CN105922836B - Vehicle rheological suspension system control device and method with adduction mode - Google Patents
Vehicle rheological suspension system control device and method with adduction mode Download PDFInfo
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- CN105922836B CN105922836B CN201610419691.8A CN201610419691A CN105922836B CN 105922836 B CN105922836 B CN 105922836B CN 201610419691 A CN201610419691 A CN 201610419691A CN 105922836 B CN105922836 B CN 105922836B
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- 239000000725 suspension Substances 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000013016 damping Methods 0.000 claims abstract description 26
- 238000012545 processing Methods 0.000 claims abstract description 15
- 230000001133 acceleration Effects 0.000 claims description 17
- 230000008859 change Effects 0.000 claims description 7
- 239000011551 heat transfer agent Substances 0.000 claims description 6
- 238000002156 mixing Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000009897 systematic effect Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000036544 posture Effects 0.000 description 4
- 238000000518 rheometry Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of vehicle rheological suspension system control devices and method with adduction mode, including signal processing unit, suspension system controller, damping force control module and multiple MR dampers；Present invention tool has the advantage that：1）The control of real time execution body gesture and two kinds of control algolithms of vibration control, and the result of two kinds of control algolithms is comprehensively considered, there is better comprehensive performance；2）The control stability for laying particular emphasis on vehicle keeps the driving of vehicle more safe.
Description
Technical field
The present invention relates to a kind of vehicle suspension systems, more specifically, it is related to a kind of vehicle magnetic with adduction mode
Rheology suspension system control device and method.
Background technique
Suspension system is an important subsystem of automobile, and the maneuverability of it and automobile is closely related, and the undertaker every
From the important function from the caused Vehicular vibration of Uneven road excitation.The semi-active suspension system of automobile is usually by spring
It is formed with controllable damping damper, controllable damping damper can adjust damped coefficient according to vehicle operating condition in real time
Section realizes the Optimum Matching with elastic element, to improve the comfort and control stability of vehicle ride.
Magneto-rheological vibration damper causes extensive concern in the suspension system of vehicle, and is successfully applied.It should
Damper based on intellectual material-magnetorheological fluid, by apply magnetic field change damper in magnetorheological fluid yield stress and
Viscosity, to obtain the continuous stepless regulation of damping, with fast response time, operating temperature range is wide, low energy consumption, dynamic range
Wide advantage.Compared with the full Active suspension of similar performance, has the advantages that cost performance height and low energy consumption.
One complete suspension system control includes two aspects of body gesture control and car body vibration control:Wherein vehicle body
The control stability and safety of posture Suspension control and vehicle are closely related, and the seating of body oscillating Suspension control and vehicle
Comfort is closely related.The existing control to rheological suspension system is mainly integrated in the vibration control of vehicle, packet both at home and abroad
Include Sky-hook control, PID control, optimum control, self adaptive control, ANN Control, fuzzy control etc..Wherein, ceiling
Damping control is widely applied due to simple easy to implement, thus in the implementation of automotive semi-active suspension；For vehicle body
Caused by vehicle body pitching phenomenon, Ackermann steer angle caused by the control of posture suspension system, such as vehicle brake or anxious acceleration
Phenomenon etc. is rolled, drive control is mainly carried out by " event ", for example carries out vehicle body side damper during the turn
Strengthen, reduces the inclination of car body.
But the control method of existing rheological suspension system or the vibration control for only considering vehicle body, such as ceiling
Damping control method or during controlling body gesture, does not account for the vibration control of car body, i.e.,：In operation vehicle
When the algorithm of body gesture stability (when as taken a sudden turn), the signal of vibration control (such as Sky-hook control) is not accounted for.This just leads
It has caused the comprehensive performance of suspension control system poor, has not taken into account the riding comfort and control stability of vehicle well.
