CN106094799A - Electromagnetic suspension regulation controller - Google Patents
Electromagnetic suspension regulation controller Download PDFInfo
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- CN106094799A CN106094799A CN201610541063.7A CN201610541063A CN106094799A CN 106094799 A CN106094799 A CN 106094799A CN 201610541063 A CN201610541063 A CN 201610541063A CN 106094799 A CN106094799 A CN 106094799A
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- processor
- signal
- ecu
- vibration damper
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
Abstract
The present invention relates to a kind of electromagnetic suspension regulation controller, be connected with processor with secure processing module including ECU power management module, fault diagnosis；Signal acquisition module includes acceleration transducer and signal conditioning circuit, and sensor signal inputs to processor after being amplified filtering；MR vibration damper drive control module is driven output to control by executor's power management, PWM and executor's current feedback circuit forms, PWM waveform for exporting processor is amplified exporting target current and controls the solenoid of MR vibration damper, and the actual current of Real-time Feedback solenoid makes real work electric current close to desired value to processor, the electric current being compensated output by closed loop control.Beneficial effect of the present invention: provide a kind of fast response time, output accuracy high, low in energy consumption and there is communication function and adapt to the electromagnetic suspension regulation controller of automotive grade complex working condition environment.
Description
Technical field
The present invention relates to a kind of automatically controlled half active or ECU controller of Active suspension, a kind of electromagnetic suspension regulation
Controller.
Background technology
Magnetic flow liquid (Magnetorheological Fluid, be called for short MR fluid) is by high magnetic permeability, low hysteresis
Small soft magnetic particles and a kind of intellectual material of non-magnetic liquid mixing.Under additional the action of a magnetic field, magnetic flow liquid
Rheological behavior change, and change along with the change of applied field strengths.Owing to magnetic flow liquid is under the action of a magnetic field
Rheology be moment, reversible and shear yield strength after its rheology and magnetic field intensity have stable corresponding relation,
Therefore the fields such as automobile, building, bridge, machinery and military project it are widely used in.
Automotive suspension refers to be formed whole support system by the spring between vehicle body and tire and amortisseur.Its effect is transmission
Acting on the power between wheel and vehicle frame, buffering is passed to the impulsive force of vehicle frame or vehicle body by uneven road surface, and decay thus causes
Vibrations, to ensure that automobile can smoothly travel.Therefore suspension system decides the stability of car, comfortableness and safety,
It is one of the most crucial parts of Modern Car.The most adjustable according to suspension stiffness coefficient and amortisseur damped coefficient, vapour
Suspension can be divided into passively, half active and Active suspension.Semi-active suspension system is typically by sensor, controller, driver
Form with executor, there is the function being adjusted amortisseur damped coefficient or spring rate system within the specific limits.
Auto magnetorheological liquid amortisseur is strong by changing the magnetic field of the size adjustment amortisseur damp channel driving electric current
Degree so that the magnetic rheological liquid in damp channel produces magnetic rheology effect.Along with the increase of magnetic field intensity, magnetic rheology effect is the most aobvious
Write, as long as therefore the electric current of regulation MR vibration damper just can reach the purpose controlling damping force of vibration damper, there is reversibility
(magnetic field eliminate after magnetic flow liquid can recover initial condition), dynamic range wide (output damping force size variation is obvious), stepless can
Adjust, the feature such as response frequency high (ms Millisecond), low in energy consumption and simple in construction.
How to make magnetorheological fluid shock absorber along with running conditions of vehicle change Sustainable Control amortisseur dynamic response and
The accurately output of damping adjusting power is based on magnetic flow liquid damping to reach the optimal effectiveness of automobile ride and control stability
The core technology of the semi-active suspension of device.Prior art uses 8 single-chip microcomputers as ECU controller, there is input signal and adopt
Sample resolution is the highest, processor because of handling capacity little, dominant frequency is low and causes that response speed is low, PWM drives control accuracy the highest and nothing
Method realizes fault diagnosis and the security of system surveillance and control measure that software and hardware combines.
Summary of the invention
For Key technique problem and the deficiencies in the prior art of above-mentioned MR vibration damper, the present invention provides a kind of and rings
Answer that speed is fast, output accuracy is high, low in energy consumption and there is communication function and adapt to the electromagnetic suspension of automotive grade complex working condition environment and adjust
Joint controller.
