CN105751847B - A kind of control method of vehicle multi-mode formula shock absorber - Google Patents
A kind of control method of vehicle multi-mode formula shock absorber Download PDFInfo
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- CN105751847B CN105751847B CN201610171400.8A CN201610171400A CN105751847B CN 105751847 B CN105751847 B CN 105751847B CN 201610171400 A CN201610171400 A CN 201610171400A CN 105751847 B CN105751847 B CN 105751847B
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- suspension
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- linear electric
- active damping
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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
- B60G17/0195—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 regulation being combined with other vehicle control systems
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- 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
- B60G13/14—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers accumulating utilisable energy, e.g. compressing air
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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
- B60G17/018—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 use of a specific signal treatment or control method
- B60G17/0182—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 use of a specific signal treatment or control method involving parameter estimation, e.g. observer, Kalman filter
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/20—Type of damper
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
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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
- B60G2600/17—Proportional control, i.e. gain control
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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
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- 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
Abstract
The invention discloses a kind of control method of vehicle multi-mode formula shock absorber, belong to automotive energy-saving emission-reducing field, ECU controllers judge driving road-condition by sprung mass acceleration transducer and the signals of vehicles of unsprung mass acceleration transducer collection, and then by controlling linear electric motors three-phase windings coil circuit and the input current of the field coil circuit in magneto-rheological vibration damper, suspension is had the initiative, half actively and passive vibration reducing mode, allow automobile to control suspension to reach preferably riding comfort at any time when in face of different road conditions.Linear electric motors recovery section suspension vibration energy can be utilized in the case where suspension is in passive and half aggressive mode simultaneously, realize suspension vibration isolation and the combination of energy regenerative, reach the purpose of energy-saving and emission-reduction.
Description
Technical field
The invention belongs to automotive energy-saving emission-reducing field, and in particular to a kind of control method of vehicle multi-mode formula shock absorber.
Background technology
Shock absorber is a vital parts on automotive suspension, and the quality of its performance directly affects multiplying for automobile
Sit comfortableness.At present, the traditional hydraulic buffer of generally use on passive suspension, and its damping is non-adjustable, therefore can not basis
The regulations such as road conditions damp accordingly, do not reach good effectiveness in vibration suppression.Meanwhile automobile is in road traveling, due to Uneven road
Cause vehicle body up and down vibrate, automobile a part energy consumed during suspension vibration with form of thermal energy, if by this
Energy regenerating, it will make automobile that there is preferable fuel economy from fuel consumption is largely reduced, therefore, to vibrational energy
The recovery of amount has very great meaning.
Magnetic flow liquid is the intellectual material that a kind of viscosity and yield stress can change with externally-applied magnetic field, have it is quick, can
The characteristics such as control, are applied on shock absorber, continuously can controllably adjust the output of shock absorber plant equipment, well should be had
Use prospect.
Linear electric motors are electric rotating machines in one kind deformation of configuration aspects, its simple in construction, efficiency high, armature and stator without
The advantages that radial load, is in various field application developments.
Chinese patent CN201410176613.0 discloses a kind of feed energy suspension system and control method, by desired electrical
Non-magnetic conductor FrefThe electromagnetic damping power F in the case of DC converter is free of with energy regenerative loopNContrast, to judge energy regenerative circuit
The boosting of middle DC converter, decompression mode, reach the purpose effectively to recover energy.But to feedback when it has inquired into suspension energy regenerative
The control method of energy circuit is not more single in view of the change of vehicle dynamic property, control.
The content of the invention
To overcome above technological deficiency, linear electric motors are integrated into the fabricated structure basis of magneto-rheological vibration damper by the present invention
On, a kind of control method of vehicle multi-mode formula shock absorber is proposed, solves the problems, such as that consideration is not given in the change of vehicle dynamic property, and
Control method is various modes.
