CN105946496A - Suspension control system based on skyhook control algorithm - Google Patents

Suspension control system based on skyhook control algorithm Download PDF

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Publication number
CN105946496A
CN105946496A CN201610269968.3A CN201610269968A CN105946496A CN 105946496 A CN105946496 A CN 105946496A CN 201610269968 A CN201610269968 A CN 201610269968A CN 105946496 A CN105946496 A CN 105946496A
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CN
China
Prior art keywords
suspension
skyhook
magneto
system based
control algorithm
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Pending
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CN201610269968.3A
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Chinese (zh)
Inventor
周武能
张杨
潘亮
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Donghua University
National Dong Hwa University
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Donghua University
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Priority to CN201610269968.3A priority Critical patent/CN105946496A/en
Publication of CN105946496A publication Critical patent/CN105946496A/en
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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
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/20—Type of damper
    • B60G2202/24—Fluid damper

Abstract

The invention relates to a suspension control system based on a skyhook control algorithm. The suspension control system based on the skyhook control algorithm comprises a vehicle state sensor, a data collector, an industrial control computer, a magneto-rheological fluid damper, a motor driver and a servo motor, wherein the vehicle state sensor is used for detecting vehicle state data; the data collector is used for collecting the vehicle state sensor to obtain the vehicle state data; the industrial control computer is used for controlling the motor driver and a program-controlled current source according to the vehicle state data; the motor driver generates a driving force so as to drive the servo motor to generate a feedback effect on an active suspension of a suspension system; and the program-controlled current source generates a control current so that the magneto-rheological fluid damper generates a damping force to generate a feedback effect on a semi-active suspension of the suspension system. According to the invention, the running smoothness and the taking comfort of a vehicle body can be improved.

