CN105818634B - A kind of continuous damping control apparatus of closed loop and its control method - Google Patents
A kind of continuous damping control apparatus of closed loop and its control method Download PDFInfo
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- CN105818634B CN105818634B CN201610200360.5A CN201610200360A CN105818634B CN 105818634 B CN105818634 B CN 105818634B CN 201610200360 A CN201610200360 A CN 201610200360A CN 105818634 B CN105818634 B CN 105818634B
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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
-
- 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
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention provides a kind of continuous damping control apparatus of closed loop, comprising: four H full-bridge driving chips receive damper electromagnetic valve current end and are respectively connected with current acquisition resistance；Four operational amplifiers, the anode of each operational amplifier are connected with positive input resistance, and cathode is connected with cathode input resistance, and the other end of positive input resistance and cathode input resistance is connected to current acquisition resistance both ends；Positive input resistance is also parallel with positive build-out resistor, and positive build-out resistor one end is connected to the electrode input end of operational amplifier, and the other end is connected to the positive Input voltage terminal of operational amplifier；Cathode input resistance is also parallel with feedback resistance, and feedback resistance one end is connected to the negative input of operational amplifier, and the other end is connected to the output end of operational amplifier.The present invention detects damper electromagnetic valve current using operational amplifier, realizes the closed-loop control of continuous damping control；Apparatus structure is simple simultaneously, and cost is very low, and work stable and reliable operation.
Description
Technical field
The present invention relates to automotive field more particularly to a kind of continuous damping control apparatus of closed loop and its control methods.
Background technique
Automobile suspension system is divided into passive suspension, semi-active suspension and Active Suspensions three basic forms of it at present.It is passive outstanding
It hangs since the coefficient of damper arbitrarily cannot be selected and be adjusted, damping property is poor；Semi-active suspension is by variable characteristic
Spring and damper composition can adjust the rigidity of adjustable spring or the damping of adjustable shock absorber according to certain control law
Power, effectiveness in vibration suppression are more excellent than passive suspension very much；Active Suspensions are made of elastic element and forcer, it includes to be driven by motor
Dynamic air type suspension and two kinds of forms of oil-gas type suspension by solenoid-driven, effectiveness in vibration suppression are ideal.
Active suspension technology becomes the important trend of automotive suspension development, it is while improving vehicle safety and multiplying
It sits comfort and provides wide prospect.Vehicle Suspension Vibration control system picks up vehicle body absolute velocity, vehicle by sensor mostly
Body through microprocessor processes and issues instruction and is controlled, by electro-hydraulic to signals such as the relative velocity of wheel, the acceleration of vehicle body
The damped coefficient of control valve vibration-damper.
The continuous damping control of current Active Suspensions technology has the continuous damping control of open loop and the continuous damping control of closed loop.
The continuous damping control of open loop through microprocessor processes and issues instruction and carries out control damping i.e. simply by detection sensor signal
Coefficient does not detect the operating current of solenoid valve, cannot predict the output error of H driving, not have adaptivity.Closed loop is continuous
Damping control then not just detects the sensor signal on vehicle, the also operating current of the feedback of detection solenoid valve, thus constantly real
When be accurately controlled the operating current of solenoid valve.Current detecting in common closed-loop damping control can use dedicated electric current inspection
Chip is surveyed to detect the electric current of solenoid valve, this detection chip calorific value is big, and device alternative is low, while at high cost.
Summary of the invention
Technical problem to be solved by the present invention lies in provide that a kind of structure is simple, closed loop of low cost continuously damps control
Device processed and its control method.
In order to solve the above technical problem, the present invention provides a kind of continuous damping control apparatus of closed loop, comprising:
Four H full-bridge driving chips, for distinguishing the pulse width modulated waveform of four damper solenoid valves of output driving,
To control the size of four damping force of vibration damper, the reception damper electromagnetic valve current end of each H full-bridge driving chip is equal
It is connected with current acquisition resistance；
Four operational amplifiers, the anode of each operational amplifier are connected with positive input resistance, cathode connection
There is a cathode input resistance, the other end of the anode input resistance and the cathode input resistance is connected to the electric current and adopts
Collect resistance both ends；The anode input resistance is also parallel with positive build-out resistor, and described anode build-out resistor one end is connected to institute
The electrode input end of operational amplifier is stated, the other end is connected to the positive Input voltage terminal of the operational amplifier；The cathode
Input resistance is also parallel with feedback resistance, and described feedback resistance one end is connected to the negative input of the operational amplifier, separately
One end is connected to the output end of the operational amplifier.
