CN105818634A - Closed-loop continuous damping control device and control method thereof - Google Patents
Closed-loop continuous damping control device and control method thereof Download PDFInfo
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- CN105818634A CN105818634A CN201610200360.5A CN201610200360A CN105818634A CN 105818634 A CN105818634 A CN 105818634A CN 201610200360 A CN201610200360 A CN 201610200360A CN 105818634 A CN105818634 A CN 105818634A
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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
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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
- B60G17/01908—Acceleration or inclination sensors
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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
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
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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
- B60G2500/11—Damping valves
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- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides a closed-loop continuous damping control device which comprises four H-shaped full-bridge drive chips and four operational amplifiers. The shock absorber electromagnetic valve current receiving ends of the H-shaped full-bridge drive chips are connected with current collection resistors. The positive electrode of each operational amplifier is connected with a positive electrode input resistor, the negative electrode of each operational amplifier is connected with a negative electrode input resistor, and the other end of each positive electrode input resistor and the other end of the corresponding negative electrode input resistor are connected to the two ends of the corresponding current collection resistor. Each positive electrode input resistor is further connected with a positive electrode matching resistor in parallel, one end of each positive electrode matching resistor is connected to the positive electrode input end of the corresponding operational amplifier, and the other end of each positive electrode matching resistor is connected to the positive electrode input voltage end of the corresponding operational amplifier. Each negative electrode input resistor is further connected with a feedback resistor in parallel, one end of each feedback resistor is connected to the negative electrode input end of the corresponding operational amplifier, and the other end of each feedback resistor is connected to the output end of the corresponding operational amplifier. By the adoption of the closed-loop continuous damping control device, the current of shock absorber electromagnetic valves is detected through the operational amplifiers, so that closed-loop control of continuous damping control is achieved; and meanwhile the device is simple in structure, quite low in cost and stable and reliable in work operation.
Description
Technical field
The present invention relates to automotive field, particularly relate to a kind of continuous damping control apparatus of closed loop and control method thereof.
Background technology
Automobile suspension system is divided into passive suspension, semi-active suspension and Active Suspensions three basic forms of it at present.Passive suspension can not arbitrarily select due to the coefficient of vibroshock and regulate, and its damping property is poor；Semi-active suspension is made up of spring and the vibroshock of variable characteristic, can according to the rigidity of certain control law regulation adjustable spring or the damping force of adjustable shock absorber, effectiveness in vibration suppression than passive suspension excellent a lot；Active Suspensions is made up of flexible member and forcer, and it comprises by motor-driven air type suspension with by two kinds of forms of oil-gas type suspension of solenoid-driven, and effectiveness in vibration suppression is ideal.
Active suspension technology becomes the important trend of automotive suspension development, and it is to improve vehicle safety and riding comfort provides wide prospect simultaneously.Vehicle Suspension Vibration control system mostly by sensor pickup vehicle body absolute velocity, vehicle body to the relative velocity of wheel, the signal such as acceleration of vehicle body, through microprocessor processes and send instruction and be controlled, by the damped coefficient of electrichydraulic control valve regulation vibroshock.
The control of damping continuously of current Active Suspensions technology has open loop to damp control continuously and closed loop damps control continuously.Open loop damps control continuously i.e. simply by detection sensor signal, and through microprocessor processes and send instruction and be controlled damped coefficient, it does not detect the operating current of electromagnetic valve, it is impossible to the output error that precognition H drives, and does not possess adaptivity.Closed loop damps continuously and controls the most not just to detect the sensor signal on car, also detects the operating current of the feedback of electromagnetic valve, thus is constantly accurately controlled the operating current of electromagnetic valve in real time.Current detecting during conventional closed-loop damping controls can use special current detecting chip to detect the electric current of electromagnetic valve, and this detection chip caloric value is big, and device alternative is low, and cost is high simultaneously.
Summary of the invention
The technical problem to be solved is, it is provided that a kind of simple in construction, the continuous damping control apparatus of closed loop of low cost and control method thereof.
