CN106321718B - A kind of self energizing formula vehicle active suspension and its control method for coordinating - Google Patents
A kind of self energizing formula vehicle active suspension and its control method for coordinating Download PDFInfo
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- CN106321718B CN106321718B CN201610814630.1A CN201610814630A CN106321718B CN 106321718 B CN106321718 B CN 106321718B CN 201610814630 A CN201610814630 A CN 201610814630A CN 106321718 B CN106321718 B CN 106321718B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/005—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper
- F16F13/007—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper the damper being a fluid damper
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/10—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using liquid only; using a fluid of which the nature is immaterial
- F16F9/14—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect
- F16F9/16—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts
- F16F9/18—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with a closed cylinder and a piston separating two or more working spaces therein
- F16F9/19—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with a closed cylinder and a piston separating two or more working spaces therein with a single cylinder and of single-tube type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of self energizing formula vehicle active suspension, including the actuator being disposed side by side between vehicle body and vehicle bridge and spring, and power module circuit, super capacitor and controller, the input of controller is terminated with spring carried mass velocity sensor and nonspring carried mass velocity sensor, actuator includes piston cylinder, linear motor unit, adaptive damping unit, upper lifting lug, lower lifting lug, piston cylinder upper end cover and piston cylinder bottom end cover, linear motor unit includes, piston rod and polylith permanent magnet, partition plate is provided with piston cylinder, polylith silicon steel sheet and multiple primary coils are provided with piston cylinder between piston cylinder upper end cover and partition plate, variable damping unit includes piston and damping fluid passage, multiple proportion magnetic valves are provided with damping fluid passage.The invention also discloses a kind of control method for coordinating of self energizing formula vehicle active suspension.Job stability of the present invention and reliability are high, and energy regenerative is efficient, and real-time is high, and Active suspension can be made to be in optimal vibration damping state.
Description
Technical field
The invention belongs to vehicle suspension system technical field, and in particular to a kind of self energizing formula vehicle active suspension and its association
Control method.
Background technology
Passive suspension is widely used that on vehicle, since suspension stiffness and resistance of shock absorber can not be with road surfaces and car
Travel conditions and change, when design, can only ensure that it meets damping requirements under certain given travel operating mode, passive suspension without
Method fundamentally solves the contradictory problems between vehicle ride comfort and control stability, limits further carrying for vehicle performance
It is high, it has also become current vehicle design and develop in one of critical bottleneck problem.Active suspension be according to the motion state of automobile and
Road conditions, in time adjust the parameter of suspension, are at optimal vibration damping state.Active suspension is by sensor, actuator, controller
With the closed-loop control system of power supply composition, actively made a response according to the moving situation of vehicle and pavement behavior, to suppress vehicle body
Vibration, what can be needed with the change and traveling of road conditions different require and automatically change spring rate and damper
Damped coefficient, in time adjusts the parameter of suspension, suspension is in optimal vibration damping state and driving posture all the time.
But also there are complicated, low-response, reliability for energy self-supply type active suspension actuator of electric of the prior art
Difference, the defects of energy consumption is big, of high cost, moreover, especially when actuator fail, can neither realize that raising vehicle ride is comfortable
Property, the target of operational stability, on the contrary again may deteriorate travel situations；Existing patent of invention, which does not account for mostly, works as electromagnetism
When actuator fails, suspension property will become very severe, and the handling stability and ride comfort of vehicle are deteriorated, meeting when serious
Influence driving safety；And do not account for reaching this energy saving theme of energy regenerative as far as possible in the case where improving ride comfort.