Wherein, the continuous damping control apparatus of the closed loop further include:
Microprocessor, for according to the output voltage of the operational amplifier detected and current acquisition electricity
The voltage difference at both ends is hindered, the electric current for flowing through the current acquisition resistance is calculated.
Wherein, the microprocessor is also used to according to 4 road wheel acceleration signals and 3 road body acceleration signals, and is tied
Speed, steering wheel angle, braking, accelerator pedal position and horizontal acceleration information are closed, calculating four damper solenoid valves needs
The electric current wanted.
Wherein, the microprocessor is also used to judge the calculated electric current for flowing through the current acquisition resistance and calculates
Correspondence damper solenoid valve need electric current it is whether consistent, such as it is inconsistent, then it is defeated to adjust the corresponding H full-bridge driving chip
The duty ratio of PWM waveform out, to adjust the damping force of the damper.
Wherein, if the calculated electric current for flowing through the current acquisition resistance is than the calculated corresponding damping
The electric current that device solenoid valve needs is small, then increases the duty ratio of the H full-bridge driving chip output PWM wave；If described calculate
The electric current for flowing through the current acquisition resistance it is bigger than the electric current that the calculated corresponding damper solenoid valve needs, then reduce
The duty ratio of the H full-bridge driving chip output PWM wave.
Wherein, the resistance value of the feedback resistance is equal with the positive resistance value of build-out resistor, the cathode input resistance
Resistance value it is equal with the positive resistance value of input resistance.
Wherein, the resistance value of the positive input resistance is 10K ohm, and the resistance value of the anode build-out resistor is the Europe 220K
Nurse, the resistance value of the cathode input resistance are 10K ohm, and the resistance value of the feedback resistance is 220k ohm.
Wherein, the continuous damping control apparatus of the closed loop further include:
Controller local area network's CAN transceiver obtains speed, steering wheel for being communicated with other CAN nodes on vehicle
Corner, braking, accelerator pedal position and horizontal acceleration information, and communicated with commissioning device and realize the selection of suspension work state
With display, code debugging and write with a brush dipped in Chinese ink, parameter calibration and fault diagnosis.
The present invention also provides a kind of control methods of continuous damping control apparatus of closed loop, comprising:
According to 4 road wheel acceleration signals and 3 road body acceleration signals, and combine speed, steering wheel angle, braking,
Accelerator pedal position and horizontal acceleration information calculate the electric current of four damper solenoid valves needs；
According to the output voltage of the operational amplifier detected and the voltage at current acquisition resistance both ends
Difference calculates the electric current for flowing through the current acquisition resistance；
Judge the electricity that the calculated electric current for flowing through the current acquisition resistance and calculated damper solenoid valve need
Whether stream is consistent, such as inconsistent, then the duty ratio of the corresponding H full-bridge driving chip output PWM waveform is adjusted, to adjust
State the damping force of damper.
Wherein, if the calculated electric current for flowing through the current acquisition resistance is than the calculated corresponding damping
The electric current that device solenoid valve needs is small, then increases the duty ratio of the H full-bridge driving chip output PWM wave；If described calculate
The electric current for flowing through the current acquisition resistance it is bigger than the electric current that the calculated corresponding damper solenoid valve needs, then reduce
The duty ratio of the H full-bridge driving chip output PWM wave.
Wherein, the resistance value of the feedback resistance is equal with the positive resistance value of build-out resistor, the cathode input resistance
Resistance value it is equal with the positive resistance value of input resistance.
Wherein, the resistance value of the positive input resistance is 10K ohm, and the resistance value of the anode build-out resistor is the Europe 220K
Nurse, the resistance value of the cathode input resistance are 10K ohm, and the resistance value of the feedback resistance is 220k ohm.
Beneficial effect brought by the present invention is, is detected, is realized to damper electromagnetic valve current using operational amplifier
The closed-loop control of continuous damping control, microprocessor can further adjust H full-bridge driving core according to this electric current detected
Piece output, reaches and more accurately adjusts to damper electromagnetic valve current；Common operational amplifier, apparatus structure letter are used simultaneously
Single, cost is very low, and work stable and reliable operation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of principle schematic diagram of the one continuous damping control apparatus of closed loop of the embodiment of the present invention.