In order to solve above-mentioned technical problem, the present invention provides a kind of continuous damping control apparatus of closed loop, including:
Four H full-bridge driving chip, for exporting the pulse width modulated waveform driving four amortisseur electromagnetic valves respectively, to control the size of four damping force of vibration damper, the reception amortisseur electromagnetic valve current end of each described H full-bridge driving chip is respectively connected with current acquisition resistance；
Four operational amplifiers, the positive pole of each described operational amplifier connects positive pole input resistance, and its negative pole connects has negative pole input resistance, the other end of described positive pole input resistance and described negative pole input resistance to be connected to described current acquisition resistance two ends；Described positive pole input resistance is also parallel with positive pole build-out resistor, and described positive pole build-out resistor one end is connected to the electrode input end of described operational amplifier, and the other end is connected to the positive pole Input voltage terminal of described operational amplifier；Described negative pole input resistance is also parallel with feedback resistance, and described feedback resistance one end is connected to the negative input of described operational amplifier, and the other end is connected to the outfan of described operational amplifier.
Wherein, the continuous damping control apparatus of described closed loop also includes:
Microprocessor, for the output voltage according to the described operational amplifier detected, and the voltage difference at described current acquisition resistance two ends, calculate the electric current flowing through described current acquisition resistance.
Wherein, described microprocessor is additionally operable to according to 4 road wheel acceleration signals and 3 road body acceleration signal, and combines speed, steering wheel angle, braking, accelerator pedal position and horizontal acceleration information, calculates the electric current that four amortisseur electromagnetic valves need.
Wherein, the electric current that described microprocessor is additionally operable to judge the electric current flowing through described current acquisition resistance calculated with the corresponding amortisseur electromagnetic valve calculated needs is the most consistent, as inconsistent, then regulate the dutycycle of the described H full-bridge driving chip output PWM waveform of correspondence, to regulate the damping force of described amortisseur.
Wherein, if described in the electric current that needs of the corresponding amortisseur electromagnetic valve that calculates described in the current ratio flowing through described current acquisition resistance that calculates little, then increase the dutycycle of described H full-bridge driving chip output PWM ripple；If the electric current that the corresponding amortisseur electromagnetic valve calculated described in the current ratio flowing through described current acquisition resistance calculated described in needs is big, then reduce the dutycycle of described H full-bridge driving chip output PWM ripple.
Wherein, the resistance of described feedback resistance is equal with the resistance of described positive pole build-out resistor, and the resistance of described negative pole input resistance is equal with the resistance of described positive pole input resistance.
Wherein, the resistance of described positive pole input resistance is 10K ohm, and the resistance of described positive pole build-out resistor is 220K ohm, and the resistance of described negative pole input resistance is 10K ohm, and the resistance of described feedback resistance is 220k ohm.
Wherein, the continuous damping control apparatus of described closed loop also includes:
Controller local area network's CAN transceiver, for communicating with other CAN nodes on car, obtain speed, steering wheel angle, braking, accelerator pedal position and horizontal acceleration information, and with commissioning device communication realize suspension work condition selecting and display, code debugging and write with a brush dipped in Chinese ink, parameter calibration and fault diagnosis.
The present invention also provides for the control method of a kind of continuous damping control apparatus of described closed loop, including:
According to 4 road wheel acceleration signals and 3 road body acceleration signal, and combine speed, steering wheel angle, braking, accelerator pedal position and horizontal acceleration information, calculate the electric current that four amortisseur electromagnetic valves need；
According to the output voltage of the described operational amplifier detected, and the voltage difference at described current acquisition resistance two ends, calculate the electric current flowing through described current acquisition resistance；
The electric current that the amortisseur electromagnetic valve judging the electric current flowing through described current acquisition resistance calculated and calculate needs is the most consistent, as inconsistent, then regulate the dutycycle of the described H full-bridge driving chip output PWM waveform of correspondence, to regulate the damping force of described amortisseur.
Wherein, if described in the electric current that needs of the corresponding amortisseur electromagnetic valve that calculates described in the current ratio flowing through described current acquisition resistance that calculates little, then increase the dutycycle of described H full-bridge driving chip output PWM ripple；If the electric current that the corresponding amortisseur electromagnetic valve calculated described in the current ratio flowing through described current acquisition resistance calculated described in needs is big, then reduce the dutycycle of described H full-bridge driving chip output PWM ripple.
Wherein, the resistance of described feedback resistance is equal with the resistance of described positive pole build-out resistor, and the resistance of described negative pole input resistance is equal with the resistance of described positive pole input resistance.