In addition, the control method of energy self-supply type active suspension actuator of electric of the prior art often lays particular stress on Active suspension in a certain respect
Performance, without the overall performance of complex energy self-supply type active suspension actuator of electric, causes actuator actively to be controlled during the work time
Effect unobvious processed, conversion speed is excessively frequent between energy feedback pattern and Active Control Mode, causes system serious
Hesitation, also has large effect to the service life of storage battery；Moreover, the control to motor speed in actuator in the prior art
Method need to be improved, and the prior art can't make Active suspension be in optimal vibration damping state.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that provide a kind of self energizing formula
Vehicle active suspension, its is simple in structure, and novel in design rationally to realize that convenient and cost is low, job stability and reliability are high, feedback
Can be efficient, real-time is high, and Active suspension can be made to be in optimal vibration damping state, highly practical, easy to promote the use of.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of self energizing formula vehicle active suspension, its
It is characterized in that：Including the actuator being disposed side by side between vehicle body and vehicle bridge and spring, and power module circuit, super capacitor
And controller, the input of the controller are terminated with the spring carried mass velocity sensor for being detected to spring carried mass speed
With the nonspring carried mass velocity sensor for being detected to nonspring carried mass speed, the power module circuit and controller
It is all connected with super capacitor, the spring carried mass velocity sensor is arranged on vehicle body, the nonspring carried mass velocity sensor
It is arranged in vehicle bridge；The actuator includes piston cylinder, linear motor unit, adaptive damping unit, upper lifting lug and lower lifting lug, institute
To state and piston cylinder upper end cover is fixedly connected with the top of piston cylinder, the bottom of the piston cylinder is fixedly connected with piston cylinder bottom end cover,
The lower lifting lug is connected to the bottom of piston cylinder bottom end cover；The linear motor unit includes passing through piston cylinder upper end from top to bottom
Lid stretches into the piston rod in piston cylinder, and the upper lifting lug is connected to the top of piston rod, and the top of the piston rod is provided with work
Convex edge on stopper rod, the lower part of the piston rod are provided with convex edge under piston rod, position are fixedly connected with the outer wall of the piston rod
Polylith permanent magnet under convex edge on piston rod and piston rod between convex edge, the opposite polarity of adjacent two pieces of permanent magnets, the work
It is provided with plug tube two-part for straight-line electric machine cavity and the damping sap cavity of lower part that space in piston cylinder is divided into top
Partition plate, the piston rod stretch into the damping fluid intracavitary through partition plate, the work between the piston cylinder upper end cover and partition plate
Polylith is provided with plug tube and is sleeved on the silicon steel sheet of permanent magnet periphery and multiple primary coils for being sleeved on permanent magnet periphery, polylith
Silicon steel sheet and the spaced setting of multiple primary coils；The damping fluid intracavitary is provided with damping fluid, the adaptive damping unit
Including being fixedly connected on the piston of underpart of the piston rod and being arranged on the piston cylinder inner wall of the damping fluid intracavitary part
Damping fluid passage, is provided with multiple proportion magnetic valves on the damping fluid passage；Control is provided with the outer wall of the piston cylinder
Box, the power module circuit and controller are arranged in control box, the power module circuit include rectifier, for for
First controllable constant-current of the super capacitor charging circuit of super capacitor charging, the input current for providing stabilization for primary coil
Second controllable constant current source circuit of source circuit and the input current for providing stabilization for proportion magnetic valve, the super capacitor fill
Circuit is connected between rectifier and super capacitor, first controllable constant current source circuit and the second controllable constant current source circuit with
The output terminal of super capacitor is connected with the output terminal of controller, after the series connection of multiple primary coils with the first controllable constant current source circuit
Output terminal connects, and the proportion magnetic valve is connected with the output terminal of the second controllable constant current source circuit, the input terminal of the rectifier
It is connected with the primary coil after multiple series connection.
A kind of above-mentioned self energizing formula vehicle active suspension, it is characterised in that：The ear of hanging oneself is threaded in piston rod
Top, the lower lifting lug is threaded in the bottom of piston cylinder bottom end cover.
A kind of above-mentioned self energizing formula vehicle active suspension, it is characterised in that：The top of the partition plate is provided with sealing ring.
A kind of above-mentioned self energizing formula vehicle active suspension, it is characterised in that：The quantity of the proportion magnetic valve is 2~6
It is a.
A kind of above-mentioned self energizing formula vehicle active suspension, it is characterised in that：The outside of the piston rod is provided with stainless
Steel layer.
Present invention also offers a kind of method and step it is simple, save the energy while Active suspension can be made to be in optimal
The control method for coordinating of the self energizing formula vehicle active suspension of vibration damping state, it is characterised in that this method comprises the following steps：
Step I, spring carried mass velocity sensor detect spring carried mass speed in real time, nonspring carried mass velocity pick-up
Device detects nonspring carried mass speed in real time；The spring carried mass speed that controller detects spring carried mass velocity sensor
The nonspring carried mass speed signal that signal and nonspring carried mass velocity sensor detect carries out periodic samples；
The spring carried mass speed that step II, controller sample its ithWith nonspring carried mass speedSide
To being compared, when spring carried mass speedWith nonspring carried mass speedDirection it is identical when, the controller does not export pair
The control signal of first controllable constant current source circuit, the first controllable constant current source circuit does not provide electric current for primary coil, described
Vehicle active suspension is operated under energy regenerative operating mode, and the specific course of work is：Body vibrations drive upper lifting lug movement, hang oneself
Ear drives piston rod movement, and with piston rod relative motion occurs for multiple primary coils, and multiple primary coil cutting magnetic induction lines produce
Induced electromotive force, after the induced electromotive force of generation is by rectifier rectification, then by super capacitor charging circuit to super capacitor
Charging；Meanwhile the spring carried mass speed that the controller samples its ith according to the method that vehicle suspension LQG is controlled
Signal and nonspring carried mass speed signal are analyzed and processed, and obtain the input current of proportion magnetic valve needsThat is controller
Control the output current of the second controllable constant current source circuitChange the input current of proportion magnetic valveAnd then adjust ratio electromagnetism
The aperture of valve, adjusts the damping force of damping fluid passage, and then realizes and the real-time of the vehicle active suspension damping force size is adjusted
Section；
When spring carried mass speedWith nonspring carried mass speedDirection it is opposite when, controller output is to described the
The control signal of one controllable constant current source circuit, the first controllable constant current source circuit provide electric current for primary coil, and the vehicle is actively
Under the operating mode that actively consumes energy, the specific course of work is suspension work：First, the controller controls the second controllable constant-current
The output current of source circuitThe input current needed during for by the aperture regulation of proportion magnetic valve to maximum, makes damping fluid passage
Damping force be changed into minimum, reduce active force required during the linear motor unit active response, reduction is actively consumed energy work
Energy consumption under pattern；Then, the spring that the controller samples its ith according to the method that vehicle suspension LQG is controlled carries
Mass velocity signal and nonspring carried mass speed signal are analyzed and processed, and obtain the input current that multiple primary coils needChange the input current of multiple primary coilsAnd then the linear motor unit active response power size is adjusted, it is described straight
The active response power that line electric motor units produce passes to vehicle body；Wherein, the value of i is non-zero natural number.
