CN105946497A - Complete vehicle posture control method - Google Patents
Complete vehicle posture control method Download PDFInfo
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- CN105946497A CN105946497A CN201610541164.4A CN201610541164A CN105946497A CN 105946497 A CN105946497 A CN 105946497A CN 201610541164 A CN201610541164 A CN 201610541164A CN 105946497 A CN105946497 A CN 105946497A
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- height
- electromagnetic valve
- overall height
- regulation
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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
- B60G17/0182—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 involving parameter estimation, e.g. observer, Kalman filter
-
- 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
- B60G2400/05—Attitude
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
- B60G2500/302—Height or ground clearance using distributor valves
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a complete vehicle posture control method which comprises the following steps: (1) separately obtaining real-time vehicle body height signals at four corners of a vehicle as well as a body pitching angle and side rake angle real-time signal which reflects the complete vehicle posture by a vehicle body height sensor and a gyroscope; (2) transmitting the body height signal and the body pitching angle and side rake angle signal to a system controller; (3) determining, by the controller, an on-off status of a corresponding solenoid valve within unit sampling time according to a preset complete vehicle height regulating control strategy, and modifying on-state duration of the corresponding solenoid valve within the unit sampling time according to the preset complete vehicle posture control strategy and a pulse width modulating technology, thereby obtaining a duty ratio of each solenoid valve at a practical on status; and (4) transmitting a control signal of the corresponding solenoid valve to the solenoid valve by the controller, thereby completing real-time control on the on-off status of solenoid valves in a vehicle height regulating and complete vehicle posture combined control process.
Description
Technical field
The present invention relates to car load attitude control method, refer in particular to be to meet while bodywork height effectively regulates, also
The method that during overall height regulates, car load attitude well controls can be realized.
Background technology
Electronic control air suspension can significantly improve vehicle suspension combination property, it has also become answering of field of automobile suspension
With focus, its active realizing multiple characteristic such as suspension rate, damping by using electron controls technology regulates,
Wherein, bodywork height regulation is one of its featured function.System is by carrying out inflation/deflation to air spring, not only
Windage and oil consumption can be reduced when high vehicle speeds by reducing bodywork height raising vehicle grounding performance,
By promoting the bodywork height reduction suspension spacing probability of shock simultaneously when can also run at a low speed on crankcase ventilaton, carry
High driving through property of vehicle.
In electronic control air suspension overall height regulation system, the inflation/deflation of air spring is to be entered by high-speed switch electromagnetic valve
Row controls, but owing to the inlet, outlet of electromagnetic valve is relatively big, and therefore, no matter the reaction of electromagnetic valve has the sensitiveest,
The gas being likely to have excess is filled with or releases air bag, thus causes bodywork height deviation expectation target high
Degree.Meanwhile, if once bodywork height deviation desired value just carries out overall height regulation, electromagnetic valve will be caused
On off operating mode frequently switches and oscillatory occurences near bodywork height desired value.Therefore, rational overall height is formulated
Regulation control strategy is significant for the effectively regulation realizing bodywork height.
Additionally, due to car load spring carried mass skewness and change at random, and air suspension overall height regulation front and back
The difference of systematic parameter (including length of pipe and diameter), will cause overall height regulation at vehicle corner asynchronous,
Thus cause the vehicle body angle of pitch and angle of heel excessive, not only have a strong impact on the stability of car load attitude, also result in
Passenger's riding comfort reduces.Therefore, during overall height regulates, for overall height regulation difference at vehicle corner
The phenomenon of step, also needs to design corresponding car load Attitude Control Strategies and control effectively it.
Summary of the invention
It is an object of the invention to propose car load attitude control method, realizing while bodywork height effectively regulates,
By car load Attitude Control Strategies, overall height regulation at vehicle corner is modified further, thus realizes overall height and adjust
Car load gesture stability during joint.