Fig. 2 is a kind of exemplary construction schematic illustration of the one continuous damping control apparatus of closed loop of the embodiment of the present invention.
Fig. 3 is a kind of example detailed construction schematic diagram of the one continuous damping control apparatus of closed loop of the embodiment of the present invention.
Fig. 4 is a kind of flow diagram of the control method of the two continuous damping control apparatus of closed loop of the embodiment of the present invention.
Specific embodiment
The explanation of following embodiment be with reference to attached drawing, can be to the specific embodiment implemented to the example present invention.
It please refers to shown in Fig. 1, the embodiment of the present invention provides a kind of continuous damping control apparatus of closed loop, comprising:
Four H full-bridge driving chips, for distinguishing the pulse width modulated waveform of four damper solenoid valves of output driving,
To control the size of four damping force of vibration damper, the reception damper electromagnetic valve current end of each H full-bridge driving chip connects
It is connected to current acquisition resistance；
Four operational amplifiers, the anode of each operational amplifier are connected with positive input resistance, cathode connection
There is a cathode input resistance, the other end of the anode input resistance and the cathode input resistance is connected to the electric current and adopts
Collect resistance both ends；The anode input resistance is also parallel with positive build-out resistor, and described anode build-out resistor one end is connected to institute
The electrode input end of operational amplifier is stated, the other end is connected to the positive Input voltage terminal of the operational amplifier；The cathode
Input resistance is also parallel with feedback resistance, and described feedback resistance one end is connected to the negative input of the operational amplifier, separately
One end is connected to the output end of the operational amplifier.
The PWM wave of H full-bridge driving chip four damper solenoid valves of output driving, damper electromagnetic valve current is by high-precision
Low-impedance current acquisition resistance is spent, generates certain voltage difference at the both ends of current acquisition resistance, then by current acquisition resistance
The voltage at both ends passes through the positive input resistance of operational amplifier respectively and cathode input resistance is connected respectively to operational amplifier
Input terminal.Meanwhile in order to guarantee that stablizing for operational amplifier works normally, the present embodiment increases positive build-out resistor and feedback
Resistance.The voltage that current acquisition electrical resistance collection arrives is handled by operational amplifier, the electricity at available current acquisition resistance both ends
Pressure difference is calculated further according to the output voltage (Vout1, Vout2, Vout3, Vout4) of the operational amplifier detected
To obtain flowing through the electric current (i.e. electromagnetic valve current) of current acquisition resistance.
Obtain and flow through one of the meaning of electric current of current acquisition resistance and be, originally the current control of solenoid valve simply by
Sensor signal on detection vehicle obtains the electric current of solenoid valve by the algorithm inside MCU；This solenoid valve is increased now
Current detecting, just whether the electric current of the solenoid valve of detection at this time meets original algorithm requirements indirectly, is such as unsatisfactory for, then may not be used
The disconnected duty ratio for adjusting H full-bridge driving chip output PWM wave, obtain different electric currents, thus more accurately electromagnetic valve for adjusting
Electric current realizes the closed-loop control of electric current, to adjust the damping force of the damper.Compared with using dedicated electric current detection chip,
The present embodiment only passes through operational amplifier and said function can be realized in the combination of resistance, and circuit structure is simple, and cost is very low, and
And the characteristic low due to operational amplifier input impedance high output impedance itself, the course of work is more stable and reliable, is suitble to high-volume
Production application.