Above-mentioned method, it is characterised in that：The method that controller described in step II is controlled according to vehicle suspension LQG is to it
The spring carried mass speed signal and nonspring carried mass speed signal that ith samples are analyzed and processed, and obtain ratio electromagnetism
The input current that valve needsDetailed process be:
Step 1: the controller is according to formulaIth sampling is calculated
Obtained spring carried mass speedWith nonspring carried mass speedDamping force F under corresponding vehicle suspension LQG controlsi, wherein,
q1For the acceleration factor and q of vehicle suspension LQG controls1Value be 1~1010, q2For the speed system of vehicle suspension LQG controls
Number and q2Value be 1~1010, q3For the displacement coefficient and q of vehicle suspension LQG controls3Value be 1~1010, tiFor ith
The time of sampling；
Step 2: the controller is according to formulaProportion magnetic valve, which is calculated, to be needed
The input current wantedWherein, bjIt is 500~1.5 × 10 for the constant term coefficient and value of damping force fitting6, cjFor damping force
The Monomial coefficient and value of fitting are -1 × 106The value of~-500, j is 0~5 integer.
Above-mentioned method, it is characterised in that：The method that controller described in step II is controlled according to vehicle suspension LQG is to it
The spring carried mass speed signal and nonspring carried mass speed signal that ith samples are analyzed and processed, and obtain multiple primary
The input current that coil needsDetailed process be:
Step 1: the controller is according to formulaIth sampling is calculated
Obtained spring carried mass speedWith nonspring carried mass speedDamping force F under corresponding vehicle suspension LQG controlsi, wherein,
q1For the acceleration factor and q of vehicle suspension LQG controls1Value be 1~1010, q2For the speed system of vehicle suspension LQG controls
Number and q2Value be 1~1010, q3For the displacement coefficient and q of vehicle suspension LQG controls3Value be 1~1010, tiFor ith
The time of sampling；
Step 2: the controller is according to formulaThe input current that multiple primary coils need is calculated
Wherein, k is the thrust coefficient of the linear motor unit and the value of k is 50~150.
The present invention has the following advantages compared with prior art：
1st, the structure of self energizing formula vehicle active suspension of the present invention is simple, novel in design reasonable, realizes that convenient and cost is low.
2nd, efficient, fast response time of the invention, real-time are high.
3rd, self energizing formula vehicle active suspension of the invention, when the direction phase of spring carried mass speed and nonspring carried mass speed
Meanwhile be operated under energy regenerative operating mode, when spring carried mass speed is opposite with the direction of nonspring carried mass speed, it is operated in master
Under dynamic energy consumption operating mode, energy regenerative operating mode and the operating mode that actively consumes energy independently carry out, can be while realizing energy saving
Damping property is improved again.
4th, self energizing formula vehicle active suspension of the invention, actuator divide into linear motor unit and adaptive damping unit
Two parts, when being operated under energy regenerative operating mode, after upper lifting lug and lower lifting lug produce relative motion by road excitation, straight-line electric
Machine unit will produce induced electromotive force, and the induced electromotive force of generation can realize energy regenerative for super capacitor energy-storage；On the contrary, work
When making under the operating mode that actively consumes energy, super capacitor is powered to primary coil, and linear motor unit will be produced and is used as power, and is led to
Controller is crossed according to the spring carried mass speed and nonspring carried mass speed output control signal collected, controls linear motor unit
Output be used as power, realize the active control of vehicle suspension.
5th, self energizing formula vehicle active suspension of the invention, can not only play the effect of general electromagnetic actuator, moreover, working as
When actuator fails, passive damper can be played the role of, so as to decay, by ground, mean longitude wheel does not reach the vibration of vehicle body,
It is to kill two birds with one stone.
6th, the method and step of the control method for coordinating of self energizing formula vehicle active suspension of the invention is simple, passes through spring charge material
The direction of amount speed and nonspring carried mass speed relatively switches the operation control mode of the vehicle active suspension, the vehicle
Active suspension switches between energy regenerative operating mode and the operating mode that actively consumes energy, and while saving the energy, can make actively outstanding
Frame is in optimal vibration damping state.