A kind of control method of vehicle multi-mode formula shock absorber, including step：
The vehicle body acceleration that step 1) is measured by sprung mass acceleration transducer inputs ECU controllers, judges vehicle body
Whether acceleration a and duration t reach predetermined threshold；
If step 2) vehicle body acceleration a≤2m/s2, and duration t>During 5s；
ECU controllers are not to half active damping generator and the input order of active damping generator, now, external power source
Field coil circuit and linear electric motors three-phase windings coil circuit input current not into magnetic flow liquid, suspension are in passive
Vibration reducing mode；Linear electric motors reclaim suspension vibration energy as generator：The straight-line electric measured by three-phase windings voltage sensor
Machine output voltage U1And charging capacitor terminal voltage Uc, and send both differences to PI controllers, contrasted by analyzing, output
Suitable dutycycle carrys out controlling switch pipe S ON time, to be boosted to linear electric motors output end voltage, completes energy and returns
Receipts process.
If step 3) vehicle body acceleration 2m/s2<a<5m/s2, and duration t>During 5s；
ECU controllers are only inputted to half active damping generator and ordered, now, half active damping generator control external electrical
Source field coil circuit input current into magnetic flow liquid, meanwhile, ECU controllers are under sprung mass acceleration transducer and spring
Mass acceleration sensor collection signal analyzed and processed, it would be desirable to field coil current IdesWith reality in magnetic flow liquid
Border current signal IrealSend half active damping generator to and be tracked control, with the suitable damping force F of output sizeout,
Suspension is set to be in half active damping pattern, while suspension semi- active control, linear electric motors reclaim suspension with generator mode
Vibrational energy：The linear electric motors output voltage U measured by three-phase windings voltage sensor1And charging capacitor terminal voltage Uc, and by two
The difference of person sends PI controllers to, is contrasted by analyzing, exports the ON time that suitable dutycycle carrys out controlling switch pipe S,
To be boosted to linear electric motors output end voltage, energy recovery process is completed.
If step 4) vehicle body acceleration a >=5m/s2, and duration t>During 5s；
ECU controllers are only inputted to active damping generator and ordered, now, active damping generator control external power source to
Linear electric motors three-phase windings coil circuit input current, meanwhile, ECU controllers are to matter under sprung mass acceleration transducer and spring
The signal of amount acceleration transducer collection is analyzed and processed, and exports preferable winding coil electric current Ides, it would be desirable to winding wire
Loop current IdesWith the actual current signal I in linear electric motorsrealSend active damping generator to and be tracked control, with
Output size is suitably used as power FoutTo resist body vibrations, now, suspension has the initiative vibration reducing mode, linear electric motors work
In electric motor mode dissipation energy.
Further, the preferable winding coil electric current I of output in the step 4)desIt is to first pass through ECU controllers output ideal
Be used as power Fdes, then by formula Fdes=Ke·IdesObtain preferable winding coil electric current Ides, wherein KeFor the thrust of linear electric motors
Coefficient.
Further, the vehicle multi-mode formula shock absorber includes suspension system and control system；
The suspension system includes the sprung mass and unsprung mass of suspension, one end of the sprung mass and unsprung mass
Sprung mass acceleration transducer and unsprung mass acceleration transducer, the sprung mass acceleration sensing are fixed with respectively
Device connects ECU controllers with unsprung mass acceleration transducer by signal wire, between the sprung mass and unsprung mass simultaneously
It is associated with bearing spring and suspension shock-absorber；The suspension shock-absorber includes linear electric motors and magneto-rheological vibration damper；
The control system includes half active damping generator, rectifier, active damping generator, ECU controllers；
The ECU controllers are connected with half active damping generator, magneto-rheological vibration damper in turn all the way, described magnetorheological to subtract
Shake and field coil current sensor is provided between device (15) and half active damping generator；
The ECU controllers another way is connected with active damping generator, rectifier, linear electric motors, the rectification in turn
Three-phase windings voltage sensor, three-phase windings current sensor are provided between device and active damping generator.
Further, the electric current feelings that the active damping generator is used in tracing control linear electric motors three-phase windings coil
Condition；The half active damping generator is used for the current conditions of magnet exciting coil in tracing control magnetic flow liquid.
