CN105751845A - Semi-active control method of energy reclaiming type semi-active suspension system - Google Patents
Semi-active control method of energy reclaiming type semi-active suspension system Download PDFInfo
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- CN105751845A CN105751845A CN201610219009.0A CN201610219009A CN105751845A CN 105751845 A CN105751845 A CN 105751845A CN 201610219009 A CN201610219009 A CN 201610219009A CN 105751845 A CN105751845 A CN 105751845A
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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
- B60G17/0152—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 the action on a particular type of suspension unit
- B60G17/0157—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 the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
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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
- B60G17/019—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 the type of sensor or the arrangement thereof
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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
- B60G17/019—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 the type of sensor or the arrangement thereof
- B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/037—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for occupant comfort, e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
-
- 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
- B60G2400/20—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/184—Semi-Active control means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a semi-active control method of an energy reclaiming type semi-active suspension system. The semi-active control method is characterized by obtaining an ideal electromagnetic damping force Fref required to be output by a linear motor through a skyhook and groudhook suspension damping semi-active control strategy; dividing the ideal electromagnetic damping force Fref by an electromagnetic damping coefficient ki, thus obtaining a needed reference current iref; collecting a real current value ireal in a motor winding through a current sensor; inputting a difference value e of the reference current iref and the real current value ireal and a difference value change rate ec into a fuzzy-PI (Proportion Integration) mixed controller; outputting two paths of pulse signals by the fuzzy-PI mixed controller to control the switching on and off of an MOS (Metal Oxide Semiconductor) transistor in a semi-active control circuit, thus realizing semi-active control.
Description
Technical field
The present invention relates to automobile energy and reclaim field, more precisely relate to the vibration energy regeneration field of a kind of energy feeding back type semi-active suspension.
Background technology
Along with energy crisis, the aggravation of environmental pollution, the energy consumption how reducing vehicle body receives the concern of various circles of society.Energy feeding back type semi-active suspension can reclaim the vibrational energy of vehicle body, reduces vehicle body oil consumption.For the many analyses for suspension system dynamics performance of research and the integrally-built design of suspension of energy regenerative suspension, the design to suspension hardware control circuit and for the controller of control circuit is relatively fewer.
Summary of the invention
The semi-active control method of a kind of energy feeding back type semi-active suspension system disclosed by the invention, on the basis of the dead-time problem solving the output of motor electromagnetic damping force, in motor winding actual current accurate tracking to reference current has been effectively ensured, and then make the electromagnetic damping power needed for motor output, it is greatly improved the ride performance of energy regenerative suspension system.
The technical scheme is that the semi-active control method of a kind of energy feeding back type semi-active suspension system, comprise the steps:
Step 1, builds the semi-active control loop of DC converter based on Buck and Boost both of which；
Step 2, Negotiation speed sensor detects the speed of spring load part respectivelyWith the speed that non-spring carries partAnd it is delivered to control unit；
Step 3, the electric current i gathered by current sensor in the linear electric motors winding in semi-active control loop is delivered to control unit；
Step 4, linear electric motors output rectified device electromagnetic damping power F provided when being directly connected with charging deviceNElectromagnetic damping power F of offer actually required with linear electric motorsM, obtain switch speed v when semi-active control loop changes its mode of operation0；
Step 5, the rate signal that will collect in step 2WithBe delivered to ceiling add the half of ground canopy actively computing module obtain the reference of the required output of motor and be used as power Eref；
Step 6, be used as power E by the reference obtained in step 5refElectromagnetic damping coefficient k divided by motoriObtain the reference current i of motor windingref；
Step 7, will obtain reference current i in step 6refBeing delivered to fuzzy-PI mixture control with the difference of electric current i in step 2 cathetus motor winding and the rate of change of difference, fuzzy-PI mixture control output pwm control signal controls the metal-oxide-semiconductor monocyclic switch time in semi-active control loop；
Step 8, the spring collected in step 2 carries partial velocityDeduct the speed of non-spring load partObtain the absolute movement speed v of motor；
Step 9, by the switch speed v in step 40Compare with the absolute movement speed v of motor, as v ＜ v0Time, semi-active control loop works is in Boost pattern；As v ＞ v0Time, semi-active control loop works is in Buck pattern.
Step 10, integrating step 7 and step 9 realize the electric current i in motor winding to reference current irefAccurately quickly follow the tracks of, and then realize effective output of motor electromagnetic damping force, reach to promote the purpose of suspension travel ride comfort.