The 7th, no matter vehicle active suspension of the invention can realize energy regenerative operating mode or actively consume energy under operating mode
It can realize the change of suspension damping, on the premise of energy regenerative is realized, not reduce the performance of vehicle suspension, taken into account energy regenerative and car
The performance of suspension.
8th, the job stability of vehicle active suspension of the invention and reliability are high, are not susceptible to failure, without often dimension
Shield maintenance.
9th, the present invention carries out energy storage using super capacitor, and energy storage effect is good.
10th, the present invention's is highly practical, and using effect is good, easy to promote the use of.
In conclusion the present invention is novel in design rationally, realize that convenient and cost is low, job stability and reliability are high, feedback
Can be efficient, real-time is high, and Active suspension can be made to be in optimal vibration damping state, highly practical, easy to promote the use of.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Fig. 1 is the structure diagram of self energizing formula vehicle active suspension of the present invention.
Fig. 2 is the structure diagram of actuator of the present invention.
Fig. 3 is the circuit connecting relation schematic diagram of controller of the present invention and other each several parts.
Description of reference numerals:
1-actuator；1-1-piston cylinder；1-2-upper lifting lug；
1-3-lower lifting lug；1-4-piston cylinder upper end cover；1-5-piston cylinder bottom end cover；
1-6-piston rod；1-7-permanent magnet；Convex edge on 1-8-piston rod；
Convex edge under 1-9-piston rod；1-10-silicon steel sheet；1-11-primary coil；
1-12-partition plate；1-13-damping fluid；1-14-piston；
1-15-damping fluid passage；1-16-proportion magnetic valve；1-17-sealing ring；
2-spring；3-power module circuit；3-1-rectifier；
3-2-super capacitor charging circuit；The controllable constant current source circuits of 3-3-second；
The controllable constant current source circuits of 3-4-first；4-super capacitor；
5-controller；6-spring carried mass velocity sensor；
7-nonspring carried mass velocity sensor；8-vehicle body；
9-vehicle bridge；10-control box.
Embodiment
As shown in Figure 1, Figure 2 and Figure 3, self energizing formula vehicle active suspension of the invention, including be disposed side by side on vehicle body 8 with
Actuator 1 and spring 2 between vehicle bridge 9, and power module circuit 3, super capacitor 4 and controller 5, the controller 5
Input is terminated with spring carried mass velocity sensor 6 for being detected to spring carried mass speed and for nonspring carried mass speed
The nonspring carried mass velocity sensor 7 being detected is spent, the power module circuit 3 connects with controller 5 and super capacitor 4
Connect, the spring carried mass velocity sensor 6 is arranged on vehicle body 8, and the nonspring carried mass velocity sensor 7 is arranged on vehicle bridge 9
On；The actuator 1 includes piston cylinder 1-1, linear motor unit, adaptive damping unit, upper lifting lug 1-2 and lower lifting lug 1-3, institute
State and piston cylinder upper end cover 1-4 is fixedly connected with the top of piston cylinder 1-1, the bottom of the piston cylinder 1-1 is fixedly connected with piston
Cylinder bottom end cover 1-5, the lower lifting lug 1-3 are connected to the bottom of piston cylinder bottom end cover 1-5；The linear motor unit is included from upper
Piston rod 1- is connected to lower the piston rod 1-6, the upper lifting lug 1-2 stretched into through piston cylinder upper end cover 1-4 in piston cylinder 1-1
6 top, the top of the piston rod 1-6 are provided with convex edge 1-8 on piston rod, and the lower part of the piston rod 1-6 is provided with work
Convex edge 1-9 under stopper rod, be fixedly connected with the outer wall of the piston rod 1-6 positioned at convex edge 1-8 on piston rod with it is convex under piston rod
Along the polylith permanent magnet 1-7 between 1-9, the opposite polarity of adjacent two pieces of permanent magnet 1-7, is provided with use in the piston cylinder 1-1
Space is divided into the two-part partition plate 1-12 of damping sap cavity of the straight-line electric machine cavity and lower part on top, institute in by piston cylinder 1-1
State piston rod 1-6 and stretch into the damping fluid intracavitary through partition plate 1-12, positioned at the piston cylinder upper end cover 1-4 and partition plate 1-12 it
Between piston cylinder 1-1 in be provided with polylith and be sleeved on the silicon steel sheet 1-10 of permanent magnet 1-7 peripheries and multiple be sleeved on permanent magnet 1-7
The primary coil 1-11 of periphery, polylith silicon steel sheet 1-10 and multiple spaced settings of primary coil 1-11；The damping sap cavity
Damping fluid 1-13 is inside provided with, the adaptive damping unit includes being fixedly connected on the piston 1-14 of piston rod 1-6 lower parts and sets
Put damping fluid passage 1-15, the damping fluid passage 1- on the piston cylinder 1-1 inner walls positioned at the damping fluid intracavitary part
Multiple proportion magnetic valve 1-16 are provided with 15；Control box 10, the power module are provided with the outer wall of the piston cylinder 1-1
Circuit 3 and controller 5 are arranged in control box 10, and the power module circuit 3 includes rectifier 3-1, for for super electricity
Hold the super capacitor charging circuit 3-2 of 4 chargings, the first controllable constant for providing stable input current for primary coil 1-11
The second controllable constant current source circuit 3-3 of current source circuit 3-4 and the input current for providing stabilization for proportion magnetic valve 1-16, institute
Super capacitor charging circuit 3-2 is stated to be connected between rectifier 3-1 and super capacitor 4, the first controllable constant current source circuit 3-4 and
Second controllable constant current source circuit 3-3 is connected with the output terminal of super capacitor 4 and the output terminal of controller 5, multiple primary coils
It is connected after 1-11 series connection with the output terminal of the first controllable constant current source circuit 3-4, the proportion magnetic valve 1-16 and the second controllable constant
The output terminal connection of current source circuit 3-3, the input terminal of the rectifier 3-1 are connected with the primary coil 1-11 after multiple series connection.