Summary of the invention
In view of the deficiencies of the prior art, the present invention intends to provide a kind of vehicle magnetic current with adduction mode
Become suspension system control device and method, real-time control carried out simultaneously to body gesture and body oscillating, and by two kinds of control
Output signal carries out addition summation, by control signal of the output as magneto-rheological vibration damper after superposed signal pressure limiting.Therefore this hair
It is bright can be while controlling body gesture, while considering the vibration control of car body, preferably take into account multiplying for vehicle
Sit comfort and control stability.In addition, adduction mode can make the driving of vehicle more safe.
To achieve the above object, the present invention provides following technical solutions：A kind of vehicle with adduction mode is magnetorheological
Suspension system control device and method, it is characterised in that：Including signal processing unit, suspension system controller, damping force control
Module and multiple MR dampers；The signal processing unit, receive from a variety of vehicle sensors, vehicle bus,
The raw information that driver is manually entered after being handled, is output to suspension system controller；The suspension system controller,
Run the vehicle rheological suspension systematic control algorithm with adduction mode, output while the control for controlling body vibrations and posture
Voltage is to damping force control module；The received control voltage of institute is converted to MR damper by the damping force control module
Driving current；The MR damper acts on car body to change the damping force of output by changing driving current
On.
Preferably, suspension system controller includes body gesture controller, body vibrations controller, summation module and pressure limiting
Module：The body gesture controller, the body gesture that output corresponds to multiple MR dampers control voltage；The vehicle body
Vibrating controller, the body vibrations that output corresponds to multiple MR dampers control voltage；The summation module, described in acquisition
Body gesture controls voltage, body vibrations control voltage, and both control the sum of voltages；The pressure limiting module, by the vehicle body appearance
State control voltage, body vibrations control voltage both control the sum of voltages are limited within maximum allowable output voltage of adjuster.
Preferably, body gesture controller includes steering controller, brake controller, acceleration controller and summation mould
Block：The steering controller runs control algolithm, obtains the course changing control voltage of multiple MR dampers；The brake control
Device runs control algolithm, obtains the brake control voltage of multiple MR dampers；The acceleration controller runs control algolithm,
Obtain the acceleration control voltage of multiple MR dampers；The summation module obtains the course changing control voltage, brake control
Voltage and acceleration control voltage, and these three control the sum of voltages.
A kind of control method of the vehicle rheological suspension system control device with adduction mode, including sensor, institute
Control method is stated to include the following steps：
The first step：It reads from vehicle bus or vehicle body acceleration, vehicle body corner, accelerator open degree, speed, braking pressure
The information of power, damper relative altitude sensor；
Second step：Processing calculating is carried out to heat transfer agent obtained, while running body vibrations control algolithm, vehicle turn
Accelerate control algolithm to control algolithm, vehicle brake control algolithm, vehicle：
Body vibrations control algolithm is used to improve the comfort level taken, defeated using Sky-hook control, mixing damping control
It is used for the magnetorheological control voltage of vibration control out；
Vehicular turn control algolithm, by obtaining the degree of Vehicular turn, is exported for turning to for reducing inclination of vehicle
The magnetorheological control voltage of control, or by obtaining body sway information caused by Vehicular turn, progress feedback control is defeated
It is used for the magnetorheological control voltage of course changing control out；
Vehicle brake control algolithm leans forward for reducing vehicle, by obtaining the degree of vehicle brake, exports for braking
The magnetorheological control voltage of control, or by obtaining vehicle body forward leaning angle caused by vehicle brake, progress feedback control is defeated
Magnetorheological control voltage for control of braking out；
Vehicle accelerates control algolithm for reducing vehicle layback, and the degree accelerated by obtaining vehicle is exported for accelerating
The magnetorheological control voltage of control, or suddenly accelerate caused vehicle body reclined by angle by obtaining vehicle, feedback control is carried out,
Output is for accelerating the magnetorheological control voltage of control；
Third step：Summation operation is carried out to above-mentioned four kinds magnetorheological control voltages；
4th step：The resulting master control voltage that will sum is limited within maximum allowable output voltage of adjuster, is exported later；
5th step：Corresponding driving current is converted by the magnetorheological control voltage of output, to change magnetorheological damping
The output resistance of device.