Further, the semi-active control loop of described step 1 includes: linear electric motors M, three-phase rectifier, metal-oxide-semiconductor S1, metal-oxide-semiconductor S2, diode D1, diode D2, inductance LDC, super capacitor group SC.The described output of linear electric motors M is connected with the input of three-phase rectifier, and the positive pole of two phase output terminals of described three-phase rectifier is connected with the drain electrode of metal-oxide-semiconductor S1, the source electrode of described metal-oxide-semiconductor S1 simultaneously with negative pole and the inductance L of diode D2DCOne end be connected, described inductance LDCThe other end be connected with drain electrode and the diode D1 positive pole of metal-oxide-semiconductor S2 simultaneously, the negative pole of described diode D1 is connected with the positive pole of super capacitor group SC, and the negative pole of described super capacitor group SC is connected with the source electrode of metal-oxide-semiconductor S2, the positive pole of diode D2, the negative pole of three-phase rectifier two phase output terminal simultaneously.
Further, when metal-oxide-semiconductor S1 is normally opened, metal-oxide-semiconductor S2 plays copped wave effect, and now half active loop works is in Boost pattern；When metal-oxide-semiconductor S2 is normally closed, metal-oxide-semiconductor S1 plays copped wave effect, and now half active loop works is in Buck pattern.
Further, switch speed v in described step 40Circular be:
Electromagnetic damping power F provided when the rectified device of linear electric motors output is directly connected with charging deviceNIt is represented by:Electromagnetic damping power F of the actually required offer of linear electric motorsMIt is represented by:Wherein, keFor the back emf coefficient of linear electric motors, kiFor the thrust coefficient of linear electric motors, UCFor super capacitor terminal voltage in semi-active control loop, R is the equivalent internal resistance of linear electric motors, and α (0≤α≤1) is the tracking coefficient of electric current；Work as FM=FNTime, just can get switch speed v when semi-active control loop changes its mode of operation0For:
Further, the reference of the required output of the motor in described step 5 is used as power FrefBe specifically calculated as:
Wherein csFor skyhook damping coefficient, cgFor ground canopy damped coefficient.
Further, the method for work of the fuzzy-PI mixture control in described step 7 is:
As reference current value irefIt is more than threshold values e with the absolute value of the actual current value i difference in motor winding0(e0＞ 0) time, select fuzzy controller, in described fuzzy controller: the signal of input is reference current value irefWith the actual current value i difference e in motor winding and difference rate of change ec, the signal of output is dutycycle increment Delta d of metal-oxide-semiconductor control signal PWM；As reference current value irefIt is less than threshold values e with the absolute value of the actual current value i difference in motor winding0(e0＞ 0) time, switch to PI controller.
Compared with prior art, the semi-active control method of the energy feeding back type semi-active suspension system of the present invention has the advantage that
1. the semi-active control loop comprising Buck and Boost both of which is applied to energy feeding back type semi-active suspension system, can significantly expand the bandwidth of the electromagnetic damping power of motor output, effectively solve the dead-time problem in the output of motor electromagnetic damping force.
2. the electric current that fuzzy-PI mixture control is applied to semi-active control loop controls, dynamic and the steady-state error in actual current track reference current course can be effectively reduced, ensure electromagnetic damping power output accurately, reached to promote suspension riding comfort purpose.
3. added the semi-active control strategy of ground canopy by ceiling, the dynamic stroke that not only can reduce suspension can also suppress the vibration of wheel, thus promote the ride performance of vehicle.
4. fuzzy controller can be substantially reduced the dynamic error of system, PI controller can reduce the steady-state error of system, fuzzy controller and PI controller are combined and can promote the actual current tracking effect to reference current to a great extent, the accurate output of guarantee system electromagnetic damping power, and then promote the ride performance of suspension system.
Accompanying drawing explanation
The schematic diagram in Fig. 1 semi-active control loop；
Fig. 2 energy feeding back type semi-active suspension system semi-active control structure chart；
The membership function curve of Fig. 3 e and ec；
The membership function curve of Fig. 4 Δ d.