It is an object of the invention to complete by following technical solution.This electromagnetic suspension regulation controller, including ECU
Hardware & software system part；By ECU power management module, signal acquisition module, processor system module, fault diagnosis and peace
Full processing module, CAN communication module, MR vibration damper drive control module and software system module composition；The softest
Part system module is formed two large divisions formed by ECU basic software (BSW) and application software (ASW).ECU power management module with
Processor is connected, for 12V accumulator (power supply on vehicle) voltage carrying out linear voltage stabilization and exporting the 5V work of ECU controller
Voltage, realizes the electrification reset to ECU monolithic processor simultaneously and hardware watchdog processes function；Signal acquisition module includes adding
Velocity sensor and signal conditioning circuit, sensor signal inputs to processor after being amplified filtering；Fault diagnosis and safety
Processing module is connected with processor, for ECU data monitoring and troubleshooting；MR vibration damper drive control module and place
Reason device is connected, and MR vibration damper drive control module is driven output to control by executor's power management, PWM and executor's electricity
Current feedback circuit forms, and controls MR vibration damper for the PWM waveform of processor output is amplified export target current
Solenoid, and the actual current of Real-time Feedback solenoid is to processor, and the electric current being compensated output by closed loop control is made
Real work electric current close to desired value, to reach precisely to regulate damping force of vibration damper.
Signal acquisition module inputs to processor after sensor signal is amplified filtering.The ECU controller of the present invention
Sensor type for analog-and digital-formula distinct interface devises corresponding acquisition process circuit, for analog sensor warp
After crossing amplifying circuit, signal amplitude is amplified to the signal of 0～5V and inputs to processor after being filtered by low pass filter
ADC interface；Digital SPI interface sensor is connected to processor according to SPI interface standard, and software realizes SPI interface and drives journey
Sequence also reads the data signal of sensor.Carry owing to electromagnetic suspension of the present invention regulation controller control algolithm needs to calculate vehicle spring
Relative Vibration speed between vertical vibration absolute velocity and spring carried mass and the nonspring carried mass of quality, subtracts by being arranged on
Vertical acceleration sensors bottom shake device top and back seat is gathered vibration acceleration signal and is obtained by computed in software
The inputted vibration signal of control algolithm.
Processor system module is mainly made up of hardware and software, and its hardware is the minimum realizing automotive grade monolithic processor
System, mainly provides external system clock signal accurately, reliable processor reset signals and the guarantee normal work of processor
The accurate power made and the configuration of correct input and output I/O mouth.Software is the core of the ECU controller system of the present invention, input
The process of signal calculates, and the enforcement of control algolithm, control and compensation calculate and PWM duty cycle output, ECU fault diagnosis and safety prison
Control, CAN communication application etc. are all to be realized by software.
Fault diagnosis and secure processing module mainly realize ECU data monitoring and troubleshooting, it is ensured that security of system is reliable
The function of work, is made up of fault diagnosis and two modules of safe handling.ECU ruuning situation can be carried out by fault diagnosis functions
In real time monitoring, can failure judgement information being stored in memorizer ECU within DTC, maintenance when ECU breaks down
Personnel can read failure code the fault message failure judgement reason by display by diagnostic tool.The fault inspection of the present invention
Survey and mainly include input signal (sensor) Function detection, monolithic processor Function detection, executor's power supply and flash intelligence merit
The detection of rate switching function, low limit drive intelligent device detection and each blocks current of ECU and the monitoring of temperature.Safe handling mould
Block prevents the harm such as electromagnetic interference, electrostatic defending, surge impact by hardware redundancy design, is implanted by software cryptography and trap
Technology realizes ECU security of system reliability service, and prevents software from illegally copying and process software work extremely.
CAN communication module is made up of CAN interface and CAN2.0 standard driver, CAN interface by
The CAN2.0 controller of reason device forms with CAN2.0 standard transceiver, the differential data line of CAN2.0 standard transceiver access
CAN network.It is capable of between ECU parameter calibration, fault diagnosis, software upgrading and maintenance, ECU sharing letter by CAN
The functions such as breath.
MR vibration damper drive control module is driven output to control and executor's electric current by executor's power management, PWM
Feedback circuit forms.Major function is that the PWM waveform to processor output is amplified exporting target current and controls magnetorheological to subtract
The solenoid of shake device, and the actual current of Real-time Feedback solenoid is to processor, is compensated the electricity of output by closed loop control
Stream make real work electric current close to desired value, to reach precisely to regulate the effect of damping force of vibration damper.