In the present embodiment, the upper lifting lug 1-2 is threaded in the top of piston rod 1-6, and the lower lifting lug 1-3 screw threads connect
It is connected on the bottom of piston cylinder bottom end cover 1-5.
In the present embodiment, as shown in Fig. 2, the top of the partition plate 1-12 is provided with sealing ring 1-17.Sealed by setting
1-17 is enclosed, damping fluid can be better protected from and enter the linear motor intracavitary.
In the present embodiment, the quantity of the proportion magnetic valve 1-16 is 2~6.
In the present embodiment, the outside of the piston rod 1-6 is provided with stainless steel layer.
The control method for coordinating of the self energizing formula vehicle active suspension of the present invention, comprises the following steps：
Step I, spring carried mass velocity sensor 6 detect spring carried mass speed in real time, and nonspring carried mass speed passes
Sensor 7 detects nonspring carried mass speed in real time；The spring charge material that controller 5 detects spring carried mass velocity sensor 6
The nonspring carried mass speed signal that amount speed signal and nonspring carried mass velocity sensor 7 detect carries out periodic samples；Tool
When body is implemented, the sampling period is 0.25s~1s；
The spring carried mass speed that step II, controller 5 sample its ithWith nonspring carried mass speedSide
To being compared, when spring carried mass speedWith nonspring carried mass speedDirection it is identical when, the controller 5 does not export pair
The control signal of the first controllable constant current source circuit 3-4, the first controllable constant current source circuit 3-4 do not provide for primary coil 1-11
Electric current, the vehicle active suspension are operated under energy regenerative operating mode, and the specific course of work is：Vehicle body 8 vibrates drive and hangs oneself
Ear 1-2 is moved, and upper lifting lug 1-2 drives piston rod 1-6 movements, and relative motion occurs for multiple primary coil 1-11 and piston rod 1-6,
Multiple primary coil 1-11 cutting magnetic induction lines produce induced electromotive forces, after the induced electromotive force of generation is by rectifier 3-1 rectifications,
Charge again by super capacitor charging circuit 3-2 to super capacitor 4；Meanwhile the controller 5 is controlled according to vehicle suspension LQG
The spring carried mass speed signal that is sampled to its ith of method and nonspring carried mass speed signal analyze and process, obtain
The input current needed to proportion magnetic valve 1-16I.e. controller 5 controls the output current of the second controllable constant current source circuit 3-3Change the input current of proportion magnetic valve 1-16And then the aperture of proportion magnetic valve 1-16 is adjusted, adjust damping fluid passage
The damping force of 1-15, and then realize and the real-time of the vehicle active suspension damping force size is adjusted；
When spring carried mass speedWith nonspring carried mass speedDirection it is opposite when, the controller 5 is exported to described
The control signal of one controllable constant current source circuit 3-4, the first controllable constant current source circuit 3-4 provide electric current for primary coil 1-11, institute
State vehicle active suspension and be operated in and actively consume energy under operating mode, the specific course of work is：First, the controller 5 controls
The output current of second controllable constant current source circuit 3-3Needed during for by the aperture regulation of proportion magnetic valve 1-16 to maximum defeated
Enter electric current, the damping force of damping fluid passage 1-15 is changed into minimum, reduce required during the linear motor unit active response
Active force, reduces the energy consumption actively to consume energy under operating mode；Then, the method that the controller 5 is controlled according to vehicle suspension LQG
The spring carried mass speed signal and nonspring carried mass speed signal sampled to its ith analyzes and processes, and obtains multiple
The input current that primary coil 1-11 needsChange the input current of multiple primary coil 1-11And then adjust the straight line
Electric motor units active response power size, the active response power that the linear motor unit produces pass to vehicle body；Wherein, i takes
It is worth for non-zero natural number.