Detailed description of the invention
Below in conjunction with the accompanying drawings, the semi-active control method to the energy feeding back type semi-active suspension system of the present invention does more detailed elaboration:
As it is shown in figure 1, the semi-active control method of a kind of energy feeding back type semi-active suspension system of the present invention, the schematic diagram in described semi-active control loop includes: linear electric motors M, three-phase rectifier, metal-oxide-semiconductor S1, metal-oxide-semiconductor S2, diode D1, diode D2, inductance LDC, super capacitor group SC.The described output of linear electric motors M is connected with the input of three-phase rectifier, and the positive pole of two phase output terminals of described three-phase rectifier is connected with the drain electrode of metal-oxide-semiconductor S1, the source electrode of described metal-oxide-semiconductor S1 simultaneously with negative pole and the inductance L of diode D2DCOne end be connected, described inductance LDCThe other end be connected with drain electrode and the diode D1 positive pole of MOS pipe S2 simultaneously, the negative pole of described diode D1 is connected with the positive pole of super capacitor group SC, and the negative pole of described super capacitor group SC is connected with the source electrode of metal-oxide-semiconductor S2, the positive pole of diode D2, the negative pole of three-phase rectifier two phase output terminal simultaneously.
When metal-oxide-semiconductor S1 is normally opened, metal-oxide-semiconductor S2 plays copped wave effect, and now half active loop works is in Boost pattern；When metal-oxide-semiconductor S2 is normally closed, metal-oxide-semiconductor S1 plays copped wave effect, and now half active loop works is in Buck pattern.
As in figure 2 it is shown, the semi-active control method of a kind of energy feeding back type semi-active suspension system, add the suspension damping semi-active control strategy of ground canopy by ceiling and obtain the desired electrical non-magnetic conductor F of output needed for linear electric motorsref, desired electrical non-magnetic conductor FrefJust required reference current i is obtained divided by electromagnetic damping coefficient kiref, gather actual current value i in motor winding by current sensorreal, by reference current irefWith actual current value irealDifference e and difference rate of change ec, be input to fuzzy-PI mixture control, fuzzy-PI mixture control output two pulse signals controls the switch of the metal-oxide-semiconductor in semi-active control loop, it is achieved semi-active control.
To this end, the concrete grammar step of the present invention is:
Step 1, builds the semi-active control loop of DC converter based on Buck and Boost both of which；
Step 2, Negotiation speed sensor detects the speed of spring load part respectivelyWith the speed that non-spring carries partAnd it is delivered to control unit；
Step 3, the electric current i gathered in linear electric motors winding by current sensor is delivered to control unit；
Step 4, linear electric motors output rectified device electromagnetic damping power F provided when being directly connected with charging deviceNElectromagnetic damping power F of offer actually required with linear electric motorsM, obtain switch speed v when semi-active control loop changes its mode of operation0:
Step 4.1, electromagnetic damping power F provided when the rectified device of linear electric motors output described in claim 2 step 3 is directly connected with charging deviceNIt is represented by:Electromagnetic damping power F of the actually required offer of linear electric motorsMIt is represented by:Wherein, keFor the back emf coefficient of linear electric motors, kiFor the thrust coefficient of linear electric motors, UCFor super capacitor terminal voltage in semi-active control loop, R is the equivalent internal resistance of linear electric motors, and α (0≤α≤1) is the tracking coefficient of electric current.
Step 4.2, works as FM=FNTime, just can get switch speed v when semi-active control loop changes its mode of operation0For:
Step 5, the rate signal that will collect in step 2WithBe delivered to ceiling add the half of ground canopy actively computing module obtain the reference of the required output of motor and be used as power Fref:Wherein csFor skyhook damping coefficient, cgFor ground canopy damped coefficient.
Step 6, be used as power F by the reference obtained in step 5refElectromagnetic damping coefficient k divided by motoriObtain the reference current i of motor windingref；
Step 7, will obtain reference current i in step 6refBeing delivered to fuzzy-PI mixture control with the difference of electric current i in motor winding in step 2 and the rate of change of difference, fuzzy-PI mixture control output pwm control signal controls the metal-oxide-semiconductor monocyclic switch time in semi-active control loop.
As reference current value irefIt is more than threshold values e with the absolute value of the actual current value i difference in motor winding0(e0＞ 0) time, select fuzzy controller；As reference current value irefIt is less than threshold values e with the absolute value of the actual current value i difference in motor winding0(e0＞ 0) time, switch to PI controller.