For reaching above-mentioned purpose, the technical solution adopted in the present invention is:
Car load attitude control method, comprises the following steps,
(1) be utilized respectively height sensor and gyroscope obtain at vehicle corner real-time bodywork height signal with
And reflect the vehicle body angle of pitch and the vehicle roll angle live signal of car load attitude；
(2) by described bodywork height signal and the vehicle body angle of pitch and angle of heel real-Time Signal Transfer to system control
Device；
(3) described system controller is previously provided with overall height regulation control strategy and car load Attitude Control Strategies, controls
First device regulates control strategy according to real-time bodywork height signal and described overall height and determines in overall height regulation system and fill
The on off operating mode of the elements such as pneumoelectric magnet valve, pressure-releasing electromagnetic valve and air spring electromagnetic valve, then controller root again
According to the described vehicle body angle of pitch and angle of heel live signal and car load Attitude Control Strategies and pulse modulation technology pair
Four air spring electromagnetic valves opening persistent period within the unit sampling time is modified, thus draws
The dutycycle of the actual opening of each electromagnetic valve；
(4) the actual control signal of corresponding electromagnetic valve is finally transferred to electromagnetic valve by described system controller, completes car
During top adjustment and car load attitude jointly control, the real-time of electromagnetic valve on off operating mode controls.
Preferably, (at the near front wheel as a example by overall height regulation, remaining takes turns place's class to described overall height regulation control strategy as follows
Like):
(1) for avoiding overall height regulation action to be frequently executed, set up overall height regulation stagnant near target carriage height angle value
Return interval [ho-h1, ho+h1], wherein, hoFor target bodywork height, h1For hysteresis interval setting value；For preventing
Overcharge because of air spring or excessively put the bodywork height caused and overregulate, set up near target carriage height angle value simultaneously
Allow regulation error [-he,+he], wherein, heFor allowable error setting value；
(2) interval by comparing bodywork height live signal and target bodywork height regulation hysteresis at the near front wheel, determine
The regulation action that system will perform, i.e. as h≤ho-h1Time, overall height rises；As h >=ho+h1Time, overall height
Decline；Wherein, h is current bodywork height；
(3) if overall height needs to rise, in uphill process, h=h is worked aso-heTime, then uphill process terminates；If car
Height needs to decline, and during declining, works as h=ho+heTime, then the process that declines terminates；
(4) in overall height uphill process, at inflation electromagnetic valve and the near front wheel, air spring electromagnetic valve is opened, venting electricity
Magnet valve is closed；During overall height declines, pressure-releasing electromagnetic valve and air spring electromagnetic valve are opened, and inflate electromagnetic valve
Close.
While the purpose of above-mentioned steps is that realizing bodywork height effectively regulates, moreover it is possible to realize electromagnetic valve switch shape
Directly controlling of state.
Preferably, overall height regulation and car load gesture stability comprise but are not limited only to the form with electronic control air suspension in fact
Existing, it is also possible to otherwise, such as automatically controlled hydro pneumatic suspension etc., this is understood to wanting less than appended right
Seek scope.
From the above technical solution of the present invention shows that, it has the beneficial effects that to first pass through and arranges rational overall height tune
Joint control strategy determines the on off operating mode of each electromagnetic valve, it is achieved effective regulation of bodywork height, on this basis,
(the vehicle body angle of pitch and angle of heel exceed and set to formulate further car load attitude instability phenomenon during regulating for overall height
Definite value) Attitude Control Strategies, by adjust respective air spring electromagnetic valve opening persistent period, right
At vehicle corner, overall height regulation process is modified, thus realizes effective control of car load attitude.