In the present embodiment, controller 5 described in step II samples its ith according to the method that vehicle suspension LQG is controlled
Obtained spring carried mass speed signal and nonspring carried mass speed signal is analyzed and processed, and obtains proportion magnetic valve 1-16 needs
Input currentDetailed process be:
Step 1: the controller 5 is according to formulaIth sampling is calculated
Obtained spring carried mass speedWith nonspring carried mass speedDamping force F under corresponding vehicle suspension LQG controlsi, wherein,
q1For the acceleration factor and q of vehicle suspension LQG controls1Value be 1~1010, q2For the speed system of vehicle suspension LQG controls
Number and q2Value be 1~1010, q3For the displacement coefficient and q of vehicle suspension LQG controls3Value be 1~1010, tiFor ith
The time of sampling；
Step 2: the controller 5 is according to formulaProportion magnetic valve is calculated
The input current that 1-16 needsWherein, bjIt is 500~1.5 × 10 for the constant term coefficient and value of damping force fitting6, cjFor
The Monomial coefficient and value of damping force fitting are -1 × 106The value of~-500, j is 0~5 integer.
In the present embodiment, controller 5 described in step II samples its ith according to the method that vehicle suspension LQG is controlled
Obtained spring carried mass speed signal and nonspring carried mass speed signal is analyzed and processed, and obtaining multiple primary coil 1-11 needs
The input current wantedDetailed process be:
Step 1: the controller 5 is according to formulaIth sampling is calculated
Obtained spring carried mass speedWith nonspring carried mass speedDamping force F under corresponding vehicle suspension LQG controlsi, wherein,
q1For the acceleration factor and q of vehicle suspension LQG controls1Value be 1~1010, q2For the speed system of vehicle suspension LQG controls
Number and q2Value be 1~1010, q3For the displacement coefficient and q of vehicle suspension LQG controls3Value be 1~1010, tiFor ith
The time of sampling；
Step 2: the controller 5 is according to formulaThe input electricity that multiple primary coil 1-11 need is calculated
StreamWherein, k is the thrust coefficient of the linear motor unit and the value of k is 50~150；Preferably, the value of k is
100。
In conclusion the present invention relatively switches the car by the direction of spring carried mass speed and nonspring carried mass speed
The operation control mode of Active suspension, the vehicle active suspension is between energy regenerative operating mode and the operating mode that actively consumes energy
Switching, while saving the energy, can make Active suspension be in optimal vibration damping state.
The above, is only presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, it is every according to the present invention
Any simple modification, change and the equivalent structure change that technical spirit makees above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (7)
1. a kind of control method for coordinating of self energizing formula vehicle active suspension, which includes being disposed side by side on vehicle body
(8) actuator (1) and spring (2) between vehicle bridge (9), and power module circuit (3), super capacitor (4) and controller
(5), the input of the controller (5) is terminated with the spring carried mass velocity sensor for being detected to spring carried mass speed
(6) and the nonspring carried mass velocity sensor (7) for being detected to nonspring carried mass speed, the power module circuit
(3) it is all connected with controller (5) and super capacitor (4), the spring carried mass velocity sensor (6) is arranged on vehicle body (8), institute
Nonspring carried mass velocity sensor (7) is stated to be arranged in vehicle bridge (9)；The actuator (1) includes piston cylinder (1-1), straight-line electric
Machine unit, adaptive damping unit, upper lifting lug (1-2) and lower lifting lug (1-3), are fixedly connected with the top of the piston cylinder (1-1)
Piston cylinder upper end cover (1-4), the bottom of the piston cylinder (1-1) are fixedly connected with piston cylinder bottom end cover (1-5), the lower lifting lug
(1-3) is connected to the bottom of piston cylinder bottom end cover (1-5)；The linear motor unit includes passing through piston cylinder upper end from top to bottom
Lid (1-4) stretches into the piston rod (1-6) in piston cylinder (1-1), and the upper lifting lug (1-2) is connected to the top of piston rod (1-6),
The top of the piston rod (1-6) is provided with convex edge on piston rod (1-8), and the lower part of the piston rod (1-6) is provided with piston
Convex edge (1-9) under bar, is fixedly connected with convex edge (1-8) and piston rod on piston rod on the outer wall of the piston rod (1-6)
Polylith permanent magnet (1-7) between lower convex edge (1-9), the opposite polarity of adjacent two pieces of permanent magnets (1-7), the piston cylinder (1-
1) it is provided with for piston cylinder (1-1) interior space to be divided into the straight-line electric machine cavity on top and damping sap cavity two parts of lower part
Partition plate (1-12), the piston rod (1-6) stretches into the damping fluid intracavitary through partition plate (1-12), on the piston cylinder
The silicon steel that polylith is sleeved on permanent magnet (1-7) periphery is provided with piston cylinder (1-1) between end cap (1-4) and partition plate (1-12)
Piece (1-10) and multiple primary coils (1-11) for being sleeved on permanent magnet (1-7) periphery, polylith silicon steel sheet (1-10) and it is multiple just
Level coil (1-11) spaced setting；The damping fluid intracavitary is provided with damping fluid (1-13), the adaptive damping unit bag
Include the piston (1-14) for being fixedly connected on piston rod (1-6) lower part and the piston cylinder for being arranged in the damping fluid intracavitary part