According to control requirement and the Volume control of energy feeding back type semi-active suspension system, in conjunction with the parameter and standard of actual linear electric motors, determining that the basic domain of current differential is [-4,4], unit is A；The basic domain of current deviation rate of change is [-200,200], and unit is A/s；The basic domain of the change in duty cycle amount of output is [-0.6,0.6].Accordingly, the linguistic variable of fuzzy reasoning input is E and EC, and the linguistic variable of the variable quantity d of the pwm signal dutycycle of output is D.Choosing fuzzy subset according to engineering experience is: and honest (PB), hits exactly (PM), the least (PS), zero (ZE), negative little (NS), in bearing (NM), negative big (NB) }.Considering the reasonability that fuzzy set is distributed in fuzzy domain, fuzzy domain is typically set at about the twice of fuzzy set element number, and fuzzy domain is set to: and 6,5,4,3,2,1,0 ,-1 ,-2 ,-3 ,-4 ,-5 ,-6}.Use αe、αec、αdRepresenting the difference of electric current, the rate of change of difference and the scale factor of dutycycle increment respectively, occurrence is:
The membership function of fuzzy controller selects trigonometric function, and corresponding computing formula is as follows:
In formula, j is the abscissa value of the left end point of membership function curvilinear triangle, and g is the abscissa value of triangle right endpoint, and q is the abscissa value that triangular apex is corresponding.Wherein the rate of change ec of the difference e of electric current and difference membership function curve as it is shown on figure 3, the membership function curve of PWM duty cycle increment Delta d as shown in Figure 4.
The steep of membership function curve determines the sensitivity that system controls, and the sensitivity of the most precipitous control of curve is the highest；Curve controls sensitivity the most gently and also can be gradually lowered, but the stability of system gradually promotes.When the winding current of motor changes little, should not cross the dutycycle significantly adjusting pwm signal, in order to avoid causing the fluctuation of system, therefore, the membership function curve near subset ZE should be shallower, specifically as shown in fuzzy subset PS and NS in Fig. 3.
Fuzzy controller can be substantially reduced the dynamic error of system, PI controller can reduce the steady-state error of system, fuzzy controller and PI controller are combined and can promote the actual current tracking effect to reference current to a great extent, the accurate output of guarantee system electromagnetic damping power, and then promote the ride performance of suspension system.
Step 8, the spring collected in step 2 carries partial velocityDeduct the speed of non-spring load partObtain the absolute movement speed v of motor；
Step 9, by the switch speed v in step 40Compare with the absolute movement speed v of motor, as v ＜ v0Time, semi-active control loop works is in Boost pattern；As v ＞ v0Time, semi-active control loop works is in Buck pattern.
Step 10, integrating step 7 and step 9 realize the electric current i in motor winding to reference current irefAccurately quickly follow the tracks of, and then realize effective output of motor electromagnetic damping force, reach to promote the purpose of suspension travel ride comfort.
It should be understood that above-mentioned example of executing is merely to illustrate the present invention rather than limits the scope of the present invention, after having read the present invention, those skilled in the art all fall within the application claims limited range to the amendment of the various equivalent form of values of the present invention.
Claims (6)
1. the semi-active control method of an energy feeding back type semi-active suspension system, it is characterised in that: comprise the steps:
Step 1, builds the semi-active control loop of DC converter based on Buck and Boost both of which；
Step 2, Negotiation speed sensor detects the speed of spring load part respectivelyWith the speed that non-spring carries partAnd carry
To control unit；
Step 3, is gathered the electric current i in the linear electric motors winding in semi-active control loop, and is conveyed by current sensor
To control unit；
Step 4, linear electric motors output rectified device electromagnetic damping power F provided when being directly connected with charging deviceNDirectly
Electromagnetic damping power F of the actually required offer of line motorM, obtain switch speed when semi-active control loop changes its mode of operation
v0；
Step 5, the rate signal that will collect in step 2WithBe delivered to ceiling add the half of ground canopy actively computing module obtain
It is used as power F to the reference of output needed for motorref；
Step 6, be used as power F by the reference obtained in step 5refElectromagnetic damping coefficient k divided by motoriObtain motor winding
Reference current iref；
Step 7, will obtain reference current i in step 6refWith the difference of the electric current i in step 2 cathetus motor winding and
The rate of change of difference is delivered to fuzzy-PI mixture control, and fuzzy-PI mixture control output pwm control signal controls half
Metal-oxide-semiconductor monocyclic switch time in active control loops；
Step 8, the spring collected in step 2 carries partial velocityDeduct the speed of non-spring load partObtain the absolute of motor
Movement velocity v；
Step 9, by the switch speed v in step 40Compare with the absolute movement speed v of motor, as v ＜ v0Time, half actively
Control loop works in Boost pattern；As v ＞ v0Time, semi-active control loop works is in Buck pattern；
Step 10, integrating step 7 and step 9 realize the electric current i in motor winding to reference current irefAccurately quickly follow the tracks of,
And then realize effectively exporting of motor electromagnetic damping force, reach to promote the purpose of suspension travel ride comfort.