Beneficial effects of the present invention are：The present invention is by controlling linear electric motors three-phase windings coil circuit and magneto-rheological vibration damping
The electric current input of field coil circuit in device, make vehicle can control suspension to have the initiative when in face of different road conditions, half actively and
Three kinds of mode of operations of passive vibration damping, and then obtain preferably riding comfort.Simultaneously as the architectural characteristic of linear electric motors, when
When it is in generator mode, the linear electric motors output voltage U that is measured by three-phase windings voltage sensor1And charging capacitor end electricity
Press Uc, and send both differences to PI controllers, contrasted by analyzing, export suitable dutycycle and come controlling switch S's
ON time, to be boosted to linear electric motors output end voltage, recovery section suspension vibration energy, reach the purpose of energy-conservation.
Brief description of the drawings
Fig. 1 is multi-mode damper system figure in a kind of control method of vehicle multi-mode formula shock absorber of the present invention；
In figure：19- sprung mass acceleration transducers, 20- suspension shock-absorbers, circuit where 21- magnet exciting coils, 22- are encouraged
Magnetic coil current sensor, 23- three-phase windings current sensors, 24- three-phase windings voltage sensors, 25- three-phase windings coils
Circuit, 26- unsprung mass acceleration transducers, the equivalent tire stiffness springs of 27-, 28- unsprung mass, 29- bearing springs, 30-
Sprung mass；- collection signal, →-control signal.
Fig. 2 is the structure chart of suspension shock-absorber in a kind of control method of vehicle multi-mode formula shock absorber of the present invention；
In figure：The upper hangers of 1-, 2- mover piston rods, 3- permanent magnets, 4- linear electric motors, 5- three-phase cake formula armature winding, 6-
Top cover, 7- electromagnetic pistons, 8- magnet exciting coils, 9- pads, 10- cylinder barrels, 11- nuts, 12- charge valves, hanger under 13-, 14- dampings
Passage, 15- magneto-rheological vibration dampers, 16- buffer stoppers, 17- guide holders, 18- stator casings.
Fig. 3 is a kind of embodiment control program figure of the control method of vehicle multi-mode formula shock absorber of the present invention.
Fig. 4 is a kind of control method cathetus motor energy regenerative circuit diagram of vehicle multi-mode formula shock absorber of the present invention.
In figure：Um- induced electromotive force, Rcoil- linear electric motors equivalent internal resistance, Lm- linear electric motors equivalent inductance, U1- straight-line electric
Machine output voltage, LdInductance on-booster circuit, S- switching tubes, Uc- electric capacity terminal voltage.
Fig. 5 is suspension semi-active control strategy figure in a kind of control method of vehicle multi-mode formula shock absorber of the present invention.
Fig. 6 is suspension active control strategies figure in a kind of control method of vehicle multi-mode formula shock absorber of the present invention.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention will be further described, but protection scope of the present invention and unlimited
In this.
The present invention solve prior art problem operation principle be：Generator mode is both operable with using linear electric motors,
The principle of electric motor mode, and the characteristic that magnetorheological fluid damp is variable are operable with again, linear electric motors are integrated into magnetorheological
On shock absorber, by controlling the electric current of linear electric motors and magnet exciting coil to input, vehicle is set to can control when in face of different road conditions
Suspension is in different working modes, and then obtains preferably riding comfort.Simultaneously as the architectural characteristic of linear electric motors, when
When it is in generator mode, and recyclable partial vibration energy, reach the purpose of energy-conservation.
As shown in figure 1, multi-mode damper system figure in a kind of control method of vehicle multi-mode formula shock absorber, including
Suspension system and control system；
Suspension system includes one end of the sprung mass 30 and unsprung mass 28 of suspension, sprung mass 30 and unsprung mass 28
Sprung mass acceleration transducer 19 and unsprung mass acceleration transducer 26, sprung mass acceleration sensing are fixed with respectively
Device 19 and unsprung mass acceleration transducer 26 connect ECU controllers by signal wire, sprung mass 30 and unsprung mass 28 it
Between be parallel with bearing spring 29 and suspension shock-absorber 20；Suspension shock-absorber 20 includes linear electric motors 4 and magneto-rheological vibration damper 15；Deng
Effect tire stiffness spring 27 contacts with road surface.
The control system includes half active damping generator, rectifier, active damping generator, ECU controllers；
The ECU controllers are connected with half active damping generator, magneto-rheological vibration damper 15 in turn all the way, described magnetorheological
Field coil current sensor 22 is provided between the active damping generator of shock absorber 15 and half；Half active damping generator be used for
The current conditions of magnet exciting coil in track control magnetic flow liquid.