Present invention tool has the advantage that：1) control of real time execution body gesture and two kinds of control algolithms of vibration control, and will
The result of two kinds of control algolithms is comprehensively considered, and has better comprehensive performance；2) control stability of vehicle is laid particular emphasis on,
Keep the driving of vehicle more safe.
Detailed description of the invention
Fig. 1 is module diagram of the invention.
Fig. 2 is the module diagram of suspension system controller of the present invention.
Fig. 3 is the module diagram of body gesture controller of the present invention.
Fig. 4 is the curve graph of relationship between present invention brake control voltage and brake pressure signal.
Specific embodiment
Referring to shown in Fig. 1, a kind of vehicle rheological suspension system control with adduction mode provided in an embodiment of the present invention
Device processed includes sensor, signal processing unit, suspension system controller, damping force control module, MR damper and hangs
Frame spring.Wherein sensor includes a variety of vehicle body sensors：Damper relative displacement, vehicle body acceleration, vehicle corner, vehicle body incline
Angle, accelerator open degree, speed, brake-pressure sensor etc., for the online motion state for obtaining vehicle body and damper in real time.These
Sensor is by way of being directly connected to or vehicle bus, as the mode of CAN bus is connect with signal processing unit.Signal
Processing unit also can receive and be manually entered instruction, such as the setting of driving mode from driver：" motor pattern ", " cruise
Mode " etc..Signal processing unit can be handled the received raw sensory information of institute, including filtering removal input noise,
Signal biasing reaches the input voltage range of controller, A/D conversion is input to digitial controller, Integral Processing etc..
Suspension system controller receives the heat transfer agent from signal processing unit, runs the vehicle magnetic with adduction mode
Rheology suspension system control algolithm, the output multiple MR dampers of vehicle control voltage to damping force control module.Damping
Power control module is the driving interface module of MR damper, and the control voltage that controller exports is converted to corresponding magnetic
The driving current of rheological damper.Damping force control module generally includes metal-oxide-semiconductor circuit, current foldback circuit, current feedback control
Circuit processed etc..Different vehicles might have different MR dampers 24 and arrange, four MR damper cloth in Fig. 1
It sets in vehicle body quadrangle.MR damper may be single-out lever, double rod-type, multi-function magnetic rheological dampers out or have
External accumulator.MR damper changes the viscosity of internal magnetorheological fluid, to change output by receiving driving current
Damping force.The damping force exported by with the elastic force collective effect of bearing spring in the comfort on car body, influencing vehicle ride
And stability.
Fig. 2 is the suspension system controller of the embodiment of the present invention.Suspension system controller includes body gesture controller, vehicle
Body vibrating controller, pressure limiting module, adduction module.Wherein body gesture controller includes the sub-controller of three kinds of postures, will be
It is explained in more detail.Body vibrations controller will receive a variety of heat transfer agents from signal processing unit, according to different
Vibration control algorithm may use different sensors.Body vibrations control algolithm can be Sky-hook control, mixing damping control
System, PID control, optimum control, self adaptive control, ANN Control, fuzzy control etc..It is with Sky-hook control algorithm
Example：Body vibrations controller will receive damper both ends relative displacement transducer, and carry out derivation to displacement, obtain relatively fast
Degree；Car body vertical acceleration sensors will be received, and carry out integral operation, obtain the absolute velocity of car body.By to absolute speed
Degree and relative velocity are compared calculating, export the output voltage of four MR dampers in real time.And body gesture controller
To the steering of vehicle, brake and the gesture stability for accelerating vehicle body, the vehicle body appearance of four MR dampers will be exported in real time
State controls voltage.By running control algolithm, after obtaining two kinds of control voltages, the gesture stability voltage of damper and vibration are controlled
Voltage processed carries out summation operation, the real-time control voltage using the sum of the two as damper.Therefore the present invention considers vehicle simultaneously
The gesture stability of body and vibration control have better comprehensive performance.Summation operation is carried out in summation module, Physical realization
It can be the calculating of MCU digitial controller or analog operational circuit.
