CN106114116A - 一种主动平衡式汽车悬挂系统 - Google Patents
一种主动平衡式汽车悬挂系统 Download PDFInfo
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- CN106114116A CN106114116A CN201610491885.9A CN201610491885A CN106114116A CN 106114116 A CN106114116 A CN 106114116A CN 201610491885 A CN201610491885 A CN 201610491885A CN 106114116 A CN106114116 A CN 106114116A
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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
- B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0164—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during accelerating or braking
-
- 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
- B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0161—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during straight-line motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
- B60G2800/9123—Active Body Control [ABC]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/914—Height Control System
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
本发明公开了一种主动平衡式悬挂系统，其特征在于，单片机系统通过感应器（说明书内容和具体实现方式所述的各种感应器只是一个零部件，比如无人机常用的加速度感应器为mpu6050芯片，可以输出3轴加速度数据，通过这个数据可以计算出角速度等各种数据，本发明所述加速度感应器即为mpu6050芯片）获取车身实时姿态数据，计算出矫正方案，并驱动马达调整悬挂支架，通过对悬挂行程不足的部分进行补充，以此来矫正车身姿态，使车身趋于平衡。本发明中的悬挂系统结构简单，相比较气动悬挂，安全性较高，维护方便，成本较低，便于推广。
Description
一、技术领域
本发明涉及到汽车悬挂技术领域，具体涉及为利用感应器感知汽车车身状态并使用电动方式调整悬挂高度，在不改变悬挂弹簧弹性的情况下改善汽车车身状态。
二、背景技术
在现有小汽车悬架的弹性元件技术中，应用最为广泛的是螺旋弹簧以及扭力杆弹簧，其次就是空气弹簧和油气弹簧，不同厂家调教水平参差不齐，最终实现的效果也大相径庭。现在也有使用气动方式避震，通过改变弹簧的长度从而改变避震，但是气动方式存在着调整速度慢，充气慢，高压气管存在安全隐患，而且和油气弹簧一样寿命短，需要经常维护充气等。因而本发明采用电动机直接驱动丝杆改变悬挂支点，响应速度快，维护简单，即使坏了也不影响避震系统正常工作，只是不能主动避震。
三、发明内容
本发明的内容是：利用加速度传感器、距离传感器和压力传感器等感应器提供数据支撑，判断汽车当时状态，用丝杆传动方式主动改变悬挂高度，以此来改善车身状态。
本发明的另一个内容是：车身姿态调整程序，依附于本发明的单片机模块运行，实时检测车身姿态，并驱动电动机改善。简单来说就是以车身水平时为依据参考，当车身不水平的时候，调整悬挂，使其趋于水平。
四、附图说明
图1为本发明透视图
图2为本发明悬挂支架结构图
五、具体实现方式
位于车架的加速度传感器可以计算出左右倾角a（负数为左倾，0为水平，正数为右倾），前后倾角b（负数为前倾，0为水平，正数后倾），左右加速度c（负数为进行左拐，0直线行驶，正数为进行右拐），前后加速度d（正数为加速前进或倒车刹车，0为匀速，负数为前进刹车或向后加速倒车），垂直加速度e（负数为车身上升，0为保持水平，正数为车身下降）；车轮的速度传感器感知汽车行驶速度v（负数为倒车，0为车轮停止或车身停止）；悬挂上的压力传感器实时感知4个悬挂的受力情况，悬挂上的距离传感器实时感知弹簧压缩情况。因此当我们把传感器的数据结合的时候，就能精确判断汽车的姿态：
若d=0，v=0则汽车静止，若d=0，v≠0则汽车匀速行驶；
若d＞0，v＞0则汽车向前加速，若d＞0，v＜0则汽车倒车的时候刹车；
若d＜0，v＜0则汽车向后加速，若d＜0，v＞0则汽车前进的时候刹车；
若a＜0通常是右拐；
若b＜0通常是下坡；
……等等各种组合状态，通过这些组合，我们得知了汽车真实的姿态，比如右转的时候车子会左倾，我们就通过调高左边悬挂，降低右边悬挂的方式使得车子平衡。其中传感器模块以100-400Hz的频率检测数据，而单片机计算仅需要几毫秒，因此从检测到倾斜直到驱动马达改变悬挂，仅需几十毫秒。
通过以上描述可以看出，本发明结构相对简单，响应速度快，维护方便，造价低等特点。
Claims (4)
1.一种主动平衡式汽车悬挂系统，包括悬挂支架1、传感器模块2和单片机系统3，其特征在于，车架上安装悬挂支架，传感器模块和单片机系统，悬挂支架上安装避震弹簧和传感器。
2.如权利要求1所述的主动式汽车悬挂系统，其特征在于所述的悬挂支架1上有悬挂支架主体101，悬挂支架主体101安装于车架，通过丝杆导轨连接悬挂活动板102，悬挂活动板102上有驱动马达103，驱动马达3驱动丝杆改变悬挂活动板102和悬挂支架主体101的相应位置，悬挂活动板102上安装避震弹簧104，避震弹簧104上安装了压力传感器203和距离传感器204。
3.如权利要求1所述的主动式汽车悬挂系统，其特征在于所述的传感器模块，包含了加速度传感器201，速度传感器202，压力传感器203和距离传感器204，各传感器以100-400Hz的频率运行，并实时传送数据给单片机系统3。
4.如权利要求1所述的主动式汽车悬挂系统，其特征在于所述的单片机系统3，内置了车身姿态调整程序4，实时计算传感器模块传过来的数据，并驱动驱动马达103，改变悬挂活动板102和活动支架101的相对位置，从而调整悬挂的高度，改变车身姿态。
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291754A (zh) * | 2017-07-24 | 2019-02-01 | 上海汽车集团股份有限公司 | 汽车底盘抬升装置、独立悬架及汽车 |
| CN110588271A (zh) * | 2019-09-27 | 2019-12-20 | 卧龙电气(上海)中央研究院有限公司 | 汽车、底盘及其自适应悬架系统 |
| CN112113594A (zh) * | 2019-06-20 | 2020-12-22 | 斯堪尼亚商用车有限公司 | 用于校准传感器的方法、控制装置和无人机 |
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| CN202764642U (zh) * | 2012-04-30 | 2013-03-06 | 郭敏强 | 一种自动高度调节系统 |
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Patent Citations (6)
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291754A (zh) * | 2017-07-24 | 2019-02-01 | 上海汽车集团股份有限公司 | 汽车底盘抬升装置、独立悬架及汽车 |
| CN112113594A (zh) * | 2019-06-20 | 2020-12-22 | 斯堪尼亚商用车有限公司 | 用于校准传感器的方法、控制装置和无人机 |
| CN110588271A (zh) * | 2019-09-27 | 2019-12-20 | 卧龙电气(上海)中央研究院有限公司 | 汽车、底盘及其自适应悬架系统 |
| CN110588271B (zh) * | 2019-09-27 | 2021-06-29 | 卧龙电气(上海)中央研究院有限公司 | 汽车、底盘及其自适应悬架系统 |
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