Damping fluid passage (1-15) on (1-1) inner wall, is provided with multiple proportion magnetic valve (1- on the damping fluid passage (1-15)
16)；Control box (10) is provided with the outer wall of the piston cylinder (1-1), the power module circuit (3) and controller (5) are equal
It is arranged in control box (10), the power module circuit (3) includes rectifier (3-1), for what is charged for super capacitor (4)
Super capacitor charging circuit (3-2), the first controllable constant-current source for providing stable input current for primary coil (1-11)
Circuit (3-4) and the second controllable constant current source circuit (3-3) for providing stable input current for proportion magnetic valve (1-16),
The super capacitor charging circuit (3-2) is connected between rectifier (3-1) and super capacitor (4), the first controllable constant-current source
Circuit (3-4) and the second controllable constant current source circuit (3-3) with the output terminal of super capacitor (4) and the output terminal of controller (5)
Connection, is connected after multiple primary coil (1-11) series connection with the output terminal of the first controllable constant current source circuit (3-4), the ratio electricity
Magnet valve (1-16) is connected with the output terminal of the second controllable constant current source circuit (3-3), the input terminal of the rectifier (3-1) with it is multiple
Primary coil (1-11) connection after series connection, it is characterised in that：This method comprises the following steps：
Step I, spring carried mass velocity sensor (6) detect spring carried mass speed in real time, nonspring carried mass velocity pick-up
Device (7) detects nonspring carried mass speed in real time；The spring that controller (5) detects spring carried mass velocity sensor (6)
The nonspring carried mass speed signal that mounted mass speed signal and nonspring carried mass velocity sensor (7) detect periodically adopt
Sample；
The spring carried mass speed that step II, controller (5) sample its ithWith nonspring carried mass speedDirection
It is compared, when spring carried mass speedWith nonspring carried mass speedDirection it is identical when, the controller (5) does not export pair
The control signal of first controllable constant current source circuit (3-4), the first controllable constant current source circuit (3-4) are not primary coil (1-
11) electric current is provided, the vehicle active suspension is operated under energy regenerative operating mode, and the specific course of work is：Vehicle body (8) vibrates
Lifting lug (1-2) moves in drive, and upper lifting lug (1-2) drives piston rod (1-6) movement, multiple primary coils (1-11) and piston rod
Relative motion occurs for (1-6), and multiple primary coil (1-11) cutting magnetic induction lines produce induced electromotive force, the induced electromotive force of generation
Charge after rectifier (3-1) rectification, then by super capacitor charging circuit (3-2) to super capacitor (4)；It is meanwhile described
The spring carried mass speed signal and non-spring that controller (5) samples its ith according to the method that vehicle suspension LQG is controlled carry
Mass velocity signal is analyzed and processed, and obtains the input current of proportion magnetic valve (1-16) needsI.e. controller (5) controls
The output current of second controllable constant current source circuit (3-3)Change the input current of proportion magnetic valve (1-16)And then adjust
The aperture of proportion magnetic valve (1-16), adjusts the damping force of damping fluid passage (1-15), and then realizes actively outstanding to the vehicle
The real-time adjusting of frame damping force size；
When spring carried mass speedWith nonspring carried mass speedDirection it is opposite when, the controller (5) output is to described first
The control signal of controllable constant current source circuit (3-4), the first controllable constant current source circuit (3-4) provide electricity for primary coil (1-11)
Stream, the vehicle active suspension, which is operated in, actively to consume energy under operating mode, and the specific course of work is：First, the controller
(5) output current of the second controllable constant current source circuit (3-3) is controlledFor by the aperture regulation of proportion magnetic valve (1-16) to most
The input current needed when big, makes the damping force of damping fluid passage (1-15) be changed into minimum, reduces the linear motor unit master
Required active force during dynamic response, reduces the energy consumption actively to consume energy under operating mode；Then, the controller (5) is according to vehicle
The spring carried mass speed signal and nonspring carried mass speed signal that the method for suspension LQG controls samples its ith carry out
Analyzing and processing, obtains the input current of multiple primary coils (1-11) needsChange the input of multiple primary coils (1-11)
Electric currentAnd then the linear motor unit active response power size is adjusted, the active response that the linear motor unit produces
Power passes to vehicle body；Wherein, the value of i is non-zero natural number.
A kind of 2. control method for coordinating of self energizing formula vehicle active suspension described in accordance with the claim 1, it is characterised in that：Institute
The top that lifting lug (1-2) is threaded in piston rod (1-6) is stated, the lower lifting lug (1-3) is threaded in piston cylinder lower end
Cover the bottom of (1-5).
A kind of 3. control method for coordinating of self energizing formula vehicle active suspension described in accordance with the claim 1, it is characterised in that：Institute
The top for stating partition plate (1-12) is provided with sealing ring (1-17).
A kind of 4. control method for coordinating of self energizing formula vehicle active suspension described in accordance with the claim 1, it is characterised in that：Institute
The quantity for stating proportion magnetic valve (1-16) is 2~6.