Correspondingly, the continuous damping control apparatus of the closed loop of the present embodiment further include: Micro-processor MCV, according to 4 road car wheels
Acceleration signal (front left wheel acceleration, right front wheel acceleration, rear left wheel acceleration, right rear wheel acceleration) and 3 tunnels
Body acceleration signal (left front vehicle body acceleration, right front of the car acceleration, rear side vehicle body acceleration), in conjunction with speed, steering wheel
The information such as corner, braking, accelerator pedal position and horizontal acceleration information, the electric current that COMPREHENSIVE CALCULATING current electromagnetic valve needs,
Export the PWM waveform of the drive magnetic valve of the PWM wave control H full-bridge driving chip output of different duty.It is micro- in the present embodiment
Processor is also used to the output voltage according to the operational amplifier detected and the voltage difference at current acquisition resistance both ends, meter
Calculate the electric current for flowing through current acquisition resistance.Further, microprocessor judges the calculated electric current for flowing through current acquisition resistance
It is whether consistent with the calculated corresponding damper solenoid valve electric current needed, it is such as inconsistent, then adjust corresponding H full-bridge driving core
The duty ratio of piece output PWM wave.For example, if the electric current that left front damper solenoid valve needs flows through what it connect with calculated
The electric current of current acquisition resistance is inconsistent, then the duty ratio of corresponding H full-bridge driving chip output PWM wave is adjusted, to adjust
State the damping force of damper.Specifically, if the calculated electric current for flowing through current acquisition resistance is than corresponding damper solenoid valve
The electric current needed is small, then increases the duty ratio of H full-bridge driving chip output PWM wave；If calculated flow through current acquisition electricity
The electric current of resistance is bigger than the electric current that corresponding damper solenoid valve needs, then reduces the duty ratio of H full-bridge driving chip output PWM wave.
In addition, the continuous damping control apparatus of the closed loop of the present embodiment further includes controller local area network's CAN transceiver, it is used for
It is communicated with other CAN nodes on vehicle, obtains speed, steering wheel angle, braking, accelerator pedal position and horizontal acceleration
Information, and communicate with commissioning device and to realize the selection of suspension work state and display, code debugging and write with a brush dipped in Chinese ink, parameter calibration and failure
Diagnosis.
Four damper solenoid valves be respectively it is left front, right before, left back, right rear shock absorber solenoid valve, due to its closed-loop damping
Control mode is all the same, is only illustrated by taking the closed-loop damping control to left front damper solenoid valve as an example below, referring again to
Shown in Fig. 2, the closed-loop damping control device of the present embodiment includes:
H full-bridge driving chip 1, for the pulse width modulation (PWM) waveform of the left front damper solenoid valve of output driving, with control
The size of left front damping force of vibration damper is made, left front damper electromagnetic valve current end is received and is connected with current acquisition resistance 2；
Operational amplifier 3, anode are connected with positive input resistance 4, and cathode is connected with cathode input resistance 6, anode
The other end of input resistance 4 and cathode input resistance 6 is connected to 2 both ends of current acquisition resistance；Positive input resistance 4 is also simultaneously
It is associated with positive build-out resistor 5, positive 5 one end of build-out resistor is connected to the electrode input end of operational amplifier 3, and the other end is connected to
The positive Input voltage terminal of operational amplifier 3；Cathode input resistance 6 is also parallel with feedback resistance 7, the connection of 7 one end of feedback resistance
In the negative input of operational amplifier 3, the other end is connected to the output end of operational amplifier 3.
The PWM wave of the left front damper solenoid valve of 1 output driving of H full-bridge driving chip, left front damper electromagnetic valve current warp
The low-impedance current acquisition resistance 2 of high-precision is crossed, generates certain voltage difference (in Fig. 2 at the both ends of current acquisition resistance 2
V2-V3), then by the voltage (V2, V3) at 2 both ends of current acquisition resistance pass through the positive input resistance 4 of operational amplifier 3 respectively
The input terminal of operational amplifier 3 is connected respectively to cathode input resistance 6.Meanwhile in order to guarantee the stabilization of operational amplifier 3 just
Often work, the present embodiment increase positive build-out resistor 5 and feedback resistance 7.The collected voltage of current acquisition resistance 2 passes through operation
The processing of amplifier 3, the voltage difference (V2-V3) at available 2 both ends of current acquisition resistance, further according to the operation amplifier detected
The output voltage Vout1 of device 3 is calculated, it can obtains flowing through electric current (the i.e. left front damper electromagnetism of current acquisition resistance 2
The electric current of valve).
Correspondingly, the continuous damping control apparatus of the closed loop of the present embodiment further include: Micro-processor MCV 8, according to left front
Wheel acceleration signal and left front body acceleration signal, calculate the electric current that left front damper solenoid valve needs, and output difference accounts for
The PWM waveform for the left front damper solenoid valve of driving that the PWM wave control H full-bridge driving chip 1 of empty ratio exports.In the present embodiment,
Microprocessor 8 is also used to the voltage at 2 both ends of output voltage and current acquisition resistance according to the operational amplifier 3 detected
Difference calculates the electric current for flowing through current acquisition resistance 2.Further, microprocessor 8 judges calculated to flow through current acquisition resistance
Whether 2 electric current and the electric current that calculated left front damper solenoid valve needs are consistent, such as inconsistent, then adjust H full-bridge driving
Chip 1 exports the duty ratio of PWM waveform, to adjust the damping force of left front damper.
