sends and receives ultrasonic wave, and the car running computer is by calculating hair
Time difference between ejected wave and close echo, calculate distance of the road surface ahead away from vehicle body；The car running computer is swept by high speed
Retouch, generate substantial amounts of distance values, form point cloud, by car running computer by point-cloud fitting into road surface threedimensional model, and combine road
The threedimensional model in face and the running orbit of vehicle body, obtain the track that will be run and the song of in the vertical direction of automotive wheel
Line, vehicle-mounted computer obtains making the extension elongation of each damper hydraulic cylinder piston rod of vehicle body smooth-ride by certain algorithm,
The controlling curve of m- piston rod extension elongation when obtaining.The car running computer is according to obtained when m- piston rod extension elongation
The related data of controlling curve, the car running computer inputs related data the servo valve of each damper, and servo valve will be controlled
Into the fluid of shock absorber fluid cylinder pressure, so that the flexible of piston rod is controlled, and when body sway degree exceedes certain threshold value, car
Control parameter will be readjusted by carrying computer, and the final smoothness for ensureing vehicle body is within the specific limits.The height sensor and plus
Velocity sensor is separately positioned in the front wheels and rear wheels of automobile.The operating pressure of servo valve is 3-10MPa, and response frequency is 0-
80Hz。
With reference to Fig. 2 and Fig. 4, by taking car straight-line travelling as an example, L before ultrasonic detector detection to Chinese herbaceous peony wheel1Locate road surface 16
There is a pit, pit total length is L2, scan in the data cloud for obtaining pit 17, data cloud input car running computer, be processed shape
Into the threedimensional model on road surface, with reference to the driving trace of automobile, can obtain the driving trace of each wheel with vertical direction
Position curve.Meanwhile, car running computer judges to pass through T1=L1After/V (V is average speed), front-wheel will cross this pit.Knot
Close the threedimensional model of pit, car running computer generation T1Afterwards in the near front wheel piston lever of reducer extension elongation, and in T2=L2/V
Time in, the overhang of piston rod.Similarly, car running computer can also calculate T3=L3The piston of rear wheel damper during/V
Overhang and in T2Overhang in time, is finally entered in the servo valve on each damper, servo valve is correspondingly controlled
Piston rod is moved relative to pit shape opposite direction, so as to keep the steady of vehicle body.
The present invention, can be according to road using the flexible of the hydraulic cylinder piston rod in electro-hydraulic servo control technical controlling damper
The shape in face controls the collapsing length of damper in real time, with technology maturation, and cost is relatively low, and active control performance is good, using wide
General the advantages of, the present invention is formed based on electro-hydraulic servo control Technology design, and can solve the problem that automobile during actual travel
" nodding " phenomenon easily occurs when being braked in the case of vehicle body is jiggly, vehicle body is to one side when effectively can prevent curved
Tilt, keep vehicle body basicly stable motionless.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, about the common of technical field
Technical staff, without departing from the spirit and scope of the present invention, can also make a variety of changes and modification, therefore all
Equivalent technical scheme falls within scope of the invention, and scope of patent protection of the invention should be defined by the claims.
Claims (5)
1. a kind of automobile active shock based on electro-hydraulic servo, it include ultrasonic detector, front damper, rear shock absorber,
Car running computer, height sensor, acceleration transducer and piston lever of reducer hydraulic control device, it is characterised in that automobile
Two sides of anterior left and right are respectively provided with the ultrasonic detector described in one, and the ultrasonic detector connects with the car running computer
Connect, car running computer calculates distance of the road surface ahead away from vehicle body using ultrasonic detector, and is made according to distance calculating
The front damper of body of a motor car smooth-ride, the extension elongation of the hydraulic cylinder piston rod of rear shock absorber, the damper are lived
The required extension elongation for the piston rod that stopper rod hydraulic control device is calculated according to car running computer is to the front damper, rear shock absorber
The extension elongation of hydraulic cylinder piston rod be controlled；The piston lever of reducer hydraulic control device includes motor, hydraulic pressure
Pump, overflow valve, check valve, servo valve, hydraulic cylinder, stop valve, accumulator and fuel tank, wherein, the motor and the hydraulic pressure
Pump is connected, and the hydraulic pump is connected with the fuel tank, is also connected in parallel and sets between the oil-out of the hydraulic pump and the fuel tank
Be equipped with the overflow valve of the operating pressure for adjusting system, the hydraulic pump by the check valve and front damper and after
The oil inlet of the servo valve connection of damper, described servo valve and the front damper and the hydraulic cylinder of rear shock absorber and fuel-displaced
Mouth connection, the servo valve is also connected with the fuel tank, on the oil circuit between the oil-out of the hydraulic cylinder and the servo valve
It is additionally provided with the stop valve and accumulator.