Accompanying drawing explanation
Fig. 1 is that electronic control air suspension car load overall height regulates system construction drawing；
Fig. 2 is that the regulation of electronic control air suspension bodywork height jointly controls schematic diagram with car load attitude；
In figure: at 1-the near front wheel at height sensor 2-the near front wheel at vibroshock 3-left front vehicle body 4-the near front wheel
At air spring 5-the near front wheel, air spring electromagnetic valve 6-pipeline 7-inflates electromagnetic valve 8-air drier 9-gas storage
The left back car of air spring 13-at air spring electromagnetic valve 12-left rear wheel at tank 10-air compressor 11-left rear wheel
At body 14-left rear wheel, at vibroshock 15-left rear wheel, at height sensor 16-off-front wheel, bodywork height senses
Air spring at air spring 20-off-front wheel at vibroshock 18-right front of the car 19-off-front wheel at device 17-off-front wheel
Electromagnetic valve 21-check valve 22-pressure-releasing electromagnetic valve 23-ECU24-atmospheric environment 25-motor 26-control signal 27-
Vibration damping at air spring 30-off hind wheel at air spring electromagnetic valve 28-right rear 29-off hind wheel at off hind wheel
Height sensor at device 31-off hind wheel
Detailed description of the invention
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
As it is shown in figure 1, electronic control air suspension car load overall height regulation system mainly include air suspension at the near front wheel,
Air suspension and relevant pneumatic element group at air suspension, off hind wheel at air suspension, left rear wheel at off-front wheel
Becoming, wherein, at the near front wheel, air suspension mainly includes vibroshock 2, the near front wheel at left front vehicle body 3, the near front wheel
Place's air spring 4, at the near front wheel, bodywork height is monitored by the near front wheel height sensor 1, at the near front wheel
Air spring electromagnetic valve 5 is for regulating the inflation/deflation of air spring 4 at the near front wheel；Air suspension master at off-front wheel
Including air spring 19, vehicle body at off-front wheel at vibroshock 17, off-front wheel at right front of the car 18, off-front wheel
Height is monitored by off-front wheel height sensor 16, and at off-front wheel, air spring electromagnetic valve 20 is used for regulating
The inflation/deflation of air spring 19 at off-front wheel；At left rear wheel, air suspension mainly includes left back vehicle body 13, left back
Air spring 12 at vibroshock 14, left rear wheel at wheel, at left rear wheel, bodywork height is by left rear wheel bodywork height
Sensor 15 is monitored, and at left rear wheel, air spring electromagnetic valve 11 is for regulating air spring 12 at left rear wheel
Inflation/deflation；At off hind wheel, air suspension mainly includes vibroshock 30, off hind wheel at right rear 18, off hind wheel
Place's air spring 29, at off hind wheel, bodywork height is monitored by off hind wheel height sensor 31, off hind wheel
Place's air spring electromagnetic valve 27 is for regulating the inflation/deflation of air spring 29 at off hind wheel.When bodywork height needs
When rising and speed are more than 40km/h, ECU23 (controller) sends control signal 26 and opens motor 25, this
Time flow to pipeline 6 from the gases at high pressure of air compressor 10 by air drier 8 and check valve 21, if
Speed is less than or equal to 40km/h, and inflation electromagnetic valve 7 is opened, and flows to pipe from the gases at high pressure in air accumulator 9
Road 6；When bodywork height needs to reduce, pressure-releasing electromagnetic valve 22 is opened, and the gas in pipeline 6 flows directly into
Atmospheric environment 24.
Regulating system for the electronic control air suspension car load overall height shown in Fig. 1, the bodywork height that the present invention proposes is adjusted
Joint and car load attitude jointly control principle as in figure 2 it is shown, sense by being placed in the bodywork height at vehicle corner
Bodywork height at vehicle corner monitored in real time by device, and reflects the vehicle body angle of pitch and the vehicle roll angle letter of car load attitude
Number then provided by gyroscope, simultaneously for determine the source of gases at high pressure when bodywork height promotes, utilize speed to sense
Real-time for vehicle GES is transferred to system controller by device.
Described system controller is previously provided with ride height control strategy and car load Attitude Control Strategies, system
First according to overall height regulation control strategy and bodywork height live signal, the on off operating mode of corresponding electromagnetic valve is carried out
Judge, such as, if bodywork height needs to reduce at the near front wheel, then air spring electromagnetic valve and venting at the near front wheel
Electromagnetic valve needs to open, if bodywork height needs lifting and speed less than 40km/h, then off-front wheel at off-front wheel
Place's air spring electromagnetic valve and inflation electromagnetic valve need to open.On this basis, system is further according to car load appearance
State control strategy and pulse modulation technology and the vehicle body angle of pitch and angle of heel live signal are to respective air spring
The electromagnetic valve opening persistent period within the unit sampling time is modified, thus draws each air spring electricity
The dutycycle of the actual opening of magnet valve, ultimately forms the regulation of electronic control air suspension overall height and car load gesture stability mistake
Air compressor, inflation electromagnetic valve, pressure-releasing electromagnetic valve, left front air spring electromagnetic valve, right front air bullet in journey
The real-time control signal of air spring electromagnetic valve behind spring electromagnetic valve, left back air spring electromagnetic valve and the right side.