Software system module is on the basis of ECU controller hardware platform, exploitation design under IDE,
And it is finally embedded in the operation of ECU controller hardware platform.Software system is divided into basic software and mission application software, hardware connect
Mouth layer, hardware driving layer and task application layer composition, wherein basic software includes interface and drives layer segment, and it is right mainly to complete
The initialization of ECU hardware platform and provide guidings, driving, clock for application software, interrupt and the running environment preparation such as scheduling.Should
Then it is made up of task module that is independent of one another and that connect each other with software, the Real-Time Scheduling administrative mechanism provided by basic software
The the most reliable of the tasks such as such as signal acquisition process, control algolithm application, communications applications is realized with supporting API driving function
Work.The principle of real-time task scheduling administrative mechanism is to be produced 500 microseconds, 1 millisecond and 5 millisecond three respectively by timer interruption
Individual task level is interrupted, and according to priority, the task of system is first divided into 3 Interruption ranks, appointing in the most each rank
Business carries out two times scheduling according to dynamic priority by finite state machine, and the mechanism that this two-stage is dispatched layer by layer ensure that high preferential
The priority of task of level takies hardware resource and runs so that automatically controlled semi-active suspension ECU based on magnetorheological fluid shock absorber controls
Device system real-time ensuring can be carried out the Sustainable Control regulation of 1000 times and can adopt by reliable treatments such as signal in real time in 1 second
Collection, process, computing, diagnose and the multitask application such as communicate.
The invention have the benefit that
The electromagnetic suspension regulation controller that the present invention provides, uses 16 high-speed processor chip of automotive grade, high workload
Frequency is up to 100Mhz, and whole ECU controller hardware system operating current is at about 150mA, underpower 1W.Energy in 1 second
Enough carry out the Sustainable Control regulation of 1000 times, not only simplify the circuit design of ECU, reduce system power dissipation, realizing again simultaneously
Have fast response time in miscellaneous control algolithm and system application management, control accuracy is high, flexibility is strong, inferred-zero drift
Feature with real-time.
The present invention uses the signals collecting of digital-to-analog formula interface, it is possible to compatible analog or digital sensor connect
Mouthful.Analog sensor inputs the ADC interface to processor after amplifying Filtering Processing, the ADC interface conversion of 12 bit resolutions
Rate, up to 100us, is fully able to realize the vibration acceleration signal to 0～about 100hz and processes.Employing SPI interface can be real
Now to digital acceleromete or the collection of temperature sensor signal, SPI interface disclosure satisfy that baud rate reaches 10Mbps
Collecting sensor signal.
The present invention uses high-low side smart power device to control to drive the technology of executor, wherein flash smart power device
Realize executor's power supply control management and high side voltage crosses the function of stream, overvoltage, short circuit and monitoring temperature, low limit intelligence merit
Rate device realizes PWM and controls executor's average current and low side device troubleshooting function.There are 4 tunnel outputs control to realize respectively
The electromagnetic actuator of before and after automotive semi-active suspension 4 magnetorheological fluid shock absorbers is controlled.The mode using fixed frequency modulated PWM exports
16 bit periods are 10khz, the PWM waveform that dutycycle is continually changing, and its dynamic regulating time is 100us, and precision is up to 216Close
The resolution of 65536.The present invention drive control process use low resistance, in high precision, high-power precision resistance be serially connected in execution
Realize the closed loop control to actual current value sampling on device solenoid, use transient state inversion diode (TVS) to be connected in parallel on electromagnetism
The reverse transient energy impulse that driver switch moment inductive load end of drawing up on coil is formed.
The present invention uses the communication interface of CAN2.0 standard agreement to realize high-speed CAN bus communication function, and traffic rate can
Reach 1Mbps, it is possible to realize integrated and compatible in automobile CAN-bus network of ECU controller.
Accompanying drawing explanation
Fig. 1 is that electromagnetic suspension regulates controller hardware theory diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing the present invention done detailed introduction:
It is illustrated in figure 1 a kind of ECU controller hardware system principle diagram that preferred embodiment of the present invention provides.By
Signal condition, power supply and system administration, processor unit, actuator driven control, fault diagnosis and safe handling, CAN communication
The module compositions such as interface.The dual microprocessors of new generation of described invention ECU controller embodiment preferred Freescale company
MC9S12XET256 singlechip chip, this monolithic processor has 32 performances and all advantages of 16 MCU and effect, simultaneously
Remain the features such as existing 16 S12 and the S12X kernel low costs of Freescale, low-power consumption, EMC and efficient code rate, be special
Door is applied to the processor chips of automobile chassis security and automobile body control.BDM interface is MC9S12XET256 processor chips
Software debugging emulation hardware interface, is carried out ECU software based on MC9S12XET256 processor under IDE IDE
Debugging, emulation and programming.MC9S12XET256 processor realizes the input signal collection of ECU control system and calculates with process, control
The computing of method, executor PWM control the functions such as output, fault diagnosis and security of system monitoring, CAN communication.
Analog vertical acceleration sensors is selected in the signal input of the preferred embodiment of the present invention, it is possible to output 0～5V, width
Value is +/-3g, frequency response (0～200hz scope), nonlinearity erron vertical vibration signal about +/-50mg, by low
ADC (analog-to-digital converters) sampling processing of monolithic processor it is directly inputted into after bandpass filter.Single
The ADC channel of sheet processor also is responsible for the current feedback signal to executor's power control unit, executor's current feedback signal
And the sampling processing of the temperature signal of ECU control system temperature sensor.