The ECU controllers another way is connected with active damping generator, rectifier, linear electric motors 4, the rectification in turn
Three-phase windings voltage sensor 24, three-phase windings current sensor 23 are provided between device and active damping generator；Active damping
The current conditions that generator is used in tracing control linear electric motors three-phase windings coil.
As shown in Fig. 2 be suspension shock-absorber 20 in a kind of control method of vehicle multi-mode formula shock absorber of the present invention, bag
Include cartridge type permanent-magnetism linear motor 4 and magneto-rheological vibration damper 15；
Linear electric motors 4 include mover piston rod 2, three-phase cake formula armature winding 5 and stator casing 18；On mover piston rod 2
Permanent magnet 3 is covered with, three-phase cake formula armature winding 5 is wound on the iron core inside stator casing 18, and is arranged in order by its axial direction；
Magneto-rheological vibration damper 15 includes top cover 6, electromagnetic piston 7, cylinder barrel 10, buffer stopper 16, guide holder 17；
Mover piston 2 is magneto-rheological vibration damper piston rod, coaxial with magneto-rheological vibration damper 15, the lower end of mover piston rod 2 with
Electromagnetic piston 7 is connected by nut 22；The upper end of mover piston rod 2 is consolidated with upper hanger 1, and lower hanger 13 is welded on suspension
The bottom of shock absorber 20；Annular damper passage is formed between electromagnetic piston 7 and cylinder barrel 10, magnet exciting coil 8 is embedded in electromagnetic piston 7 admittedly
Middle part；Guide holder 17 is in the upper end of cylinder barrel 10, to spacing to mover piston rod 2；Top cover 6 is to by the suitable for reading of cylinder barrel 10
Sealing cut-off.
Mover piston rod 2 uses single rod structure, and the wire hole of mover piston rod 2 is interior to fill sealing with epoxide-resin glue,
The wire of magnet exciting coil 8 is extended to outside shock absorber by the wire hole of mover piston rod 2.Buffer stopper 16 uses elastic rubber material
It is made.
Vehicle in the process of moving, due to the vibration of suspension system can be caused when Uneven road or other complicated road conditions,
Now, the vehicle body acceleration measured by sprung mass acceleration transducer 19 inputs ECU controllers, judges vehicle body acceleration a
Whether reach predetermined threshold with duration t, determine the mode of operation of suspension, as shown in Figure 3：
If vehicle body acceleration a≤2m/s2, and duration t>During 5s, show that driving road-condition is preferable, vehicle, which has, preferably to be multiplied
When sitting comfortableness.ECU controllers are now, outside not to half active damping generator and the input order of active damping generator
Power supply field coil circuit 21 and the input current of linear electric motors three-phase windings coil circuit 25, magnetic current not into magnetic flow liquid
Become shock absorber and be in passive vibration reducing mode equivalent to the nonadjustable oil damper of conventional damper, suspension.Due to vehicle body and tire
Between relative motion the mover piston rod 2 of linear electric motors 4 is moved up and down relative to the three-phase windings on stator, according to farad
The law of electromagnetic induction, induced-current can be produced in coil, be to have reached the purpose of energy regenerative by this part power storage to electric capacity,
Linear electric motors are in generator mode；But linear electric motors can have " dead band phenomenon ", i.e. shaking when suspension during energy regenerative
When dynamic speed is relatively low, induced electromotive force caused by linear electric motors is relatively small, if being directly connected to energy storage device, it may occur that fill
Do not enter the phenomenon of electricity, so, for effectively recovery suspension vibration energy, propose linear electric motors energy regenerative circuit as shown in Figure 4.Consider
Into three-phase windings coil, faradic direction constantly changes, and forms rectifier bridge using four diodes here, makes induced electricity
The flow direction of stream is consistent, so as to be charged to electric capacity.It is pointed out that when only charging voltage is more than electric capacity terminal voltage
Energy regenerating could be completed.The output voltage U of linear electric motors 4 measured by three-phase windings voltage sensor 241And charging capacitor end
Voltage Uc, and the input (Fig. 4) using both differences as PI controllers, controlled by adjusting switch pipe S ON time
Dutycycle, reach the purpose boosted to the output end voltage of linear electric motors 4, wherein UcAnd U1By three-phase windings voltage sensor
24 measure.
