CN105857003A - Improved ceiling control method of energy feedback suspension system - Google Patents
Improved ceiling control method of energy feedback suspension system Download PDFInfo
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- CN105857003A CN105857003A CN201610312324.8A CN201610312324A CN105857003A CN 105857003 A CN105857003 A CN 105857003A CN 201610312324 A CN201610312324 A CN 201610312324A CN 105857003 A CN105857003 A CN 105857003A
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- electric motors
- linear electric
- energy
- mass
- sprung mass
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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
Abstract
The invention discloses an improved ceiling control method of an energy feedback suspension system, and belongs to the field of automobile energy conservation and emission reduction. An energy feedback suspension is formed by connecting a spring and a linear motor in parallel, and an improved ceiling control strategy is put forward with the control aim of low suspension energy consumption and excellent riding comfort. The working mode of the linear motor is analyzed and judged by connecting an automobile signal, and the suspension is in three different damping modes; meanwhile, when the suspension is in a driven mode and a semi-driving mode, the energy feedback suspension system can recycle vibration energy through an energy feedback circuit, so the aims of energy conservation and emission reduction are achieved.
Description
Technical field
The invention belongs to automotive energy-saving emission-reducing field, be specifically related to a kind of improvement capricorn bettle method of energy regenerative suspension system.
Background technology
Suspension vibration energy is all dissipated by the passive suspension of tradition with the form of heat energy, and because its fixing structural parameters cannot
Adapt to changeable road conditions and limit the application on vehicle.The vibration isolation of semi-active suspension has bigger proposing compared to passive suspension
Height, but its restricted application.Active suspension, by providing the active adaption road conditions that are suitably used as power, improves automobile power
Learn performance, but its substantial amounts of extra power of needs provides and is used as power, and adds Fuel consumption, so also without obtaining
Extensively use.In recent years, many scholars start to focus on the electromagnetic suspension with energy regenerative potentiality, are realizing suspension vibration decay
While reclaim damper dissipate energy, be translated into electric energy and stored utilization.
Linear electric motors are the electric rotating machine a kind of deformation in configuration aspects, and its simple in construction, efficiency height, armature and stator are without footpath
The advantages such as Xiang Li at the extensive application development in various fields, particularly vehicle suspension aspect.Linear motor type electromagnetic suspension both may be used
To realize vehicle active damping by control linear electric motors, its special structure can be used again to reclaim vibrational energy, it is achieved
Vehicle isolation and the dual purpose of energy regenerative.
Suspension is mostly made to be in passive vibration damping and active control state the capricorn bettle of linear motor type electromagnetic suspension at present,
But this control strategy meeting more energy of relative consumption, it is impossible to preferably take into account vehicle dynamic performance and energy regenerative, therefore, base
In reducing in energy consumption to greatest extent, how reed time controll linear electric motors also can reach that the most vibration isolation to become suspension urgently to be resolved hurrily
Key issue.
Chinese patent CN201410176613.0 discloses a kind of energy regenerative suspension system and control method, by desired electrical magnetic resistance
Buddhist nun's power FrefWith energy regenerative loop without electromagnetic damping power F in the case of DC converterNContrast, judge in energy regenerative circuit straight
The boosting of current converter, decompression mode, reach the purpose effectively recovered energy.But to energy regenerative when it has inquired into suspension energy regenerative
The control method of circuit, does not takes into account the change of vehicle dynamic performance, controls the most single, and vehicle is in the face of different road conditions
Time, it is impossible to regulating suspension damping in real time, riding comfort is poor.
Summary of the invention
The deficiency existed for prior art, the present invention proposes a kind of improvement capricorn bettle method of energy regenerative suspension system, solves
Vehicle of having determined, when in the face of different road conditions, regulates suspension damping, the problem reaching preferable riding comfort in real time.
The present invention realizes above-mentioned technical purpose by techniques below means.