For other damper solenoid valves, wheel acceleration based on the electric current that right front damper solenoid valve needs is calculated
Signal is right front wheel acceleration signal, and body acceleration signal is right front of the car acceleration signal；Calculate left back damper electricity
Wheel acceleration signal is rear left wheel acceleration signal based on the electric current that magnet valve needs, and body acceleration signal is rear side
Body acceleration signal；Calculating wheel acceleration signal based on the electric current that right rear shock absorber solenoid valve needs is right rear wheel
Acceleration signal, body acceleration signal are rear side body acceleration signal.
In addition, the continuous damping control apparatus of the closed loop of the present embodiment further includes controller local area network's CAN transceiver 9, use
It is communicated in other CAN nodes on vehicle, obtains speed, steering wheel angle, braking, accelerator pedal position and horizontal acceleration
Information is spent, and communicate with commissioning device and to be realized the selection of suspension work state and display, code debugging and write with a brush dipped in Chinese ink, parameter calibration and event
Barrier diagnosis.
Illustrate the working principle of the continuous damping control apparatus of closed loop of the embodiment of the present invention below with reference to Fig. 2.
In the circuit of Fig. 2, UA05 is H full-bridge driving chip 1, and UA01 is operational amplifier 3, and RA32 is current acquisition resistance
2, RA23 be positive build-out resistor 5, and RA22 is positive input resistance 4, and RA19 is feedback resistance 7, and RA21 is cathode input resistance
6, MC33886 chip of the H full-bridge driving chip 1 using Freescale company, the low-impedance current acquisition resistance of high-precision
2 be the PA2512FKF7W0R05E (50 milliohm) of Yageo company, and operational amplifier 3 is ON Semiconductor company
LM2902VDR2G, feedback resistance RA19 are the resistance of 220k ohm of 0603 encapsulation, and positive input resistance RA22 is 0603 encapsulation
10K ohm of resistance, positive build-out resistor R23 are the resistance of 220K ohm of 0603 encapsulation, and cathode input resistance RA21 is 0603
10K ohm of resistance of encapsulation, Micro-processor MCV 8 using company of Infineon XC2364B, CAN transceiver 9 using
The TLE6250 of Infineon.
Firstly, as shown in Figure 2, the output voltage Vout of operational amplifier 3 is calculated by the following formula:
That is: the output voltage Vout1 of operational amplifier 3 is equal to output voltage of the end V2 after operational amplifier 3 and adds
Output voltage of the end V1 after operational amplifier 3, then subtract the output voltage that operational amplifier 3 is passed through at the end V3.
Wherein Rp is the ratio of feedback resistance RA19 and cathode input resistance RA21, i.e. Rp=RA19/RA21, V1 are operation
The positive input voltage of amplifier 3, V2 are the voltage of the one end current acquisition resistance RA32, and V3 is that current acquisition resistance RA32 is another
The voltage at end.
Above-mentioned formula is further processed, is obtained:
There it can be seen that selecting suitable resistance value, it will obtain the output voltage Vout1 and electric current of operational amplifier 3
Acquire the relationship between the voltage (V2-V3) at the both ends resistance RA32.In the present embodiment, as an example, to each resistance
Resistance value are as follows: the positive input voltage of RA23=220k, RA22=10k, RA21=10k, RA19=220k, operational amplifier 3 take
Value are as follows: V1=5V.These values are substituted into above-mentioned formula, are obtained:
Vout1=22 × (V2-V3)+5
And Vout voltage value can be detected by microprocessor 8 and be obtained, therefore V2-V3=(Vout1-5)/22, so as to
To calculate electric current I=(V2-V3)/RA32=(the Vout1-5)/22RA32 for flowing through current acquisition resistance RA32, thus may be used
To find out, the output voltage Vout1 of the electric current I and operational amplifier 3 that flow through current acquisition resistance RA32 are once linear functions
Relationship.