If vehicle body acceleration 2m/s2<a<5m/s2, and duration t>During 5s, show that road conditions are poor, vehicle riding comfort
It is declined slightly.ECU controllers are only inputted to half active damping generator and ordered, and now, the control of half active damping generator is outside
Power supply input current of field coil circuit 21 into magnetic flow liquid, the input of electric current cause magnet exciting coil surrounding magnetic field to become
Change, to change the rheological behavior of magnetic flow liquid, reach the purpose for changing resistance of shock absorber, suspension is in half active damping pattern.
Effectively to implement the semi- active control to suspension, suspension semi-active control strategy figure as shown in Figure 5 is proposed, outer shroud moves for vehicle
Mechanics is controlled, and preferable magnet exciting coil input current I is obtained according to the system state variables (being measured by sensor) of vehicledes, it is interior
Ring is current follow-up control, and the actual current I in magnet exciting coil is controlled with thisrealPreferable magnet exciting coil input current can be followed
Ides, vehicle is kept good dynamic performance.The semi- active control process of suspension is：ECU controllers accelerate to sprung mass
Degree sensor 19 and unsprung mass acceleration transducer 26 gather signal analyzed and processed, it would be desirable to magnet exciting coil input
Electric current IdesWith the actual current I in magnet exciting coilrealSend half active damping generator to and be tracked control (Fig. 5), with
The suitable damping force F of output sizeout, vehicle is in half active damping pattern, while suspension semi- active control, straight line
Motor reclaims suspension vibration energy by energy regenerative circuit.The linear electric motors 4 measured by three-phase windings voltage sensor 24 export electricity
Press U1And charging capacitor terminal voltage Uc, and send both differences to PI controllers (Fig. 4), contrasted by analyzing, output is suitable
Dutycycle carry out controlling switch pipe S ON time, to be boosted to linear electric motors output end voltage, complete energy regenerating mistake
Journey.
If vehicle body acceleration a >=5m/s2, and duration t>During 3s, show that road conditions are very poor, vehicle riding comfort is obvious
Decline.ECU controllers are only inputted to active damping generator and ordered, and now, active damping generator controls external power source to straight
The input current of line motor three-phase windings coil circuit 25, linear electric motors 4 are produced and are used as power, and suspension has the initiative vibration reducing mode.For
Effectively implement the active control to suspension, propose suspension active control strategies figure as shown in Figure 6, linear electric motors 4 are used for electronic
When machine carries out active control, primarily to meeting dynamics of vehicle performance requirement, work is now produced by power source drive motor
Power, by formula
Fdes=Ke·Ides (1)
Wherein, FdesIt is used as power for linear electric motors ideal, KeFor the thrust coefficient of linear electric motors, IdesFor linear electric motors three-phase
The ideal current of winding coil；
Understand, it is directly proportional to coil electricity electric current that what motor provided be used as power, therefore, the essence of active control be electric current with
Track controls.Outer shroud is Study on Vehicle Dynamic Control, and preferable controling power is obtained according to system state variables (being measured by sensor), from
And obtain preferable control electric current Ides；Inner ring is current follow-up control, controls linear electric motors ideal to be used as power F with thisoutCan be with
With preferable controling power, vehicle is set to keep good dynamic performance.The active control process of suspension is：ECU controllers are on spring
The signal that mass acceleration sensor 19 and unsprung mass acceleration transducer 26 gather is analyzed and processed, and exports preferable start
Power Fdes, according to the ideal current I of formula (1) output three-phase windings coildes, by the ideal current I of three-phase windings coildesWith
Actual current I in linear electric motors three-phase windings coilrealSend active damping generator to and be tracked control, it is big to export
Small suitable ideal is used as power FoutTo resist body vibrations, now, suspension has the initiative vibration reducing mode, and linear electric motors work in
Electric motor mode dissipation energy.
A kind of control method of vehicle multi-mode formula shock absorber provided by the present invention is described in detail above, herein
Apply specific case to be set forth the principle and embodiment of the present invention, be noted that and the foregoing is only this
The preferred embodiment of invention, is not intended to limit the invention.That is made within the spirit and principles of the invention is any
Modifications, equivalent substitutions and improvements etc., should be included in the scope of the protection.