A kind of improvement capricorn bettle method of energy regenerative suspension system, comprises the following steps:
Step 1), the sprung mass acceleration letter that sprung mass acceleration transducer and unsprung mass velocity sensor will collect
Number and unsprung mass acceleration signal be transported to ECU controller, signal transacting is calculated sprung mass by ECU controller
Absolute velocityAbsolute velocity with unsprung massAnd the relative velocity between sprung mass and unsprung mass
Step 2), ECU controller is according to the absolute velocity of sprung massAnd the relative speed between sprung mass with unsprung mass
DegreeWalking direction suspension work pattern:
IfThe i.e. absolute velocity of sprung massAnd the relative velocity between sprung mass and unsprung massIn opposite direction, i.e. preferable skyhook damping power maximum damping force exportable with linear electric motors is in opposite direction, ECU control
Device output signal processed, controls power supply input current in the three-phase windings of linear electric motors, now, simultaneously linear electric motors winding
The actual current signal of coil inputs to control circuit, reaches the purpose of tracing control linear electric motors current conditions so that straight line
Motor output is used as power, and linear electric motors have the initiative control model, consumed energy；
IfThe i.e. absolute velocity of sprung massAnd the relative velocity between sprung mass and unsprung massDirection is identical, and i.e. preferable skyhook damping power maximum damping force exportable with linear electric motors direction is identical, now enters one
Magnitude relationship between the preferable skyhook damping power of step judgement and the exportable maximum damping force of linear electric motors:
If i. preferable skyhook damping power is less than or equal to the exportable maximum damping force of linear electric motors, now ECU controller controls straight
Line motor works in half aggressive mode, now, winding coil ideal current and the actual current signal of linear electric motors is input to
Control circuit carrys out follow-up control circuit load；Make linear electric motors export semi-active damper power, reclaimed by energy regenerative circuit outstanding simultaneously
The vibrational energy of frame；
If ii. preferable skyhook damping power is more than the exportable maximum damping force of linear electric motors, now ECU controller controls straight line
Motor works in passive vibration reducing mode, and linear electric motors output maximum equivalent damping force reclaims shaking of suspension by energy regenerative circuit simultaneously
Energy.
Further, the structure of described energy regenerative suspension system is: in vertical direction, spring and linear electric motors are connected in parallel on spring respectively
Improve quality and between unsprung mass, sprung mass and unsprung mass are fixed with sprung mass acceleration transducer and spring respectively
Lower mass acceleration sensor, and between sprung mass acceleration transducer and unsprung mass acceleration transducer and ECU controller
Connected by holding wire respectively.
Further, described linear electric motors are cartridge type permanent magnetic linear synchronous motor, and the stator of linear electric motors is connected with vehicle body, straight line
The mover of motor is connected with wheel.
The invention have the benefit that and utilize linear electric motors to be both operable with generator mode, be operable with again electric motor mode
Principle, linear electric motors are integrated on vehicle suspension.During suspension vibration, by reed time controll linear electric motors electric current
Input and output, make vehicle can be at different working modes when in the face of different road conditions, and then obtain on the premise of relatively low energy consumption
Preferably riding comfort.Simultaneously as the architectural characteristic of linear electric motors, when it is in generator mode, the most recyclable
Partial vibration energy, it is achieved suspension vibration isolation and the combination of energy regenerative.
Accompanying drawing explanation
Fig. 1 is the 1/4 energy regenerative suspension system arrangement figure improving capricorn bettle method of a kind of energy regenerative suspension system；
Wherein: 1-sprung mass acceleration transducer；2-linear electric motors；3-unsprung mass acceleration transducer；4-equivalence tire
Rigid spring；5-unsprung mass；6-spring；7-sprung mass.
Fig. 2 is the flow chart improving capricorn bettle method of a kind of energy regenerative suspension system.
Fig. 3 is the control/energy regenerative circuit during improvement capricorn bettle method cathetus motor different mode of a kind of energy regenerative suspension system
Figure；
Fig. 3 (a), (c) are the energy regenerative during improvement capricorn bettle method cathetus motor different mode of a kind of energy regenerative suspension system
Circuit diagram；
Fig. 3 (b), (d) are the control during improvement capricorn bettle method cathetus motor different mode of a kind of energy regenerative suspension system
Circuit diagram processed；
Wherein: 8-load resistance R1；9-switchs S；10-power supply；11-linear electric motors equivalent internal resistance Rm；12-linear electric motors etc.
Effect inductance Lm。
Fig. 4 is the active/half active Tracking Control figure improving capricorn bettle method cathetus motor of a kind of energy regenerative suspension system；
Wherein: idesFor the ideal current of linear electric motors winding coil, irealFor the actual current of linear electric motors winding coil, f is
The power output of linear electric motors.
Detailed description of the invention
Below in conjunction with the accompanying drawings and specific embodiment the present invention will be further described, but protection scope of the present invention is not limited to this.