Wherein, the resistance of described positive pole input resistance is 10K ohm, and the resistance of described positive pole build-out resistor is 220K ohm, and the resistance of described negative pole input resistance is 10K ohm, and the resistance of described feedback resistance is 220k ohm.
What the present invention was brought has the beneficial effects that, utilize operational amplifier that amortisseur electromagnetic valve current is detected, realize the closed loop control that damping controls continuously, microprocessor can regulate the output of H full-bridge driving chip further according to this electric current detected, reaches to regulate amortisseur electromagnetic valve current more accurately；Using common operational amplifier, apparatus structure is simple, and cost is the lowest simultaneously, and work stable and reliable operation.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is only some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural principle schematic diagram of one one kinds of continuous damping control apparatus of closed loop of the embodiment of the present invention.
Fig. 2 is the exemplary construction principle schematic of one one kinds of continuous damping control apparatus of closed loop of the embodiment of the present invention.
Fig. 3 is the example detailed construction schematic diagram of one one kinds of continuous damping control apparatus of closed loop of the embodiment of the present invention.
Fig. 4 is the schematic flow sheet of the control method of 21 kinds of continuous damping control apparatus of closed loop of the embodiment of the present invention.
Detailed description of the invention
The explanation of following embodiment is with reference to accompanying drawing, can be in order to the specific embodiment implemented in order to the example present invention.
Refer to shown in Fig. 1, the embodiment of the present invention provides a kind of continuous damping control apparatus of closed loop, including:
Four H full-bridge driving chip, for exporting the pulse width modulated waveform driving four amortisseur electromagnetic valves respectively, to control the size of four damping force of vibration damper, the reception amortisseur electromagnetic valve current end of each described H full-bridge driving chip connects current acquisition resistance；
Four operational amplifiers, the positive pole of each described operational amplifier connects positive pole input resistance, and its negative pole connects has negative pole input resistance, the other end of described positive pole input resistance and described negative pole input resistance to be connected to described current acquisition resistance two ends；Described positive pole input resistance is also parallel with positive pole build-out resistor, and described positive pole build-out resistor one end is connected to the electrode input end of described operational amplifier, and the other end is connected to the positive pole Input voltage terminal of described operational amplifier；Described negative pole input resistance is also parallel with feedback resistance, and described feedback resistance one end is connected to the negative input of described operational amplifier, and the other end is connected to the outfan of described operational amplifier.
The output of H full-bridge driving chip drives the PWM ripple of four amortisseur electromagnetic valves, amortisseur electromagnetic valve current is through the low-impedance current acquisition resistance of high accuracy, produce certain voltage difference at the two ends of current acquisition resistance, then the voltage at current acquisition resistance two ends is connected respectively to by the positive pole input resistance of operational amplifier and negative pole input resistance respectively the input of operational amplifier.Meanwhile, in order to ensure the stable normal work of operational amplifier, the present embodiment increases positive pole build-out resistor and feedback resistance.The voltage that current acquisition electrical resistance collection arrives processes through operational amplifier, the voltage difference at current acquisition resistance two ends can be obtained, output voltage (Vout1, Vout2, Vout3, Vout4) further according to the operational amplifier detected calculates, and i.e. can obtain flowing through the electric current (i.e. electromagnetic valve current) of current acquisition resistance.
Obtaining one of meaning of electric current flowing through current acquisition resistance to be, the originally electric current of electromagnetic valve controls, simply by the sensor signal on detection car, through the algorithm within MCU, to obtain the electric current of electromagnetic valve；Add now the detection of this electromagnetic valve current, whether the electric current with regard to indirect detection electromagnetic valve now meets original algorithm requirements, as being unsatisfactory for, then can constantly regulate the dutycycle of H full-bridge driving chip output PWM ripple, obtain different electric currents, thus the electric current of electromagnetic valve for adjusting more accurately, it is achieved the closed loop control of electric current, to regulate the damping force of described amortisseur.Compared with using special electric current detection chip, the present embodiment only can realize said function by the combination of operational amplifier and resistance, circuit structure is simple, cost is the lowest, and due to the low characteristic of operational amplifier input impedance high output impedance own, work process is more stable reliably, is suitable for large batch of production application.