Claims (4)
1. a kind of control method of vehicle multi-mode formula shock absorber, it is characterised in that comprise the following steps：
The vehicle body acceleration that step 1) is measured by sprung mass acceleration transducer (19) inputs ECU controllers, judges vehicle body
Whether acceleration a and duration t reach predetermined threshold；
If step 2) vehicle body acceleration a≤2m/s2, and duration t>During 5s；
ECU controllers are not to half active damping generator and the input order of active damping generator, and now, external power source is not
Into magnetic flow liquid, field coil circuit (21) and linear electric motors three-phase windings coil circuit (25) input current, suspension are in
Passive vibration reducing mode；Linear electric motors (4) are as generator recovery suspension vibration energy：Surveyed by three-phase windings voltage sensor (24)
Linear electric motors (4) the output voltage U obtained1And charging capacitor terminal voltage Uc, and send both differences to PI controllers, pass through
Analysis contrast, output duty cycle carrys out controlling switch pipe S ON time, complete to be boosted to the output end voltage of linear electric motors 4
Into energy recovery process；
If step 3) vehicle body acceleration 2m/s2<a<5m/s2, and duration t>During 5s；
ECU controllers are only inputted to half active damping generator and ordered, now, half active damping generator control external power source to
Field coil circuit (21) input current in magnetic flow liquid, meanwhile, ECU controllers to sprung mass acceleration transducer (19) and
Unsprung mass acceleration transducer (26) collection signal analyzed and processed, it would be desirable to field coil current IdesAnd magnetic current
Become actual current signal I in liquidrealSend half active damping generator to and be tracked control, to export damping force Fout, make
Suspension is in half active damping pattern, and while suspension semi- active control, linear electric motors are shaken with generator mode recovery suspension
Energy：Linear electric motors (4) the output voltage U measured by three-phase windings voltage sensor (24)1And charging capacitor terminal voltage Uc,
And send both differences to PI controllers, and being contrasted by analyzing, output duty cycle carrys out controlling switch pipe S ON time,
To be boosted to linear electric motors output end voltage, energy recovery process is completed；
If step 4) vehicle body acceleration a >=5m/s2, and duration t>During 5s；
ECU controllers are only inputted to active damping generator and ordered, and now, active damping generator controls external power source to straight line
Motor three-phase windings coil circuit (25) input current, meanwhile, ECU controllers are to sprung mass acceleration transducer (19) and spring
The signal of lower mass acceleration sensor (26) collection is analyzed and processed, and exports preferable winding coil electric current Ides, it would be desirable to
Winding coil electric current IdesWith the actual current signal I in linear electric motors (4)realSend the progress of active damping generator to
Tracing control, to export the F that is used as poweroutTo resist body vibrations, now, suspension has the initiative vibration reducing mode, linear electric motors work
In electric motor mode dissipation energy.
A kind of 2. control method of vehicle multi-mode formula shock absorber according to claim 1, it is characterised in that the step 4)
The middle preferable winding coil electric current I of outputdesIt is to first pass through ECU controllers output ideal to be used as power Fdes, then by formula Fdes=
Ke·IdesObtain preferable winding coil electric current Ides, wherein KeFor the thrust coefficient of linear electric motors.
3. the control method of a kind of vehicle multi-mode formula shock absorber according to claim 1, it is characterised in that the vehicle is more
Mode dampers include suspension system and control system；
The suspension system includes the sprung mass (30) and unsprung mass (28) of suspension, matter under the sprung mass (30) and spring
One end of amount (28) is fixed with sprung mass acceleration transducer (19) and unsprung mass acceleration transducer (26), institute respectively
State sprung mass acceleration transducer (19) and ECU controllers connected by signal wire with unsprung mass acceleration transducer (26),
Bearing spring (29) and suspension shock-absorber (20) are parallel between the sprung mass (30) and unsprung mass (28)；The suspension
Shock absorber (20) includes linear electric motors (4) and magneto-rheological vibration damper (15)；
The control system includes half active damping generator, rectifier, active damping generator, ECU controllers；
The ECU controllers are connected with half active damping generator, magneto-rheological vibration damper (15) in turn all the way, described magnetorheological to subtract
Shake and field coil current sensor (22) is provided between device (15) and half active damping generator；
The ECU controllers another way is connected with active damping generator, rectifier, linear electric motors (4), the rectifier in turn
Three-phase windings voltage sensor (24), three-phase windings current sensor (23) are provided between active damping generator.