In addition, the control signal of magneto-rheological vibration damper is smaller, suspension system is softer, and the riding comfort of vehicle is better.Magnetic
The control signal of rheology damper is bigger, and suspension system is harder, and the control stability of vehicle is better.To believe with as total control
Number, suspension system is harder, therefore the control stability of vehicle is more preferable, drives more safe.And vehicle stabilization when driving, appearance
State controls voltage very little, will not influence the riding comfort of vehicle.
Master control voltage is still needed to by pressure limiting module, because the control voltage of MR damper has physical limit (magnetic
Maximum input current of rheology coil etc.), i.e. maximum controlling voltage.Master control voltage due to be sum mode, it is thus possible to it is super
Maximum controlling voltage out.Pressure limiting module will limit the master control voltage after summation, if exceeding maximum voltage value, will export
Permitted maximum controlling voltage is as control signal.The output of suspension system controller is the control voltage letter of four dampers
Number.
Fig. 3 is the body gesture controller of the embodiment of the present invention.Body gesture controller includes steering controller, brake control
Device, acceleration controller and summation module processed.Three kinds of controllers control body roll phenomenon caused by Vehicular turn respectively, vehicle is stopped
Vehicle body pitching phenomenon caused by vehicle body pitching phenomenon caused by vehicle, vehicle suddenly accelerate.Three kinds of controllers will receive respectively required
Heat transfer agent after treatment, the respective control algolithm of real time execution export the course changing control electricity of four MR dampers
Pressure, brake control voltage and acceleration control voltage.Later, three kinds of control voltages sum up operation, three in summation module
The sum of for body gesture control voltage.The Physical realization of summation module can be MCU digitial controller and calculate or simulate
Computing circuit.
Steering controller obtains the degree of car body steering in real time, determines the control voltage of MR damper.And one kind obtains
The method for obtaining the degree that car body turns to, is exactly calculated by the following formula：
Wherein, n is steering degree, and r is constant, and v is speed, and α is steering angle.Speed, steering angle are obtained by sensor
Etc. information, so that it may calculate car body steering degree.And magnetorheological control voltage the increase of degree will be turned to car body and
Increase, relationship between the two can obtain in such a way that formula calculates or tables look-up online.Another kind obtains what car body turned to
The method of degree, can be by measuring laterally accelerating for the car body due to caused by turning to, to export MR damper
Control voltage.
Brake controller obtains the degree of vehicle brake in real time, determines the control voltage of MR damper.And one kind obtains
The method for obtaining the degree of vehicle brake can pass through and measure brake-pressure sensor.Magnetorheological control voltage will be with braking
The increase of pressure and increase, relationship between the two can obtain in such a way that formula calculates or tables look-up online.Brake pressure
It is as shown in Figure 4 with the relationship of magnetorheological control voltage.Another kind obtain vehicle brake degree method, can by measurement by
In the forward leaning angle of the caused car body of brake, to export the control voltage of MR damper.
Acceleration controller obtains the degree of vehicle acceleration in real time, determines the control voltage of MR damper.And one kind obtains
The method for obtaining the degree that vehicle accelerates can pass through and measure throttle position switch.Magnetorheological control voltage will be with throttle
The increase of position and increase, relationship between the two can obtain in such a way that formula calculates or tables look-up online.Another kind obtains
The method for obtaining the degree that vehicle accelerates, can be by the reclined by angle of car body of the measurement due to caused by accelerating, to export magnetic
The control voltage of rheological damper.
Fig. 4 is the relationship between the brake control voltage of the embodiment of the present invention and the brake pressure signal of acquisition.Brake control
After device processed obtains brake pressure signal, the brake by calculating available MR damper controls voltage：It is provided with first
The startup threshold values range of brake pressure signal, when vehicle is in relatively light braking, brake signal is less than setting threshold values, output
Brake control voltage be 0；When the brake of vehicle is more anxious, brake signal is greater than setting threshold values, the brake control of output
Voltage processed will increase with the increase of brake pressure signal.Using such threshold values way of output, when can be to avoid slight brake
The shake of magnetorheological control voltage.