Description

A kind of hanging control system based on skyhook control algorithm
Technical field
The present invention relates to vibration damping and control technical field, particularly relate to a kind of suspension based on skyhook control algorithm and control system System.
Background technology
Power suspension between car body and wheel is the important composition part of vehicle.The quality of suspension property will directly affect To vehicle driving safety, riding comfort and control stability in the process of moving.Traditional passive suspension is by damping system Number and the immutable damping element of rigidity and flexible member are constituted, and passive suspension system needs to set damped coefficient before structure And rigidity.Do not have adjustability after setting due to parameter, be merely capable of adapting to the vibration under certain operating mode, to changeable traveling road Condition adapts to poor ability.Active suspension and semi-active suspension are used in combination and can select suitably to hang according to concrete surface conditions Frame is adjusted, and has the features such as adaptable, control performance good, zmodem.
Summary of the invention
The technical problem to be solved is to provide a kind of hanging control system based on skyhook control algorithm, improves Car body ride performance and riding comfort.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of suspension based on skyhook control algorithm Control system, including vehicle status sensor, data acquisition unit, industrial computer, magneto-rheological vibration damper, motor driver and servo electricity Machine, described vehicle status sensor is used for detecting vehicle status data；Described data acquisition unit is for vehicle status sensor It is acquired obtaining vehicle status data；Described industrial computer according to described vehicle status data to motor driver and program-controlled electric Stream source is controlled, and described motor driver produces a driving force and drives described servomotor feedback effect in the master of suspension Dynamic suspension, described programmable current source produces a control electric current and makes magneto-rheological vibration damper produce a damping force feedback effect in suspension The semi-active suspension of system.
Described industrial computer controls one control electric current of programmable current source output by skyhook control algorithm and makes described magnetic current Become vibroshock and produce a damping force.
The damping force size that described magneto-rheological vibration damper produces isIts In, FmaxThe maximum damping force that can produce for magneto-rheological vibration damper；FminThe minimum damping force that can produce for magneto-rheological vibration damper；Cs For skyhook damping coefficient；For car body upward velocity；For wheel upward velocity；FdFor preferable capricorn bettle power.
Described vehicle status sensor is acceleration transducer, is used for gathering vertical direction upper body barycenter acceleration and driving Acceleration at the person's of sailing seat.
Beneficial effect
Owing to have employed above-mentioned technical scheme, the present invention compared with prior art, has the following advantages that and actively imitates Really: magneto-rheological vibration damper and magneto servomotor are conjointly employed in vehicle hanging based on skyhook control algorithm dress by the present invention In putting, improve car body ride performance and riding comfort.The magneto-rheological vibration damper that the present invention uses is to utilize new material The magnetic flow liquid rheological behavior of Rapid reversible and a kind of New Type of Actuator of designing under variation magnetic field acts on, have power consumption low, Continuous damping force can be produced, facilitate the advantages such as control.
Accompanying drawing explanation
Fig. 1 is two degrees of freedom suspension illustraton of model；
Fig. 2 is preferable capricorn bettle Suspension Model figure；
Fig. 3 is the system construction drawing of the present invention；
Fig. 4 is the software realization figure of the present invention；
Fig. 5 is road excitation schematic diagram；
Fig. 6 is acceleration power spectral density situation of change schematic diagram at car body barycenter；
Fig. 7 is acceleration power spectral density situation of change schematic diagram at operating seat；
Fig. 8 is that at car body barycenter, acceleration changes over situation schematic diagram；
Fig. 9 is that at operating seat, acceleration changes over situation schematic diagram；
Figure 10 is that car body barycenter displacement changes over situation schematic diagram；
Figure 11 is that at operating seat, displacement changes over situation schematic diagram.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is expanded on further.Should be understood that these embodiments are merely to illustrate the present invention Rather than restriction the scope of the present invention.In addition, it is to be understood that after having read the content that the present invention lectures, people in the art The present invention can be made various changes or modifications by member, and these equivalent form of values fall within the application appended claims equally and limited Scope.
The present invention is for the purpose of improving vehicle ride performance and riding comfort, by magneto-rheological vibration damper and servomotor It is respectively applied in semi-active suspension based on skyhook control algorithm and Active suspension, builds hardware device platform and realize software Design, thus improve car body ride performance and riding comfort.
In order to achieve the above object, the technical scheme is that and provide a kind of suspension control based on skyhook control algorithm System processed, car load is typically made up of four suspension, but frequently with 1/4 car two degrees of freedom suspension mould during theory analysis Type, is illustrated in figure 1 two degrees of freedom suspension model.False coordinate initial point is chosen at respective equilbrium position, then this suspension is moved Mechanical equation is represented by
M 2 X ·· 2 + C e ( X · 2 - X · 1 ) + k s ( X 2 - X 1 ) - F = 0 M 1 X ·· 1 - C e ( X · 2 - X · 1 ) - k s ( X 2 - X 1 ) + k t ( X 1 - X 0 ) + F = 0 - - - ( 1 )
In formula, M2、M1It is respectively car body mass and wheel mass；ks、ktIt is respectively pendulum spring and wheel stiffnesses；CeIt is outstanding Hang damped coefficient；X2、X1And X0It is respectively car body, analysis of wheel vertical displacement and road roughness excitation；Upwards accelerate for car body Degree；For wheel upwards acceleration；For car body upward velocity；For wheel upward velocity；Please supplementUpwards add for car body Speed,For wheel upwards acceleration；F is control power, and when F does not acts on, above-mentioned model can be equivalent to passive suspension model.
It is illustrated in figure 2 preferable capricorn bettle suspension.The basic thought of skyhook control algorithm is in carbody and hypothesis " ceiling " between install an antivibrator.The damped coefficient of this antivibrator can produce different damping forces when changing and act on this Control suspension, play the effect of vibration damping.False coordinate initial point is chosen at respective equilbrium position, it is assumed that the spring carried mass of vehicle suspension And inertial reference has damping between ground.
Preferably skyhook damping power is:
F s = - C s X · 2 - - - ( 2 )
In formula: CsIt is skyhook damping coefficient, determines according to suspension parameter optimization.Motion side is write out according to Fig. 2 Journey is as follows:
M 1 X ·· 1 + K t ( X 1 - X 0 ) - k s ( X 2 - X 1 ) - C e ( X · 2 - X · 1 ) = 0 M 2 X ·· 2 + k s ( X 2 - X 1 ) + C e ( X · 2 - X · 1 ) + C s X · 2 = 0 - - - ( 3 )
According to the principle with skyhook damping equivalence, (half is main by magneto-rheological vibration damper for power F in the Suspension Model shown in Fig. 1 Dynamic suspension) or servomotor (Active suspension) provide, i.e. F in Fig. 1 and skyhook damping power FsThere is certain relation.Due toSo working asWithTime in the same direction, F and FsIn the same direction, therefore can be made by the size changing exciting current FsEqual with F；WhenWithTime reversely, F and FsReversely.In order to reduce both difference as far as possible, it should make F minimum. There is certain damping in view of magnetic rheological vibration damper self, therefore F minima can not get 0 value, F ∈ [Fmin,Fmax], because of The value of this F can be expressed as:
Wherein, FmaxThe maximum damping force that can produce for magneto-rheological vibration damper；FminCan produce for magneto-rheological vibration damper Little damping force；FdFor preferable capricorn bettle power；Power F in above formula is provided by MR damper.
Hanging control system includes that hardware configuration is built and software algorithm part.Hardware components mainly includes that vehicle-state passes Sensor, pci data harvester, industrial computer, programmable current source, magneto-rheological vibration damper, motor driver and servomotor, such as Fig. 3 Shown in system construction drawing.Described vehicle status sensor is acceleration transducer, is used for gathering vertical direction upper body barycenter and adds Acceleration at speed and pilot set；Described data acquisition unit is for being acquired obtaining car to vehicle status sensor Status data；Motor driver and programmable current source are controlled by described industrial computer according to described vehicle status data.Soft Part needs to realize the collection of analog input signal, filtering, integration and differential, then by above-mentioned ceiling algorithm to programmable current Source is controlled so that programmable current source exports an instruction controlling electric current, changes magnetic current variable resistance finally by current signal Buddhist nun's device one damping force feedback effect of generation, in suspension, reaches the effect of relieving system vibration, as Fig. 4 software realizes figure.
The present invention is further illustrated below with a specific embodiment.
If certain offroad vehicle travels with 9m/s uniform rectilinear on specific road surface.This test uses the 752A13 of certain company to add Velocity sensor gathers the acceleration signal at vertical direction upper body barycenter acceleration and pilot set, by hanging control In the case of MR damper output control instruction in system processed and termination are to MR damper output current-order two kinds Data acquisition, the situation of change of acceleration at display car body barycenter and operating seat.MR damper does not has in harness In the case of this suspension be equivalent to passive suspension.
Fig. 5 is certain section of moment road surface input condition.Shown in Fig. 6-Fig. 9 is acceleration change situation, due to suspension In power F that device produces that controls whole control system is served certain regulation effect, so at identical pavement conditions Under equipped with the acceleration change of vehicle vertical direction in the process of moving of MR damper and servomotor significantly lower than half Actively/Active suspension does not play situation when any effect.Position of driver and car is can be seen that from Figure 10 and Figure 11 At the body constitution heart, equipped with the suspension of MR damper and servomotor than the shaking of vertical direction of passive suspension control system Dynamic acceleration have dropped the displacement amplitude of about 70 percent vertical direction also has reduction clearly, particularly in low-frequency range Particularly evident, hence it is evident that vehicle ride performance and riding comfort can be improved.MR damper is applied to half master as can be seen here Dynamic suspension advantageously reduces the amplitude of low-frequency resonance, there is dissemination.
It is seen that, magneto-rheological vibration damper and magneto servomotor are conjointly employed in and calculate based on capricorn bettle by the present invention In the suspension device for vehicle of method, improve car body ride performance and riding comfort.The magneto-rheological vibration damper that the present invention uses It is to utilize new material the magnetic flow liquid rheological behavior of Rapid reversible and novel start of one of designing under variation magnetic field acts on Device, has that power consumption is low, can produce continuous damping force, facilitate the advantages such as control.