As it is shown in figure 1, the structure chart of energy regenerative suspension system, in vertical direction, the parallel connection respectively of spring 6 and linear electric motors 2
Between sprung mass 7 and unsprung mass 5, sprung mass 7 and unsprung mass 5 are fixed with sprung mass respectively and accelerate
Degree sensor 1 and unsprung mass acceleration transducer 3, and sprung mass acceleration transducer 1 and unsprung mass acceleration pass
Being connected by holding wire respectively between sensor 3 with ECU controller, unsprung mass 5 lower end connects equivalent tire stiffness spring 4.
Linear electric motors 2 are cartridge type permanent magnetic linear synchronous motor, and the stator of linear electric motors 2 is connected with vehicle body, the mover of linear electric motors 2
It is connected with wheel.
As in figure 2 it is shown, the flow chart improving capricorn bettle method of a kind of energy regenerative suspension system, including step:
Step 1), the sprung mass collected is accelerated by sprung mass acceleration transducer 1 and unsprung mass velocity sensor 3
Degree signal and unsprung mass acceleration signal are transported to ECU controller, and signal transacting is calculated on spring by ECU controller
The absolute velocity of quality 7Absolute velocity with unsprung mass 5And the phase between sprung mass 7 and unsprung mass 5
To speed
Step 2), ECU controller is according to the absolute velocity of sprung mass 7And between sprung mass 7 and unsprung mass 5
Relative velocityWalking direction suspension work pattern:
IfThe i.e. absolute velocity of sprung mass 7And the phase between sprung mass 7 with unsprung mass 5
To speedIn opposite direction, i.e. preferable skyhook damping power maximum damping force exportable with linear electric motors is in opposite direction,
Now, two kinds of situations it are divided into:
a)AndTime, now ECU controller controls power supply and carries out active to linear electric motors 2 input current
Controlling, shown in its control circuit such as Fig. 3 (b), the cathode output end of power supply is connected with the electrode input end of linear electric motors 2,
The cathode output end of linear electric motors 2 and variable resistor R1Electrode input end connect, variable resistor R1Cathode output end with
The negative input of power supply connects, and the sense of current is as shown in the arrow in Fig. 3 (b).Now, as shown in Figure 4, ECU control
Device processed is according to the sampled signal of suspension system, after carrying out pattern discrimination, exports ideal current ides, electric current idesSize be:
Wherein cskyFor preferable skyhook damping coefficient, kfThrust coefficient for linear electric motors；
Simultaneously the actual current i of linear electric motors 2 winding coilrealSignal inputs to control circuit, and control circuit is by regulation
Variable resistor R in Fig. 3 (b)1Reach the purpose of tracing control linear electric motors 2 current conditions so that linear electric motors 2 export
Be used as power f, whereinNow linear electric motors have the initiative control model, consumed energy.
b)AndTime, now ECU controller control power supply carries out actively controlling to linear electric motors 2 input current
System, shown in its control circuit such as Fig. 3 (d), the sense of current is as shown in the arrow in Fig. 3 (d).Now, as shown in Figure 4,
ECU controller is according to the sampled signal of suspension system, after carrying out pattern discrimination, exports ideal current ides, electric current idesSizeSimultaneously the actual current i of linear electric motors 2 winding coilrealSignal inputs to control circuit, and circuit passes through
Variable resistor R in regulation Fig. 3 (d)1Reach the purpose of tracing control linear electric motors 2 current conditions so that linear electric motors 2
Export the f that is used as power, be used as powerNow linear electric motors have the initiative control model, consumed energy.
IfThe i.e. absolute velocity of sprung mass 7And relative between sprung mass 7 with unsprung mass 5
SpeedDirection is identical, and i.e. preferable skyhook damping power maximum damping force exportable with linear electric motors direction is identical, now
Determine whether preferable skyhook damping powerMaximum damping force exportable with linear electric motors(ceqFor straight line
Motor Equivalent damping coefficient) between magnitude relationship:
A) whenAndTime, ifI.e. preferable skyhook damping power is less than straight-line electric
The exportable maximum damping force of machine, this means that in the available damping force range of linear electric motors, in order to reach more preferable
Ride performance, it should self-control when making suspension face different road conditions.Now ECU controller control linear electric motors 2 work
In half aggressive mode, shown in energy regenerative circuit such as Fig. 3 (a), switch closes at upper, circuit load resistance R1For variable resistor.