Therefore, it is equal to vibration control voltage Uiv in conjunction with Fig. 2 and Fig. 3, the control voltage Ui of total MR damper, turns
To control voltage Uit, brake control voltage Uib and accelerate to control the sum of voltage Uia.
Ui=Uiv+Uit+Uib+UiaI=1~4
Referring to Fig.1 described in -4, the present embodiment additionally provides a kind of vehicle rheological suspension system control with adduction mode
The control method of device processed, including sensor, the control method include the following steps：
The first step：It reads from vehicle bus or vehicle body acceleration, vehicle body corner, accelerator open degree, speed, braking pressure
The information of power, damper relative altitude sensor；
Second step：Processing calculating is carried out to heat transfer agent obtained, while running body vibrations control algolithm, vehicle turn
Accelerate control algolithm to control algolithm, vehicle brake control algolithm, vehicle：
Body vibrations control algolithm is used to improve the comfort level taken, defeated using Sky-hook control, mixing damping control
It is used for the magnetorheological control voltage of vibration control out；
Vehicular turn control algolithm, by obtaining the degree of Vehicular turn, is exported for turning to for reducing inclination of vehicle
The magnetorheological control voltage of control.Or by obtaining body sway information caused by Vehicular turn, progress feedback control is defeated
It is used for the magnetorheological control voltage of course changing control out；
Vehicle brake control algolithm leans forward for reducing vehicle, by obtaining the degree of vehicle brake, exports for braking
The magnetorheological control voltage of control.Or by obtaining vehicle body forward leaning angle caused by vehicle brake, progress feedback control is defeated
Magnetorheological control voltage for control of braking out；
Vehicle accelerates control algolithm for reducing vehicle layback, and the degree accelerated by obtaining vehicle is exported for accelerating
The magnetorheological control voltage of control.Or suddenly accelerate caused vehicle body reclined by angle by obtaining vehicle, feedback control is carried out,
Output is for accelerating the magnetorheological control voltage of control；
Third step：Summation operation is carried out to above-mentioned four kinds magnetorheological control voltages；
4th step：The resulting master control voltage that will sum is limited within maximum allowable output voltage of adjuster, is exported later；
5th step：Corresponding driving current is converted by the magnetorheological control voltage of output, to change magnetorheological damping
The output resistance of device.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of vehicle rheological suspension system control device with adduction mode, it is characterised in that：Including signal processing list
Member, suspension system controller, damping force control module and multiple MR dampers；
The signal processing unit receives the original letter being manually entered from a variety of vehicle sensors, vehicle bus, driver
Breath, after being handled, is output to suspension system controller；
The suspension system controller, include body gesture controller, body vibrations controller, summation module and pressure limiting module,
Run the vehicle rheological suspension systematic control algorithm with adduction mode, output while the control for controlling body vibrations and posture
Voltage is to damping force control module；
The damping force control module, by received control voltage be converted to the driving current of MR damper；
The MR damper is acted on car body by changing driving current to change the damping force of output.
2. a kind of vehicle rheological suspension system control device with adduction mode according to claim 1, feature
It is：
The body gesture controller, the body gesture that output corresponds to multiple MR dampers control voltage；The vehicle body
Vibrating controller, the body vibrations that output corresponds to multiple MR dampers control voltage；The summation module, described in acquisition
Body gesture controls voltage, body vibrations control voltage, and both control the sum of voltages；
The pressure limiting module, the body gesture is controlled voltage, body vibrations control voltage, and both control the sum of voltages limit
System is within maximum allowable output voltage of adjuster.
3. a kind of vehicle rheological suspension system control device with adduction mode according to claim 2, feature
It is, the body gesture controller includes steering controller, brake controller, acceleration controller and summation module：
The steering controller runs control algolithm, obtains the course changing control voltage of multiple MR dampers；
The brake controller runs control algolithm, obtains the brake control voltage of multiple MR dampers；
The acceleration controller runs control algolithm, obtains the acceleration control voltage of multiple MR dampers；
The summation module obtains the course changing control voltage, brake control voltage and accelerates these three control electricity of control voltage
The sum of pressure.