Claims (4)

1. a hanging control system based on skyhook control algorithm, including vehicle status sensor, data acquisition unit, industry control Machine, programmable current source, magneto-rheological vibration damper, motor driver and servomotor, it is characterised in that described vehicle status sensor For detecting vehicle status data；Described data acquisition unit is for being acquired obtaining vehicle-state to vehicle status sensor Data；Motor driver and programmable current source are controlled by described industrial computer according to described vehicle status data, described motor Driver produces a driving force and drives described servomotor feedback effect in the Active suspension of suspension, described programmable current source Producing a control electric current makes magneto-rheological vibration damper produce a damping force feedback effect in the semi-active suspension of suspension.
Hanging control system based on skyhook control algorithm the most according to claim 1, it is characterised in that described industrial computer Controlling one control electric current of programmable current source output by skyhook control algorithm makes described magneto-rheological vibration damper produce a damping Power.
Hanging control system based on skyhook control algorithm the most according to claim 1, it is characterised in that described magnetorheological The damping force size that vibroshock produces isWherein, FmaxFor magnetic current Become the maximum damping force that vibroshock can produce；FminThe minimum damping force that can produce for magneto-rheological vibration damper；CsFor skyhook damping system Number；For car body upward velocity；For wheel upward velocity；FdFor preferable capricorn bettle power.
Hanging control system based on skyhook control algorithm the most according to claim 1, it is characterised in that described vehicle shape State sensor is acceleration transducer, for gathering the acceleration at vertical direction upper body barycenter acceleration and pilot set Degree.
CN201610269968.3A 2016-04-27 2016-04-27 Suspension control system based on skyhook control algorithm Pending CN105946496A (en)

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CN106515348A (en) * 2016-12-23 2017-03-22 长春孔辉汽车科技股份有限公司 Intelligent accelerated speed damping semi-active control method for vehicle suspension system
CN109271680A (en) * 2018-08-28 2019-01-25 华南理工大学 A method of 1/4 car model is equivalent to two-freedom model
CN110341414A (en) * 2019-06-25 2019-10-18 江苏大学 A kind of continuously linear capricorn bettle lower suspension adaptive optimal conmtrol system and method
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
CN114619827A (en) * 2020-12-11 2022-06-14 本田技研工业株式会社 Electric suspension device

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CN114619827B (en) * 2020-12-11 2024-03-29 本田技研工业株式会社 Electric suspension device
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
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Application publication date: 20160921