Correspondingly, the continuous damping control apparatus of closed loop of the present embodiment also includes: Micro-processor MCV, it is according to 4 road wheel acceleration signal (front left wheel acceleration, right front wheel acceleration, rear left wheel acceleration, right rear wheel acceleration) and 3 road body acceleration signal (left front vehicle body accelerations, right front of the car acceleration, rear side vehicle body acceleration), in conjunction with speed, steering wheel angle, braking, the information such as accelerator pedal position and horizontal acceleration information, the electric current that COMPREHENSIVE CALCULATING current electromagnetic valve needs, the PWM ripple of output different duty controls the PWM waveform driving electromagnetic valve of H full-bridge driving chip output.In the present embodiment, microprocessor is additionally operable to the output voltage according to the operational amplifier detected, and the voltage difference at current acquisition resistance two ends, calculates the electric current flowing through current acquisition resistance.Further, the electric current that the electric current that what microprocessor judges calculated flow through current acquisition resistance needs with the corresponding amortisseur electromagnetic valve calculated is the most consistent, and as inconsistent, then the H full-bridge driving chip regulating correspondence exports the dutycycle of PWM ripple.Such as, if the electric current that left front amortisseur electromagnetic valve needs is inconsistent with the electric current flowing through its current acquisition resistance being connected calculated, then regulate the dutycycle of corresponding H full-bridge driving chip output PWM ripple, to regulate the damping force of described amortisseur.Specifically, if the electric current that the current ratio correspondence amortisseur electromagnetic valve flowing through current acquisition resistance calculated needs is little, then the dutycycle of H full-bridge driving chip output PWM ripple is increased；If the electric current that the current ratio correspondence amortisseur electromagnetic valve flowing through current acquisition resistance calculated needs is big, then reduce the dutycycle of H full-bridge driving chip output PWM ripple.
In addition, the continuous damping control apparatus of closed loop of the present embodiment also includes controller local area network's CAN transceiver, for communicating with other CAN nodes on car, obtain speed, steering wheel angle, braking, accelerator pedal position and horizontal acceleration information, and with commissioning device communication realize suspension work condition selecting and display, code debugging and write with a brush dipped in Chinese ink, parameter calibration and fault diagnosis.
Four amortisseur electromagnetic valves be respectively left front, right before, rear shock absorber electromagnetic valve left back, right, owing to its closed-loop damping control mode is the most identical, hereinafter only illustrate as a example by the closed-loop damping of left front amortisseur electromagnetic valve is controlled, referring again to shown in Fig. 2, the closed-loop damping of the present embodiment controls device and includes:
H full-bridge driving chip 1, for exporting the pulse width modulation (PWM) waveform driving left front amortisseur electromagnetic valve, to control the size of left front damping force of vibration damper, it receives the connection of left front amortisseur electromagnetic valve current end current acquisition resistance 2；
Operational amplifier 3, its positive pole connects positive pole input resistance 4, and its negative pole connects has negative pole input resistance 6, the other end of positive pole input resistance 4 and negative pole input resistance 6 to be connected to current acquisition resistance 2 two ends；Positive pole input resistance 4 is also parallel with positive pole build-out resistor 5, and positive pole build-out resistor 5 one end is connected to the electrode input end of operational amplifier 3, and the other end is connected to the positive pole Input voltage terminal of operational amplifier 3；Negative pole input resistance 6 is also parallel with feedback resistance 7, and feedback resistance 7 one end is connected to the negative input of operational amplifier 3, and the other end is connected to the outfan of operational amplifier 3.
H full-bridge driving chip 1 output drives the PWM ripple of left front amortisseur electromagnetic valve, left front amortisseur electromagnetic valve current is through the low-impedance current acquisition resistance 2 of high accuracy, produce certain voltage difference (V2-V3 in Fig. 2) at the two ends of current acquisition resistance 2, then the voltage (V2, V3) at current acquisition resistance 2 two ends is connected respectively to by the positive pole input resistance 4 of operational amplifier 3 and negative pole input resistance 6 respectively the input of operational amplifier 3.Meanwhile, in order to ensure the stable normal work of operational amplifier 3, the present embodiment increases positive pole build-out resistor 5 and feedback resistance 7.The voltage that current acquisition resistance 2 collects processes through operational amplifier 3, the voltage difference (V2-V3) at current acquisition resistance 2 two ends can be obtained, output voltage Vout1 further according to the operational amplifier 3 detected calculates, and i.e. can obtain flowing through the electric current (electric current of the most left front amortisseur electromagnetic valve) of current acquisition resistance 2.