4. a kind of controlling party of vehicle rheological suspension system control device with adduction mode according to claim 3
Method, including sensor, it is characterised in that：The control method includes the following steps：
The first step：It reads from vehicle bus or vehicle body acceleration, vehicle body corner, accelerator open degree, speed, brake pressure, subtract
The information of vibration device relative altitude sensor；
Second step：Processing calculating is carried out to heat transfer agent obtained, while running body vibrations control algolithm, Vehicular turn control
Algorithm processed, vehicle brake control algolithm, vehicle accelerate control algolithm：
Body vibrations control algolithm is used to improve the comfort level taken, and using Sky-hook control, mixing damping control, output is used
In the magnetorheological control voltage of vibration control；
Vehicular turn control algolithm is for reducing inclination of vehicle, and by obtaining the degree of Vehicular turn, output is used for course changing control
Magnetorheological control voltage, or pass through obtain Vehicular turn caused by body sway information, carry out feedback control, output use
In the magnetorheological control voltage of course changing control；
Vehicle brake control algolithm leans forward for reducing vehicle, and by obtaining the degree of vehicle brake, output is for control of braking
Magnetorheological control voltage, or pass through obtain vehicle brake caused by vehicle body forward leaning angle, carry out feedback control, output use
In the magnetorheological control voltage of brake control；
Vehicle accelerates control algolithm for reducing vehicle layback, and the degree accelerated by obtaining vehicle, output is for accelerating control
Magnetorheological control voltage, or suddenly accelerate caused vehicle body reclined by angle by obtaining vehicle, carry out feedback control, output
For accelerating the magnetorheological control voltage of control；
Third step：Summation operation is carried out to above-mentioned four kinds magnetorheological control voltages；
4th step：The resulting master control voltage that will sum is limited within maximum allowable output voltage of adjuster, is exported later；
5th step：Corresponding driving current is converted by the magnetorheological control voltage of output, to change MR damper
Output resistance.
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| CN201610419691.8A CN105922836B (en) | 2016-06-14 | 2016-06-14 | Vehicle rheological suspension system control device and method with adduction mode |
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| CN201610419691.8A CN105922836B (en) | 2016-06-14 | 2016-06-14 | Vehicle rheological suspension system control device and method with adduction mode |
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| CN107031330A (en) * | 2016-12-05 | 2017-08-11 | 安徽江淮汽车集团股份有限公司 | Automobile anti-nod control system and control method, damper |
| CN108454343B (en) * | 2018-03-16 | 2020-02-21 | 江苏大学 | Hybrid electromagnetic suspension energy-saving semi-active control method based on attitude compensation |
| CN109747497B (en) * | 2019-01-17 | 2021-07-13 | 南京农业大学 | Self-adaptive control method for seat suspension |
| CN112659841B (en) * | 2019-10-15 | 2022-12-27 | 宇通客车股份有限公司 | Vehicle semi-active suspension integrated control method and control system |
| CN113212091A (en) * | 2021-05-25 | 2021-08-06 | 的卢技术有限公司 | Semi-active suspension driving mode intelligent regulation control system and method |
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| CN100484788C (en) * | 2006-01-28 | 2009-05-06 | 重庆大学 | Apery intelligent control method for harmonizing auto magnetorheological half-initiative suspension according to posture |
| JP2009113774A (en) * | 2007-11-09 | 2009-05-28 | Toyota Motor Corp | Suspension mechanism |
| CN201340553Y (en) * | 2009-01-14 | 2009-11-04 | 三明学院 | Automobile hierarchical modeling vibration control device |
| CN103241095B (en) * | 2013-05-31 | 2015-05-13 | 山东理工大学 | Control algorithm of automotive magneto-rheological semi-active suspension system and real-time optimal current |
| CN105172511B (en) * | 2015-07-15 | 2017-09-26 | 西南交通大学 | A kind of shock absorber of automobile suspension control system and method |
| CN105644291B (en) * | 2016-03-24 | 2019-12-03 | 厦门理工学院 | Full Active suspension device and automobile |
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