The driving of the preferred embodiment of the present invention controls output and is controlled and executor by the control of executor's power supply, actuator driven
Inspection stream feedback composition, the electric current that can control 2 to No. 4 amortisseur solenoids controls.Processor I/O mouth connects intelligence flash merit
Rate switching device, controls the safety management to executor's solenoid power supply, and it is low that processor PWM signal output channels connects intelligence
Limit controls switching device, to realize reaching the frequent break-make in executor's solenoid loop to control solenoid work
The purpose of electric current.Low resistance, high-precision sampling resistor are serially connected on the solenoid loop of executor, sampling resistor two ends
The ADC that voltage difference inputs to processor after amplifying filtering is by realizing feedback to executor loop real work electric current.
In addition to the implementation, the technical scheme that all employing equivalents or equivalent transformation are formed, all fall within the present invention and want
The protection domain asked.
Claims (3)
1. an electromagnetic suspension regulation controller, it is characterised in that: mainly include processor, ECU power management module and process
Device is connected, for 12V power supply on vehicle voltage carrying out linear voltage stabilization and exporting the 5V running voltage of ECU controller, the most real
Now electrification reset and hardware watchdog to ECU monolithic processor process function；Signal acquisition module includes acceleration transducer
And signal conditioning circuit, sensor signal inputs to processor after being amplified filtering；Fault diagnosis and secure processing module with
Processor is connected, for ECU data monitoring and troubleshooting；MR vibration damper drive control module is connected with processor
Connecing, MR vibration damper drive control module is driven output to control by executor's power management, PWM and executor's current feedback electricity
Road forms, and controls the electromagnetic wire of MR vibration damper for the PWM waveform of processor output is amplified export target current
Circle, and the actual current of Real-time Feedback solenoid is to processor, compensates, by closed loop control, the electric current exported and makes actual work
Make electric current close to desired value, to reach precisely to regulate damping force of vibration damper.
Electromagnetic suspension the most according to claim 1 regulation controller, it is characterised in that: for analog sensor through putting
The signal that signal amplitude is amplified to after big circuit 0～5V the ADC inputted after being filtered by low pass filter to processor are connect
Mouthful；Digital SPI interface sensor is connected to processor according to SPI interface standard, it is achieved SPI interface driver also reads biography
The data signal of sensor.
Electromagnetic suspension the most according to claim 1 regulation controller, it is characterised in that: at amortisseur top and back seat
Bottom is provided with vertical acceleration sensors and gathers vibration acceleration signal and by being calculated the inputted vibration of control algolithm
Signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610541063.7A CN106094799A (en) | 2016-07-11 | 2016-07-11 | Electromagnetic suspension regulation controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610541063.7A CN106094799A (en) | 2016-07-11 | 2016-07-11 | Electromagnetic suspension regulation controller |
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| Publication Number | Publication Date |
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| CN106094799A true CN106094799A (en) | 2016-11-09 |
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| CN201610541063.7A Pending CN106094799A (en) | 2016-07-11 | 2016-07-11 | Electromagnetic suspension regulation controller |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945479A (en) * | 2017-03-10 | 2017-07-14 | 江苏大学 | A kind of multi-functional independent suspension control system and its control method |
| CN108995496A (en) * | 2018-09-05 | 2018-12-14 | 南京林业大学 | A kind of suspension control system based on tire vibration input |
| CN112923008A (en) * | 2021-01-25 | 2021-06-08 | 南京林业大学 | Magnetorheological damping integrated device and Internet of things system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616104A (en) * | 2012-03-27 | 2012-08-01 | 万向钱潮股份有限公司 | Electronic control semi-active suspension ECU (electronic control unit) system based on magnetorheological fluid shock absorber |
-
2016
- 2016-07-11 CN CN201610541063.7A patent/CN106094799A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616104A (en) * | 2012-03-27 | 2012-08-01 | 万向钱潮股份有限公司 | Electronic control semi-active suspension ECU (electronic control unit) system based on magnetorheological fluid shock absorber |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945479A (en) * | 2017-03-10 | 2017-07-14 | 江苏大学 | A kind of multi-functional independent suspension control system and its control method |
| CN106945479B (en) * | 2017-03-10 | 2019-03-05 | 江苏大学 | A kind of multi-functional independent suspension control system and its control method |
| CN108995496A (en) * | 2018-09-05 | 2018-12-14 | 南京林业大学 | A kind of suspension control system based on tire vibration input |
| CN112923008A (en) * | 2021-01-25 | 2021-06-08 | 南京林业大学 | Magnetorheological damping integrated device and Internet of things system |
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Application publication date: 20161109 |
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