It should be noted that herein to the value of each resistance (RA23, RA22, RA21, RA19) and positive input voltage V1
Merely to calculating succinctly, the present embodiment does not limit its value, can choose different values according to different application scene.Separately
Outside, in order to keep the continuous damping control apparatus of closed loop more stable, the resistance value of each resistance need to meet the resistance value and anode of feedback resistance
The resistance value of build-out resistor is equal, and the resistance value of cathode input resistance is equal with the positive resistance value of input resistance, it may be assumed that RA19=RA23,
RA21=RA22.
Correspondingly, shown in referring to figure 4., second embodiment of the present invention provides a kind of closed loops as described in the embodiment of the present invention one
The control method of continuous damping control apparatus, comprising:
According to 4 road wheel acceleration signals and 3 road body acceleration signals, and combine speed, steering wheel angle, braking,
Accelerator pedal position and horizontal acceleration information calculate the electric current of four damper solenoid valves needs；
According to the output voltage of the operational amplifier detected and the voltage at current acquisition resistance both ends
Difference calculates the electric current for flowing through the current acquisition resistance；
Judge the electricity that the calculated electric current for flowing through the current acquisition resistance and calculated damper solenoid valve need
Whether stream is consistent, such as inconsistent, then the duty ratio of the corresponding H full-bridge driving chip output PWM waveform is adjusted, to adjust
State the damping force of damper.
Wherein, the resistance value of the feedback resistance is equal with the positive resistance value of build-out resistor, the cathode input resistance
Resistance value it is equal with the positive resistance value of input resistance.
Wherein, the resistance value of the positive input resistance is 10K ohm, and the resistance value of the anode build-out resistor is the Europe 220K
Nurse, the resistance value of the cathode input resistance are 10K ohm, and the resistance value of the feedback resistance is 220k ohm.
Working principle and beneficial effect in relation to the present embodiment please refers to the explanation of the embodiment of the present invention one, no longer superfluous herein
It states.
In conclusion the present invention detects damper electromagnetic valve current using operational amplifier, continuous damping control is realized
Closed-loop control, microprocessor can further adjust the output of H full-bridge driving chip according to this electric current detected, reach pair
Damper electromagnetic valve current is more accurately adjusted；Common operational amplifier is used simultaneously, apparatus structure is simple, and cost is very low,
Work stable and reliable operation.
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (11)
1. a kind of continuous damping control apparatus of closed loop characterized by comprising
Four H full-bridge driving chips, for distinguishing the pulse width modulated waveform of four damper solenoid valves of output driving, with control
Make the size of four damping force of vibration damper, the reception damper electromagnetic valve current end of each H full-bridge driving chip and damping
Current acquisition resistance is respectively connected between device solenoid valve；
The anode of four operational amplifiers, each operational amplifier is connected with positive input resistance, and cathode is connected with negative
The other end of pole input resistance, the anode input resistance and the cathode input resistance is connected to the current acquisition electricity
Hinder both ends；The anode input resistance is also parallel with positive build-out resistor, and described anode build-out resistor one end is connected to the fortune
The electrode input end of amplifier is calculated, the other end is connected to the positive Input voltage terminal of the operational amplifier；The cathode input
Resistance is also parallel with feedback resistance, and described feedback resistance one end is connected to the negative input of the operational amplifier, the other end
It is connected to the output end of the operational amplifier；
Microprocessor, for the output voltage and the current acquisition resistance two according to the operational amplifier detected
The voltage difference at end calculates the electric current for flowing through the current acquisition resistance.
2. the continuous damping control apparatus of closed loop according to claim 1, which is characterized in that the microprocessor is also used to root
According to 4 road wheel acceleration signals and 3 road body acceleration signals, and combine speed, steering wheel angle, braking, accelerator pedal position
It sets and horizontal acceleration information, calculates the electric current of four damper solenoid valves needs.
3. the continuous damping control apparatus of closed loop according to claim 2, which is characterized in that the microprocessor is also used to sentence
Whether the electric current that the calculated electric current for flowing through the current acquisition resistance and calculated corresponding damper solenoid valve need of breaking
Unanimously, such as inconsistent, then the duty ratio of the corresponding H full-bridge driving chip output PWM waveform is adjusted, to adjust the damping
The damping force of device.