Described overall height regulation control strategy following (at the near front wheel as a example by overall height regulation, remaining place of wheel is similar to):
(1) for avoiding overall height regulation action to be frequently executed, set up overall height regulation stagnant near target carriage height angle value
Return interval [ho-h1, ho+h1], wherein, hoFor target bodywork height, h1For hysteresis interval setting value, set herein
It is set to 3.5mm；Overregulate, at target vehicle body for preventing from overcharging because of air spring or excessively putting the bodywork height caused
Set up permission regulation error [-h near height value simultaneouslye,+he], wherein, heFor allowable error setting value, this
Place is set as 2mm；
(2) interval by comparing bodywork height live signal and target bodywork height regulation hysteresis at the near front wheel, determine
The regulation action that system will perform, i.e. as h≤ho-h1Time, overall height rises；As h >=ho+h1Time, overall height
Decline；Wherein, h is current bodywork height at the near front wheel；
(3) if overall height needs to rise, in uphill process, h=h is worked aso-heTime, then uphill process terminates；If car
Height needs to decline, and during declining, works as h=ho+heTime, then the process that declines terminates；
(4) in overall height uphill process, at inflation electromagnetic valve and the near front wheel, air spring electromagnetic valve is opened, venting electricity
Magnet valve is closed；During overall height declines, pressure-releasing electromagnetic valve and air spring electromagnetic valve are opened, and inflate electromagnetic valve
Close.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that:
These embodiments can be carried out in the case of without departing from the principle of the present invention and objective multiple change, amendment,
Replacing and modification, the scope of the present invention is limited by claim and equivalent thereof.
Claims (2)
1. car load attitude control method, it is characterised in that comprise the steps:
Step 1, be utilized respectively height sensor and gyroscope obtain at vehicle corner real-time bodywork height signal with
And reflect the vehicle body angle of pitch and the vehicle roll angle live signal of car load attitude；
Step 2, by described bodywork height signal and the vehicle body angle of pitch and vehicle roll angle real-Time Signal Transfer to system
Controller；
Step 3, is previously provided with overall height regulation control strategy and car load Attitude Control Strategies, control in described system controller
First device processed regulates control strategy according to real-time bodywork height signal and described overall height and determines in overall height regulation system
The on off operating mode of the elements such as inflation electromagnetic valve, pressure-releasing electromagnetic valve and air spring electromagnetic valve, then controller is again
According to the described vehicle body angle of pitch and vehicle roll angle live signal and car load Attitude Control Strategies and pulsewidth modulation
Four air spring electromagnetic valves opening persistent period within the unit sampling time is modified by technology, from
And draw the dutycycle of the actual opening of each electromagnetic valve；
Step 4, the actual control signal of corresponding electromagnetic valve is finally transferred to electromagnetic valve, completes by described system controller
During overall height regulation and car load attitude jointly control, the real-time of electromagnetic valve on off operating mode controls.