The semi-active control method of a kind of energy feeding back type semi-active suspension system the most according to claim 1, it is characterised in that
The semi-active control loop of described step 1 includes: linear electric motors M, three-phase rectifier, metal-oxide-semiconductor S1, metal-oxide-semiconductor S2,
Diode D1, diode D2, inductance LDC, super capacitor group SC.The output of described linear electric motors M and three phase rectifier
The input of device is connected, and the positive pole of two phase output terminals of described three-phase rectifier is connected with the drain electrode of metal-oxide-semiconductor S1, described
The source electrode of metal-oxide-semiconductor S1 simultaneously with negative pole and the inductance L of diode D2DCOne end be connected, described inductance LDCAnother
End is connected with drain electrode and the diode D1 positive pole of metal-oxide-semiconductor S2 simultaneously, the negative pole of described diode D1 and super capacitor group
The positive pole of SC is connected, the negative pole of described super capacitor group SC simultaneously with the source electrode of metal-oxide-semiconductor S2, the positive pole of diode D2,
The negative pole of three-phase rectifier two phase output terminal is connected.
The semi-active control method of a kind of energy feeding back type semi-active suspension system the most according to claim 2, it is characterised in that
When metal-oxide-semiconductor S1 is normally opened, metal-oxide-semiconductor S2 plays copped wave effect, and now half active loop works is in Boost pattern；Work as MOS
Pipe S2 is normally closed, and metal-oxide-semiconductor S1 plays copped wave effect, and now half active loop works is in Buck pattern.
The semi-active control method of a kind of energy feeding back type semi-active suspension system the most according to claim 1, it is characterised in that
Switch speed v in described step 40Circular be:
Electromagnetic damping power F provided when the rectified device of linear electric motors output is directly connected with charging deviceNIt is represented by:Electromagnetic damping power F of the actually required offer of linear electric motorsMIt is represented by:Its
In, keFor the back emf coefficient of linear electric motors, kiFor the thrust coefficient of linear electric motors, UCFor super in semi-active control loop
Capacitance terminal voltage, R is the equivalent internal resistance of linear electric motors, and α (0≤α≤1) is the tracking coefficient of electric current；Work as FM=FNTime,
Just can get switch speed v when semi-active control loop changes its mode of operation0For:
The semi-active control method of a kind of energy feeding back type semi-active suspension system the most according to claim 1, it is characterised in that
The reference of the required output of the motor in described step 5 is used as power FrefBe specifically calculated as:
Wherein csFor skyhook damping coefficient, cgFor ground canopy damped coefficient.
The semi-active control method of a kind of energy feeding back type semi-active suspension system the most according to claim 1, it is characterised in that
The method of work of the fuzzy-PI mixture control in described step 7 is:
As reference current value irefIt is more than threshold values e with the absolute value of the actual current value i difference in motor winding0(e0＞ 0) time,
Select fuzzy controller, in described fuzzy controller: the signal of input is reference current value irefWith the actual electricity in motor winding
Flow valuve i difference e and difference rate of change ec, the signal of output is dutycycle increment Delta d of metal-oxide-semiconductor control signal PWM；
As reference current value irefIt is less than threshold values e with the absolute value of the actual current value i difference in motor winding0(e0＞ 0) time, switching
For PI controller.
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| CN110341738A (en) * | 2019-07-01 | 2019-10-18 | 中车青岛四方机车车辆股份有限公司 | Control method and controller in a kind of anti-snake vibration insulating system of half active |
| CN111674220A (en) * | 2020-05-08 | 2020-09-18 | 江苏大学 | Small-delay numerical control current source circuit for magnetorheological damper and parameter determination method thereof |
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| CN111674220A (en) * | 2020-05-08 | 2020-09-18 | 江苏大学 | Small-delay numerical control current source circuit for magnetorheological damper and parameter determination method thereof |
| CN113771571A (en) * | 2020-06-10 | 2021-12-10 | 丰田自动车株式会社 | Vibration damping control device and vibration damping control method for vehicle |
| CN113771571B (en) * | 2020-06-10 | 2024-04-16 | 丰田自动车株式会社 | Vibration damping control device and vibration damping control method for vehicle |
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