The random vibration on road surface makes the absolute velocity of sprung massReal-time transform, ideal current i of linear electric motors 2desThe most real
Time change, simultaneously monitoring sprung mass and unsprung mass between relative velocityChange, utilize following formula to adjust in real time
Joint R1,
Wherein, UmFor the induced electromotive force of linear electric motors, keFor the induced electromotive force coefficient of linear electric motors, RmFor straight-line electric
The equivalent internal resistance of machine,
Comprehensive energy regenerative circuit 3 (a), formula (1), (2), now linear electric motors 2 export electromagnetic damping power:
Meanwhile, energy regenerative suspension system reclaims the vibrational energy of suspension by Fig. 3 (a).
B) whenAndTime, ifI.e. preferable skyhook damping power is more than linear electric motors
Exportable maximum damping force, now linear electric motors 2 can not reoffer bigger damping force, and ECU controller controls straight-line electric
Machine 2 works in passive vibration reducing mode, and shown in energy regenerative circuit such as Fig. 3 (a), switch closes at bottom, now, and linear electric motors
2 output maximum equivalent damping forces are:
Meanwhile, energy regenerative suspension system reclaims suspension vibration energy by energy regenerative circuit diagram 3 (a).
C) whenAndTime, ifI.e. preferable skyhook damping power is less than straight-line electric
The exportable maximum damping force of machine, now ECU controller control linear electric motors 2 work in half aggressive mode, and energy regenerative circuit is such as
Shown in Fig. 3 (c), switch closes at upper, circuit load resistance R1For variable resistor.The random vibration on road surface makes on spring
The absolute velocity of qualityReal-time transform, now ideal current i of linear electric motors 2desChange the most in real time, simultaneously matter on monitoring spring
Relative velocity between amount and unsprung massChange, by formulaCome in real time
Regulation R1.Now, linear electric motors 2 export electromagnetic damping powerMeanwhile, energy regenerative suspension system
Unite and reclaim suspension vibration energy by energy regenerative circuit diagram 3 (c).
D) whenAndTime, ifI.e. preferable skyhook damping power is more than linear electric motors
Exportable maximum damping force, now linear electric motors 2 can not reoffer bigger damping force, and ECU controller controls straight-line electric
Machine 2 works in passive vibration reducing mode；Shown in energy regenerative circuit such as Fig. 3 (c), switch closes at bottom, now, and linear electric motors
2 output equivalent damping forces areMeanwhile, energy regenerative suspension system reclaims outstanding by energy regenerative circuit diagram 3 (c)
Frame vibrational energy.
The above, only presently preferred embodiments of the present invention, it is not intended to limit protection scope of the present invention, it should reason
Solving, the present invention is not limited to implementation as described herein, and the purpose that these implementations describe is to help in this area
Technical staff put into practice the present invention.Any those of skill in the art are easy in the feelings without departing from spirit and scope of the invention
Being further improved and perfect under condition, therefore the present invention is only limited by content and the scope of the claims in the present invention,
It is intended to contain alternative in all spirit and scope of the invention being included in and being defined by the appended claims and etc. Tongfang
Case.
Claims (3)
1. the improvement capricorn bettle method of an energy regenerative suspension system, it is characterised in that comprise the following steps:
Step 1), matter on the spring that sprung mass acceleration transducer (1) and unsprung mass velocity sensor (3) will collect
Amount acceleration signal and unsprung mass acceleration signal are transported to ECU controller, and signal transacting is calculated by ECU controller
Absolute velocity to sprung mass (7)Absolute velocity with unsprung mass (5)And under sprung mass (7) and spring
Relative velocity between quality (5)
Step 2), ECU controller is according to the absolute velocity of sprung mass (7)With sprung mass (7) and unsprung mass (5)
Between relative velocityWalking direction suspension work pattern:
IfThe i.e. absolute velocity of sprung mass (7)With sprung mass (7) and unsprung mass (5)
Between relative velocityIn opposite direction, i.e. preferable skyhook damping power and the exportable maximum damping force side of linear electric motors
To on the contrary, ECU controller output signal, control power supply input current in the three-phase windings of linear electric motors (2), now,
The actual current signal of linear electric motors (2) winding coil is inputed to control circuit simultaneously, reach tracing control linear electric motors (2)
The purpose of current conditions so that linear electric motors (2) output is used as power, and linear electric motors (2) have the initiative control model, consumes
Energy；
IfThe i.e. absolute velocity of sprung mass (7)With sprung mass (7) and unsprung mass (5)
Between relative velocityDirection is identical, i.e. preferable skyhook damping power and linear electric motors exportable maximum damping force direction
Identical, now determine whether the magnitude relationship between preferable skyhook damping power and the exportable maximum damping force of linear electric motors:
If i. preferable skyhook damping power is less than or equal to the exportable maximum damping force of linear electric motors, now ECU controller controls straight
Line motor (2) works in half aggressive mode, now, by winding coil ideal current and the actual current of linear electric motors (2)
Signal is input to control circuit and carrys out follow-up control circuit load；Linear electric motors (2) are made to export semi-active damper power, simultaneously energy regenerative
Suspension system reclaims the vibrational energy of suspension by energy regenerative circuit；
If ii. preferable skyhook damping power is more than the exportable maximum damping force of linear electric motors, now ECU controller controls straight line
Motor (2) works in passive vibration reducing mode, linear electric motors (2) output maximum equivalent damping force, simultaneously energy regenerative suspension system
The vibrational energy of suspension is reclaimed by energy regenerative circuit.