Correspondingly, the continuous damping control apparatus of closed loop of the present embodiment also includes: Micro-processor MCV 8, it is according to front left wheel acceleration signal and left front body acceleration signal, calculating the electric current that left front amortisseur electromagnetic valve needs, the PWM ripple of output different duty controls the PWM waveform driving left front amortisseur electromagnetic valve of H full-bridge driving chip 1 output.In the present embodiment, microprocessor 8 is additionally operable to the output voltage according to the operational amplifier 3 detected, and the voltage difference at current acquisition resistance 2 two ends, calculates the electric current flowing through current acquisition resistance 2.Further, the electric current that microprocessor 8 judges the electric current flowing through current acquisition resistance 2 calculated with the left front amortisseur electromagnetic valve calculated needs is the most consistent, as inconsistent, then regulation H full-bridge driving chip 1 exports the dutycycle of PWM waveform, to regulate the damping force of left front amortisseur.
For other amortisseur electromagnetic valves, the wheel acceleration signal calculating the electric current institute foundation that right front damper electromagnetic valve needs is right front wheel acceleration signal, and body acceleration signal is right front of the car acceleration signal；The wheel acceleration signal calculating the electric current institute foundation that left back amortisseur electromagnetic valve needs is rear left wheel acceleration signal, and body acceleration signal is rear side body acceleration signal；The wheel acceleration signal calculating the electric current institute foundation that right rear shock absorber electromagnetic valve needs is right rear wheel acceleration signal, and body acceleration signal is rear side body acceleration signal.
In addition, the continuous damping control apparatus of closed loop of the present embodiment also includes controller local area network's CAN transceiver 9, for communicating with other CAN nodes on car, obtain speed, steering wheel angle, braking, accelerator pedal position and horizontal acceleration information, and with commissioning device communication realize suspension work condition selecting and display, code debugging and write with a brush dipped in Chinese ink, parameter calibration and fault diagnosis.
The operation principle of the continuous damping control apparatus of closed loop of the embodiment of the present invention is described below in conjunction with Fig. 2.
nullIn the circuit of Fig. 2，UA05 is H full-bridge driving chip 1，UA01 is operational amplifier 3，RA32 is current acquisition resistance 2，RA23 is positive pole build-out resistor 5，RA22 is positive pole input resistance 4，RA19 is feedback resistance 7，RA21 is negative pole input resistance 6，H full-bridge driving chip 1 uses the MC33886 chip of Freescale company，The most low-impedance current acquisition resistance 2 is the PA2512FKF7W0R05E (50 milliohm) of Yageo company，Operational amplifier 3 is the LM2902VDR2G of ONSemiconductor company，Feedback resistance RA19 is the resistance of 0603 encapsulation 220k ohm，Positive pole input resistance RA22 is the resistance of 0603 encapsulation 10K ohm，Positive pole build-out resistor R23 is the resistance of 0603 encapsulation 220K ohm，Negative pole input resistance RA21 is the resistance of 0603 encapsulation 10K ohm，Micro-processor MCV 8 uses the XC2364B of company of Infineon，CAN transceiver 9 uses the TLE6250 of Infineon.
First, as shown in Figure 2, the output voltage Vout of operational amplifier 3 is calculated by below equation:
That is: the output voltage Vout1 of operational amplifier 3 adds V1 end output voltage after operational amplifier 3 equal to V2 end output voltage after operational amplifier 3, then deducts the V3 end output voltage through operational amplifier 3.
Wherein Rp is the ratio of feedback resistance RA19 and negative pole input resistance RA21, i.e. Rp=RA19/RA21, V1 are the positive pole input voltage of operational amplifier 3, and V2 is the voltage of current acquisition resistance RA32 one end, and V3 is the voltage of the current acquisition resistance RA32 other end.