4. the continuous damping control apparatus of closed loop according to claim 3, which is characterized in that calculated flowed through if described
The electric current of the current acquisition resistance is smaller than the electric current that the calculated corresponding damper solenoid valve needs, then increases the H
The duty ratio of full-bridge driving chip output PWM wave；If the calculated electric current for flowing through the current acquisition resistance compares institute
It is big to state the electric current that calculated corresponding damper solenoid valve needs, then reduces the duty that the H full-bridge driving chip exports PWM wave
Than.
5. the continuous damping control apparatus of closed loop according to claim 1-4, which is characterized in that the feedback resistance
Resistance value it is equal with the positive resistance value of build-out resistor, the resistance value of the cathode input resistance and the positive input resistance
Resistance value is equal.
6. the continuous damping control apparatus of closed loop according to claim 5, which is characterized in that the resistance of the anode input resistance
Value is 10K ohm, and the resistance value of the anode build-out resistor is 220K ohm, and the resistance value of the cathode input resistance is 10K ohm,
The resistance value of the feedback resistance is 220k ohm.
7. the continuous damping control apparatus of closed loop according to claim 1, which is characterized in that further include:
Controller local area network's CAN transceiver obtains speed, steering wheel turns for being communicated with other CAN nodes on vehicle
Angle, braking, accelerator pedal position and horizontal acceleration information, and communicate with commissioning device realize the selection of suspension work state with
It display, code debugging and writes with a brush dipped in Chinese ink, parameter calibration and fault diagnosis.
8. a kind of control method of such as continuous damping control apparatus of the described in any item closed loops of claim 1-7, comprising:
According to 4 road wheel acceleration signals and 3 road body acceleration signals, and combine speed, steering wheel angle, braking, acceleration
Pedal position and horizontal acceleration information calculate the electric current of four damper solenoid valves needs；
According to the output voltage of the operational amplifier detected and the voltage difference at current acquisition resistance both ends, meter
Calculate the electric current for flowing through the current acquisition resistance；
The electric current for judging that the calculated electric current for flowing through the current acquisition resistance is needed with calculated damper solenoid valve is
It is no consistent, it is such as inconsistent, then the duty ratio of the corresponding H full-bridge driving chip output PWM waveform is adjusted, to subtract described in adjusting
Shake the damping force of device.
9. control method according to claim 8, which is characterized in that calculated flow through the current acquisition if described
The electric current of resistance is smaller than the electric current that the calculated corresponding damper solenoid valve needs, then increases the H full-bridge driving chip
Export the duty ratio of PWM wave；If the calculated electric current for flowing through the current acquisition resistance is calculated more right than described
The electric current for answering damper solenoid valve to need is big, then reduces the duty ratio of the H full-bridge driving chip output PWM wave.
10. control method according to claim 8, which is characterized in that the resistance value of the feedback resistance and the anode
Resistance value with resistance is equal, and the resistance value of the cathode input resistance is equal with the positive resistance value of input resistance.
11. control method according to claim 10, which is characterized in that the resistance value of the anode input resistance is the Europe 10K
The resistance value of nurse, the anode build-out resistor is 220K ohm, and the resistance value of the cathode input resistance is 10K ohm, the feedback
The resistance value of resistance is 220k ohm.
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| CN108128112B (en) * | 2017-12-06 | 2020-02-07 | 广州汽车集团股份有限公司 | Active suspension control device, system and method |
| CN109359061A (en) * | 2018-10-11 | 2019-02-19 | 上海英恒电子有限公司 | A kind of scaling method, device, equipment and storage medium |
| CN110091888B (en) * | 2019-04-19 | 2020-04-28 | 中车青岛四方机车车辆股份有限公司 | Control method and device of anti-snaking shock absorber |
| CN110206637B (en) * | 2019-05-07 | 2021-07-09 | 一汽解放汽车有限公司 | Electromagnetic valve driving circuit of engine pneumatic actuator and control method |
| CN112793375A (en) * | 2019-11-14 | 2021-05-14 | 上海保隆汽车科技股份有限公司 | Automobile damping continuously adjustable semi-active suspension electric control device and control method thereof |
| CN112092564A (en) * | 2020-09-11 | 2020-12-18 | 瑞安市浩宇汽车部件有限公司 | Intelligent automobile shock absorption control system |
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