2. a kind of automobile active shock based on electro-hydraulic servo according to claim 1, it is characterised in that the ultrasound
Wave detector sends and receives ultrasonic wave, and the car running computer is by calculating the time difference between transmitted wave and close echo, counting
Calculate distance of the road surface ahead away from vehicle body；The car running computer generates substantial amounts of distance values by high-velocity scanning, forms point
Cloud, by car running computer by point-cloud fitting into road surface threedimensional model, and the threedimensional model and the running orbit of vehicle body of combining road,
The track that will be run and the curve of in the vertical direction of automotive wheel are obtained, vehicle-mounted computer is obtained by certain algorithm
Make the extension elongation of each damper hydraulic cylinder piston rod of vehicle body smooth-ride, the control of m- piston rod extension elongation when obtaining
Curve.
3. a kind of automobile active shock based on electro-hydraulic servo according to claim 2, it is characterised in that the driving
Computer according to obtain when m- piston rod extension elongation controlling curve related data, the car running computer is by related data
The servo valve of each damper is inputted, servo valve enters control the fluid of shock absorber fluid cylinder pressure, so as to control stretching for piston rod
Contracting, and when body sway degree exceedes certain threshold value, vehicle-mounted computer will readjust control parameter, it is final to ensure the flat of vehicle body
Stability is within the specific limits.
4. a kind of automobile active shock based on electro-hydraulic servo according to claim 1, it is characterised in that the height
Sensor and acceleration transducer are separately positioned in the front wheels and rear wheels of automobile.
5. a kind of automobile active shock based on electro-hydraulic servo according to claim 1-4 any one, its feature exists
In the operating pressure of servo valve is 3-10MPa, and response frequency is 0-80Hz.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510740465.5A CN105443639B (en) | 2015-11-04 | 2015-11-04 | A kind of automobile active shock based on electro-hydraulic servo |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510740465.5A CN105443639B (en) | 2015-11-04 | 2015-11-04 | A kind of automobile active shock based on electro-hydraulic servo |
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| CN105443639A CN105443639A (en) | 2016-03-30 |
| CN105443639B true CN105443639B (en) | 2017-08-25 |
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| CN108128112B (en) * | 2017-12-06 | 2020-02-07 | 广州汽车集团股份有限公司 | Active suspension control device, system and method |
| CN110626302B (en) * | 2019-09-30 | 2021-04-23 | 珠海骏驰科技有限公司 | Safe and reliable's unmanned car based on thing networking |
| CN114793516A (en) * | 2022-04-21 | 2022-07-29 | 潍柴雷沃重工股份有限公司 | Tractor, active damping control method and system for agricultural implement and tractor |
| CN116214339B (en) * | 2023-02-28 | 2023-10-20 | 肇庆高峰机械科技有限公司 | High-precision numerical control verticality grinding machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE3637984A1 (en) * | 1986-11-07 | 1988-05-19 | Bayerische Motoren Werke Ag | METHOD FOR INFLUENCING A VEHICLE SUSPENSION DEPENDING ON THE ROAD DESIGN AND VEHICLE SUSPENSION |
| EP0659598A1 (en) * | 1993-12-21 | 1995-06-28 | Unisia Jecs Corporation | Apparatus and method for controlling damping force characteristic of vehicular shock absorber |
| CN2728815Y (en) * | 2004-09-29 | 2005-09-28 | 吉宝忠 | Electric controlled hydraulic lifter for car suspension frame |
| CN100484787C (en) * | 2005-04-14 | 2009-05-06 | 重庆大学 | Controllable automobile magnetic rhological absorber with height adjusting function |
| CN104149575A (en) * | 2014-09-01 | 2014-11-19 | 杨丰华 | Distortion swing suspension for four-wheeler |
| CN104401198B (en) * | 2014-09-23 | 2016-10-05 | 东北农业大学 | Hydraulic vehicle active suspension system |
| CN104709025B (en) * | 2015-03-27 | 2017-05-17 | 厦门理工学院 | Self-road-adaption hydraulic active suspension system |
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Addressee: Wuhan University of Science and Technology Document name: Notification of Passing Preliminary Examination of the Application for Invention |
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Application publication date: 20160330 Assignee: Wuhan University of science and Technology Business Incubator Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2020420000004 Denomination of invention: An automobile active shock absorber based on electro-hydraulic servo Granted publication date: 20170825 License type: Common License Record date: 20201021 |
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Effective date of registration: 20220707 Address after: 430080 No. 1212, iron and steel building, Wuhan University of science and technology, No. 743, Heping Avenue, Qingshan District, Wuhan City, Hubei Province Patentee after: Wuhan Wuke servo Electromechanical Equipment Co.,Ltd. Address before: 430081 No. 947 Heping Avenue, Qingshan District, Hubei, Wuhan Patentee before: WUHAN University OF SCIENCE AND TECHNOLOGY |
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Assignee: Wuhan University of science and Technology Business Incubator Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2020420000004 Date of cancellation: 20230505 |
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