Car load attitude control method the most according to claim 1, it is characterised in that adjust with overall height at the near front wheel
As a example by joint, remaining place of wheel is similar to, and described overall height regulation control strategy is as follows:
Step 3.1, sets up the overall height interval [h of regulation hysteresis near target carriage height angle valueo-hl, ho+hl], wherein, ho
For target bodywork height, hlFor hysteresis interval setting value；The car caused is put for preventing from overcharging because of air spring or crossing
Height spends regulation, sets up permission regulation error [-h near target carriage height angle value simultaneouslye,+he], wherein,
heFor allowable error setting value；
Step 3.2, interval by comparing bodywork height live signal and target bodywork height regulation hysteresis at the near front wheel,
Determine the regulation action that system will perform, i.e. as h≤ho-hlTime, overall height rises；As h >=ho+hlTime,
Overall height declines；Wherein, h is current bodywork height；
Step 3.3, if overall height needs to rise, in uphill process, works as h=ho-heTime, then uphill process terminates；
If overall height needs to decline, during declining, work as h=ho+heTime, then the process that declines terminates；
Step 3.4, in overall height uphill process, at inflation electromagnetic valve and the near front wheel, air spring electromagnetic valve is opened, and puts
Gas closed electromagnetic valve；During overall height declines, pressure-releasing electromagnetic valve and air spring electromagnetic valve are opened, inflation electricity
Magnet valve is closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610541164.4A CN105946497A (en) | 2016-07-11 | 2016-07-11 | Complete vehicle posture control method |
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| CN201610541164.4A CN105946497A (en) | 2016-07-11 | 2016-07-11 | Complete vehicle posture control method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053989A (en) * | 2017-03-22 | 2017-08-18 | 江南大学 | Automotive electronics damping and posture augmentation control system, method |
| CN109353178A (en) * | 2018-08-08 | 2019-02-19 | 江苏大学 | A kind of electronic control air suspension vehicle attitude control system and method |
| CN109649106A (en) * | 2018-12-03 | 2019-04-19 | 珠海格力电器股份有限公司 | A kind of air suspension height control system and control method |
| CN111660749A (en) * | 2020-06-29 | 2020-09-15 | 厦门金龙联合汽车工业有限公司 | Method for controlling height of air suspension vehicle body |
| CN113015636A (en) * | 2018-10-25 | 2021-06-22 | 日立安斯泰莫株式会社 | Suspension system |
| CN113525007A (en) * | 2020-04-17 | 2021-10-22 | 陕西重型汽车有限公司 | Intelligent suspension system of automobile |
| CN114312198A (en) * | 2022-01-30 | 2022-04-12 | 中国第一汽车股份有限公司 | Vehicle body height control method, system, vehicle and storage medium |
| CN117549705A (en) * | 2023-11-13 | 2024-02-13 | 山东大学 | Distributed vehicle height adjusting method and system |
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| CN105599558A (en) * | 2016-01-15 | 2016-05-25 | 江苏大学 | Electronic control air suspension vehicle body height adjustment and whole vehicle posture combined control method |
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| CN203046799U (en) * | 2012-12-14 | 2013-07-10 | 宁波孔辉汽车科技有限公司 | System capable of adjusting posture of automobile body |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053989A (en) * | 2017-03-22 | 2017-08-18 | 江南大学 | Automotive electronics damping and posture augmentation control system, method |
| CN109353178A (en) * | 2018-08-08 | 2019-02-19 | 江苏大学 | A kind of electronic control air suspension vehicle attitude control system and method |
| CN113015636A (en) * | 2018-10-25 | 2021-06-22 | 日立安斯泰莫株式会社 | Suspension system |
| CN109649106A (en) * | 2018-12-03 | 2019-04-19 | 珠海格力电器股份有限公司 | A kind of air suspension height control system and control method |
| CN113525007A (en) * | 2020-04-17 | 2021-10-22 | 陕西重型汽车有限公司 | Intelligent suspension system of automobile |
| CN111660749A (en) * | 2020-06-29 | 2020-09-15 | 厦门金龙联合汽车工业有限公司 | Method for controlling height of air suspension vehicle body |
| CN111660749B (en) * | 2020-06-29 | 2021-08-03 | 厦门金龙联合汽车工业有限公司 | Method for controlling height of air suspension vehicle body |
| CN114312198A (en) * | 2022-01-30 | 2022-04-12 | 中国第一汽车股份有限公司 | Vehicle body height control method, system, vehicle and storage medium |
| CN117549705A (en) * | 2023-11-13 | 2024-02-13 | 山东大学 | Distributed vehicle height adjusting method and system |
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