The improvement capricorn bettle method of a kind of energy regenerative suspension system the most according to claim 1, it is characterised in that institute
The structure stating energy regenerative suspension system is: in vertical direction, and spring (6) and linear electric motors (2) are connected in parallel on matter on spring respectively
Between amount (7) and unsprung mass (5), sprung mass (7) and unsprung mass (5) are fixed with sprung mass respectively
Acceleration transducer (1) and unsprung mass acceleration transducer (3), and under sprung mass acceleration transducer (1) and spring
Mass acceleration sensor (3) is connected by holding wire with between ECU controller respectively.
The improvement capricorn bettle method of a kind of energy regenerative suspension system the most according to claim 1, it is characterised in that described
Linear electric motors (2) are cartridge type permanent magnetic linear synchronous motor, and the stator of linear electric motors (2) is connected with vehicle body, linear electric motors (2)
Mover be connected with wheel.
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| CN201610312324.8A CN105857003B (en) | 2016-05-11 | 2016-05-11 | A kind of improvement capricorn bettle method of feed energy suspension system |
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| CN201610312324.8A CN105857003B (en) | 2016-05-11 | 2016-05-11 | A kind of improvement capricorn bettle method of feed energy suspension system |
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| CN105857003B CN105857003B (en) | 2018-04-17 |
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Cited By (5)
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| CN108891220A (en) * | 2018-07-19 | 2018-11-27 | 燕山大学 | A kind of capricorn bettle innovatory algorithm of Vehicle Semi-active Suspension System |
| CN111125837A (en) * | 2019-12-31 | 2020-05-08 | 北京理工大学 | Control method for optimizing dynamic performance and energy consumption of active suspension |
| CN112339517A (en) * | 2020-11-13 | 2021-02-09 | 成都九鼎科技(集团)有限公司 | Semi-active suspension control method and system |
| CN112572086A (en) * | 2020-12-22 | 2021-03-30 | 华为技术有限公司 | Vehicle, control method of vehicle suspension and related equipment |
| CN109747497B (en) * | 2019-01-17 | 2021-07-13 | 南京农业大学 | Self-adaptive control method for seat suspension |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108891220A (en) * | 2018-07-19 | 2018-11-27 | 燕山大学 | A kind of capricorn bettle innovatory algorithm of Vehicle Semi-active Suspension System |
| CN109747497B (en) * | 2019-01-17 | 2021-07-13 | 南京农业大学 | Self-adaptive control method for seat suspension |
| CN111125837A (en) * | 2019-12-31 | 2020-05-08 | 北京理工大学 | Control method for optimizing dynamic performance and energy consumption of active suspension |
| CN112339517A (en) * | 2020-11-13 | 2021-02-09 | 成都九鼎科技(集团)有限公司 | Semi-active suspension control method and system |
| CN112339517B (en) * | 2020-11-13 | 2023-10-10 | 成都九鼎科技(集团)有限公司 | Semi-active suspension control method and control system |
| CN112572086A (en) * | 2020-12-22 | 2021-03-30 | 华为技术有限公司 | Vehicle, control method of vehicle suspension and related equipment |
| US11897300B2 (en) | 2020-12-22 | 2024-02-13 | Huawei Digital Power Technologies Co., Ltd. | Vehicle, control method for vehicle suspension, and related device |
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