Above-mentioned formula is processed further, obtains:
There it can be seen that select suitable resistance, it will the relation between the voltage (V2-V3) at output voltage Vout1 and the current acquisition resistance RA32 two ends obtaining operational amplifier 3.In the present embodiment, as an example, it is: RA23=220k, RA22=10k, RA21=10k, RA19=220k that the positive pole input voltage value of operational amplifier 3 is: V1=5V to the resistance of each resistance.These values are substituted into above-mentioned formula, obtain:
Vout1=22 × (V2-V3)+5
And Vout voltage value can be obtained by microprocessor 8 detection, therefore V2-V3=(Vout1-5)/22, such that it is able to calculate electric current I=(V2-V3)/RA32=(the Vout1-5)/22RA32 flowing through current acquisition resistance RA32, thus it can also be seen that the output voltage Vout1 of the electric current I and operational amplifier 3 that flow through current acquisition resistance RA32 is once linear functional relationship.
It should be noted that herein to the value of each resistance (RA23, RA22, RA21, RA19) and positive pole input voltage V1 merely to calculate succinct, the present embodiment does not limit its value, can select different values according to different application scene.Additionally, in order to make the continuous damping control apparatus of closed loop more stable, it is equal with the resistance of positive pole build-out resistor that the resistance of each resistance need to meet the resistance of feedback resistance, and the resistance of negative pole input resistance is equal with the resistance of positive pole input resistance, that is: RA19=RA23, RA21=RA22.
Correspondingly, refer to shown in Fig. 4, the embodiment of the present invention two provides the control method of a kind of continuous damping control apparatus of closed loop as described in the embodiment of the present invention one, including:
According to 4 road wheel acceleration signals and 3 road body acceleration signal, and combine speed, steering wheel angle, braking, accelerator pedal position and horizontal acceleration information, calculate the electric current that four amortisseur electromagnetic valves need；
According to the output voltage of the described operational amplifier detected, and the voltage difference at described current acquisition resistance two ends, calculate the electric current flowing through described current acquisition resistance；
The electric current that the amortisseur electromagnetic valve judging the electric current flowing through described current acquisition resistance calculated and calculate needs is the most consistent, as inconsistent, then regulate the dutycycle of the described H full-bridge driving chip output PWM waveform of correspondence, to regulate the damping force of described amortisseur.
Wherein, the resistance of described feedback resistance is equal with the resistance of described positive pole build-out resistor, and the resistance of described negative pole input resistance is equal with the resistance of described positive pole input resistance.
Wherein, the resistance of described positive pole input resistance is 10K ohm, and the resistance of described positive pole build-out resistor is 220K ohm, and the resistance of described negative pole input resistance is 10K ohm, and the resistance of described feedback resistance is 220k ohm.
Refer to the explanation of the embodiment of the present invention one about the operation principle of the present embodiment and beneficial effect, here is omitted.
In sum, the present invention utilizes operational amplifier to detect amortisseur electromagnetic valve current, realizing the closed loop control that damping controls continuously, microprocessor can regulate the output of H full-bridge driving chip further according to this electric current detected, reaches to regulate amortisseur electromagnetic valve current more accurately；Using common operational amplifier, apparatus structure is simple, and cost is the lowest simultaneously, and work stable and reliable operation.
The above disclosed present pre-ferred embodiments that is only, certainly can not limit the interest field of the present invention, the equivalent variations therefore made according to the claims in the present invention with this, still belong to the scope that the present invention is contained.
Claims (12)
1. the continuous damping control apparatus of closed loop, it is characterised in that including:
Four H full-bridge driving chip, for exporting the pulse width modulated waveform driving four amortisseur electromagnetic valves respectively, to control the size of four damping force of vibration damper, the reception amortisseur electromagnetic valve current end of each described H full-bridge driving chip is respectively connected with current acquisition resistance；
Four operational amplifiers, the positive pole of each described operational amplifier connects positive pole input resistance, and its negative pole connects has negative pole input resistance, the other end of described positive pole input resistance and described negative pole input resistance to be connected to described current acquisition resistance two ends；Described positive pole input resistance is also parallel with positive pole build-out resistor, and described positive pole build-out resistor one end is connected to the electrode input end of described operational amplifier, and the other end is connected to the positive pole Input voltage terminal of described operational amplifier；Described negative pole input resistance is also parallel with feedback resistance, and described feedback resistance one end is connected to the negative input of described operational amplifier, and the other end is connected to the outfan of described operational amplifier.