4. the control method of a kind of vehicle multi-mode formula shock absorber according to claim 3, it is characterised in that the active subtracts
The current conditions that vibration generator is used in tracing control linear electric motors three-phase windings coil；The half active damping generator is used for
The current conditions of magnet exciting coil in tracing control magnetic flow liquid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610171400.8A CN105751847B (en) | 2016-03-24 | 2016-03-24 | A kind of control method of vehicle multi-mode formula shock absorber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610171400.8A CN105751847B (en) | 2016-03-24 | 2016-03-24 | A kind of control method of vehicle multi-mode formula shock absorber |
Publications (2)
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| WO2018027532A1 (en) * | 2016-08-09 | 2018-02-15 | The Chinese University Of Hong Kong | Device and method for coordinating magnetorheological damping/braking and energy harvesting |
| CN106224425B (en) * | 2016-08-16 | 2018-04-17 | 江苏大学 | A kind of half active feed energy suspension damper and its method for determining size based on composite excitation |
| JP6529954B2 (en) * | 2016-12-22 | 2019-06-12 | 本田技研工業株式会社 | Dynamic damper control device |
| CN107264291B (en) * | 2017-05-25 | 2019-06-28 | 江苏大学 | Pure electric automobile composite braking and active feed energy suspension collaborative device and control method |
| CN107069919A (en) * | 2017-06-16 | 2017-08-18 | 中国人民解放军装甲兵工程学院 | A kind of vehicle suspension system vibration energy recovery device |
| CN108569093B (en) * | 2018-05-07 | 2020-03-24 | 中国人民解放军陆军装甲兵学院 | Parallel combined type electromagnetic suspension system and vehicle |
| CN108515823B (en) * | 2018-05-15 | 2023-11-14 | 山东大学 | Energy feedback type automobile active suspension electromagnetic vibration damper with adjustable damping |
| CN109114152B (en) * | 2018-09-29 | 2023-11-03 | 南京林业大学 | Control system of magneto-rheological damping device |
| CN109795278B (en) * | 2019-03-28 | 2020-08-28 | 西安科技大学 | Multi-mode coordination switching control method for vehicle hybrid suspension actuator |
| CN109808437B (en) * | 2019-04-02 | 2020-10-16 | 西安科技大学 | Electromagnetic integrated energy feedback type suspension actuator of electric automobile and control method thereof |
| CN110329297B (en) * | 2019-06-19 | 2021-11-12 | 中车青岛四方机车车辆股份有限公司 | Anti-snake-shaped vibration reduction system, vibration reduction control method and vehicle |
| CN110722948B (en) * | 2019-10-10 | 2023-09-22 | 西安科技大学 | Vehicle multi-mode oil-gas hybrid suspension actuator and fault switching control method |
| CN111114232B (en) * | 2019-12-28 | 2021-11-19 | 西安交通大学 | Control method of composite electromagnetic suspension |
| CN111251889B (en) * | 2020-02-25 | 2021-06-22 | 江苏大学 | Inertia energy feedback device for new energy vehicle and working method |
| CN111674220B (en) * | 2020-05-08 | 2022-09-13 | 江苏大学 | Small-delay numerical control current source circuit for magnetorheological damper and parameter determination method thereof |
| CN113059976B (en) * | 2021-04-27 | 2023-09-05 | 扬州大学 | Front and rear axle synergistic suspension system |
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| CN100476238C (en) * | 2004-12-20 | 2009-04-08 | 单明军 | Semiactive technique for insulating impulsion based on controllable damping |
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| JP5121686B2 (en) * | 2008-12-15 | 2013-01-16 | 日本車輌製造株式会社 | Railway vehicle vibration control device |
| CN102069813B (en) * | 2010-12-15 | 2012-06-06 | 青岛四方车辆研究所有限公司 | Switch type semi-active suspension system |
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