A kind of 5. control method for coordinating of self energizing formula vehicle active suspension described in accordance with the claim 1, it is characterised in that：Institute
The outside for stating piston rod (1-6) is provided with stainless steel layer.
A kind of 6. control method for coordinating of self energizing formula vehicle active suspension described in accordance with the claim 1, it is characterised in that：Step
The spring carried mass speed that controller (5) described in rapid II samples its ith according to the method that vehicle suspension LQG is controlled is believed
Number and nonspring carried mass speed signal analyzed and processed, obtain proportion magnetic valve (1-16) needs input currentIt is specific
Process is:
Step 1: the controller (5) is according to formulaIth is calculated to sample
The spring carried mass speed arrivedWith nonspring carried mass speedDamping force F under corresponding vehicle suspension LQG controlsi, wherein, q1
For the acceleration factor and q of vehicle suspension LQG controls1Value be 1~1010, q2For the velocity coeffficient of vehicle suspension LQG controls
And q2Value be 1~1010, q3For the displacement coefficient and q of vehicle suspension LQG controls3Value be 1~1010, tiAdopted for ith
The time of sample；
Step 2: the controller (5) is according to formulaProportion magnetic valve (1- is calculated
16) input current neededWherein, bjIt is 500~1.5 × 10 for the constant term coefficient and value of damping force fitting6, cjFor
The Monomial coefficient and value of damping force fitting are -1 × 106The value of~-500, j is 0~5 integer.
A kind of 7. control method for coordinating of self energizing formula vehicle active suspension described in accordance with the claim 1, it is characterised in that：Step
The spring carried mass speed that controller (5) described in rapid II samples its ith according to the method that vehicle suspension LQG is controlled is believed
Number and nonspring carried mass speed signal analyzed and processed, obtain multiple primary coils (1-11) needs input currentTool
Body process is:
Step 1: the controller (5) is according to formulaIth is calculated to sample
The spring carried mass speed arrivedWith nonspring carried mass speedDamping force F under corresponding vehicle suspension LQG controlsi, wherein, q1
For the acceleration factor and q of vehicle suspension LQG controls1Value be 1~1010, q2For the velocity coeffficient of vehicle suspension LQG controls
And q2Value be 1~1010, q3For the displacement coefficient and q of vehicle suspension LQG controls3Value be 1~1010, tiAdopted for ith
The time of sample；
Step 2: the controller (5) is according to formulaThe input electricity of multiple primary coils (1-11) needs is calculated
StreamWherein, k is the thrust coefficient of the linear motor unit and the value of k is 50~150.
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| EP3647623A1 (en) * | 2018-10-30 | 2020-05-06 | Guangzhou Ocean Hydraulic Elements Co., Ltd. | Vehicle shock absorber capable of generating electricity. |
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| CN106696628B (en) * | 2017-04-01 | 2018-11-16 | 宁波工程学院 | A kind of Used in Suspended Truss of Passenger Car that can be recycled vibrational energy and reduce body roll |
| CN110667330A (en) * | 2018-08-28 | 2020-01-10 | 浙江大学 | Automobile electromagnetic actuator with safety device |
| CN110154668B (en) * | 2019-05-17 | 2022-12-23 | 西安科技大学 | Integrated energy feedback type active suspension actuator and control method thereof |
| CN110861462B (en) * | 2019-12-02 | 2022-10-04 | 西安科技大学 | Image recognition-based whole vehicle intelligent hybrid suspension coordination control system |
| CN111301088B (en) * | 2019-12-02 | 2023-04-07 | 西安科技大学 | Composite damping adjustable energy feedback type hybrid suspension actuator and control method |
| CN112014078B (en) * | 2020-07-13 | 2021-10-12 | 清华大学 | Variable damping shock absorber response time testing method and device and electronic equipment |
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| CN117656737A (en) * | 2023-03-31 | 2024-03-08 | 比亚迪股份有限公司 | Electromagnetic suspension of vehicle and vehicle |
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| GB9915709D0 (en) * | 1999-07-05 | 1999-09-08 | Guilden Ltd | Vehicle suspension systems |
| CN104044426B (en) * | 2014-06-10 | 2016-04-27 | 江苏大学 | A kind of variable rigidity electromagnetism energy regenerative suspension |
| CN104309438B (en) * | 2014-10-20 | 2016-07-20 | 江苏大学 | A kind of multi-state vehicle suspension |
| CN105480043B (en) * | 2015-12-17 | 2016-08-24 | 西安科技大学 | A kind of type multimode electromagnetic energy vehicle active suspension actuator and control method thereof |
| CN105422720B (en) * | 2016-01-05 | 2017-10-20 | 江苏大学 | A kind of energy isolation mounting |
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| EP3647623A1 (en) * | 2018-10-30 | 2020-05-06 | Guangzhou Ocean Hydraulic Elements Co., Ltd. | Vehicle shock absorber capable of generating electricity. |
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