The continuous damping control apparatus of closed loop the most according to claim 1, it is characterised in that also include:
Microprocessor, for the output voltage according to the described operational amplifier detected, and the voltage difference at described current acquisition resistance two ends, calculate the electric current flowing through described current acquisition resistance.
The continuous damping control apparatus of closed loop the most according to claim 2, it is characterized in that, described microprocessor is additionally operable to according to 4 road wheel acceleration signals and 3 road body acceleration signal, and combine speed, steering wheel angle, braking, accelerator pedal position and horizontal acceleration information, calculate the electric current that four amortisseur electromagnetic valves need.
The continuous damping control apparatus of closed loop the most according to claim 3, it is characterized in that, the electric current that described microprocessor is additionally operable to judge the electric current flowing through described current acquisition resistance calculated with the corresponding amortisseur electromagnetic valve calculated needs is the most consistent, as inconsistent, then regulate the dutycycle of the described H full-bridge driving chip output PWM waveform of correspondence, to regulate the damping force of described amortisseur.
The continuous damping control apparatus of closed loop the most according to claim 4, it is characterized in that, if the electric current that the corresponding amortisseur electromagnetic valve calculated described in the current ratio flowing through described current acquisition resistance calculated described in needs is little, then increase the dutycycle of described H full-bridge driving chip output PWM ripple；If the electric current that the corresponding amortisseur electromagnetic valve calculated described in the current ratio flowing through described current acquisition resistance calculated described in needs is big, then reduce the dutycycle of described H full-bridge driving chip output PWM ripple.
6., according to the continuous damping control apparatus of closed loop described in any one of claim 1-5, it is characterised in that the resistance of described feedback resistance is equal with the resistance of described positive pole build-out resistor, the resistance of described negative pole input resistance is equal with the resistance of described positive pole input resistance.
The continuous damping control apparatus of closed loop the most according to claim 6, it is characterized in that, the resistance of described positive pole input resistance is 10K ohm, and the resistance of described positive pole build-out resistor is 220K ohm, the resistance of described negative pole input resistance is 10K ohm, and the resistance of described feedback resistance is 220k ohm.
The continuous damping control apparatus of closed loop the most according to claim 1, it is characterised in that also include:
Controller local area network's CAN transceiver, for communicating with other CAN nodes on car, obtain speed, steering wheel angle, braking, accelerator pedal position and horizontal acceleration information, and with commissioning device communication realize suspension work condition selecting and display, code debugging and write with a brush dipped in Chinese ink, parameter calibration and fault diagnosis.
9. a control method for the continuous damping control apparatus of closed loop as described in any one of claim 1-8, including:
According to 4 road wheel acceleration signals and 3 road body acceleration signal, and combine speed, steering wheel angle, braking, accelerator pedal position and horizontal acceleration information, calculate the electric current that four amortisseur electromagnetic valves need；
According to the output voltage of the described operational amplifier detected, and the voltage difference at described current acquisition resistance two ends, calculate the electric current flowing through described current acquisition resistance；
The electric current that the amortisseur electromagnetic valve judging the electric current flowing through described current acquisition resistance calculated and calculate needs is the most consistent, as inconsistent, then regulate the dutycycle of the described H full-bridge driving chip output PWM waveform of correspondence, to regulate the damping force of described amortisseur.
Control method the most according to claim 9, it is characterized in that, if the electric current that the corresponding amortisseur electromagnetic valve calculated described in the current ratio flowing through described current acquisition resistance calculated described in needs is little, then increase the dutycycle of described H full-bridge driving chip output PWM ripple；If the electric current that the corresponding amortisseur electromagnetic valve calculated described in the current ratio flowing through described current acquisition resistance calculated described in needs is big, then reduce the dutycycle of described H full-bridge driving chip output PWM ripple.
11. control methods according to claim 9, it is characterised in that the resistance of described feedback resistance is equal with the resistance of described positive pole build-out resistor, the resistance of described negative pole input resistance is equal with the resistance of described positive pole input resistance.
12. control methods according to claim 11, it is characterized in that, the resistance of described positive pole input resistance is 10K ohm, and the resistance of described positive pole build-out resistor is 220K ohm, the resistance of described negative pole input resistance is 10K ohm, and the resistance of described feedback resistance is 220k ohm.
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