CN106394157B - A kind of control method for coordinating of electromagnetic suspension vibration isolation and energy regenerative - Google Patents
A kind of control method for coordinating of electromagnetic suspension vibration isolation and energy regenerative Download PDFInfo
- Publication number
- CN106394157B CN106394157B CN201610902072.4A CN201610902072A CN106394157B CN 106394157 B CN106394157 B CN 106394157B CN 201610902072 A CN201610902072 A CN 201610902072A CN 106394157 B CN106394157 B CN 106394157B
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- permanent magnet
- cylindrical linear
- fault tolerant
- bimorph transducer
- motor
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Classifications
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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
- B60G17/0152—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 action on a particular type of suspension unit
- B60G17/0157—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 action on a particular type of suspension unit non-fluid unit, e.g. electric motor
-
- 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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/16—Magnetic spring
Abstract
The invention discloses the control method for coordinating of a kind of electromagnetic suspension vibration isolation and energy regenerative, cylindrical linear magneto operating mode is selected according to the relationship of spring carried mass speed and bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor mover speed, " ceiling-ground canopy " Compound Control Strategy is designed, determines thrust or brake force that motor output needs.The motor absorbs electric energy from battery under electric model in generate mode to battery energy regenerative.The strategy effectively absorbs the vibration in vehicle travel process, improves vehicle ride comfort, ride performance, manipulation stability；And the vibrational energy of absorption is stored in battery, the energy consumption of electromagnetic suspension system is greatly reduced, has a good application prospect.
Description
Technical field
The invention belongs to electromagnetic suspension technical fields, are more precisely related to the association of a kind of electromagnetic suspension vibration isolation and energy regenerative
Control method is particularly suitable in automobile electromagnetic active suspension system.
Background technique
With the development of society and the progress of science and technology, requirement of the people to comfort by bus and security and stability
Higher and higher, as the important component of Hyundai Motor, the performance of suspension system is steady to ride of vehicle and operation
It is qualitative etc. to have extremely important influence.Suspension can be divided into passive suspension, semi-active suspension and Active suspension by working principle.Quilt
Dynamic suspension mainly has elastic component and passive damping device composition, and structure is simple, reliable performance, Non-energy-consumption, but passive suspension
Damped coefficient and stiffness coefficient are once it is determined that just can not change, it is difficult to adapt to complicated variability environment.Most semi-active suspensions
It is to change the not variable damping in passive suspension into variable damper, substantially improves the performance of suspension.Active suspension is using active
Or passive control forms a closed-loop control system, is made according to the operating status of Vehicular system and externally input variation anti-
It answers, the control force needed for initiatively adjusting and generating makes suspension be in best vibration damping state always, but it is more to consume energy.
One of important development direction as Active suspension electromagnetic active suspension system becomes research focus.Forever due to cylinder
Magnetic linear motor is not necessarily to intermediate transmission mechanism, and weight and volume also significantly reduces, and have thrust density height, fast response time,
It is high-efficient, control precision it is high the advantages that.Therefore, rotating electric machine is compared, linear motor has more advantage in electromagnetic suspension, it has also become
The main direction of studying of active electromagnetic suspension field electric system.Application No. is 201210054782.8 patent of invention " electricity
Magnetic energy feeding back type semi-active suspension energy regenerative damps real-time control apparatus and method ", application No. is 200410013577.2 invention is special
Sharp " energy feed back type electro magnetic shock attenuation device for vehicle suspension " is although with good feeding capability, since motor is in not
Control state, motor can only generate certain damping force according to the electric current of current speed and inflow energy-storage units, the damping force
It is not controllable, is not desired optimal damping power, therefore vibration isolating effect is bad.Application No. is 201410018159.6 inventions
Patent " a kind of vehicle suspension feeding type electromagnetic damping vibration-reducing control method " determines electricity according to the speed and acceleration of motor
Machine exports damping force, meets energy regenerative effect, but vibration isolating effect is undesirable.
Summary of the invention
For above-mentioned technical problem existing for electromagnetic suspension vibration isolation and energy regenerative technology, the present invention propose a kind of electromagnetic suspension every
Vibration and energy regenerative control method for coordinating, not only there is ideal vibration isolating effect also to have preferable energy regenerative effect, can greatly reduce
The energy consumption of electromagnetic suspension improves vehicle driving ride comfort, manipulation stability.
A kind of control method for coordinating of electromagnetic suspension vibration isolation and energy regenerative, specifically includes the following steps:
Step 1, the electromagnetic suspension system based on bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor is established；
Step 2, operating speed sensor measurement electromagnetic suspension spring carried mass vertical speedWith bimorph transducer asymmetry cylinder
The fault-tolerant vernier motor mover speed of linear permanent-magnetFind out nonspring carried mass vertical speed
Step 3, the mathematical model of the electromagnetic suspension system is established；
Wherein, xwIt is nonspring carried mass vertical displacement, xgIt is road surface vertical displacement, xmIt is bimorph transducer asymmetry cylindrical linear
The displacement of fault tolerant permanent magnet vernier motor mover, mbIt is spring carried mass, mwNonspring carried mass, F be bimorph transducer asymmetry cylindrical linear forever
Magnetic-capacity mistake vernier motor thrust, ksIt is suspension stiffness, ktIt is tire stiffness；
Step 4, according to the requirement of vehicle ride comfort and control stability, design object performance function
Wherein, csFor spring carried mass acceleration weighting coefficient；cgFor the dynamic displacement weighting coefficient of nonspring carried mass；T is that road conditions become
Change the period.C is found out using Lagrangian principlesAnd cg；
Step 5, according to the thought of " ceiling " and " canopy ", " ceiling-ground canopy " Compound Control Strategy is designed, determines the cylinder
The thrust output of linear motor
Step 6, according to electromagnetic suspension spring carried mass vertical speedIt is swum with bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet
Mark electric mover speedBetween the vibration isolation of relational implementation electromagnetic suspension and energy regenerative coordinated control；
WhenWhen, bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor works in power generation mode, bimorph transducer
Asymmetric cylindrical linear fault tolerant permanent magnet vernier motor provides brake force；
WhenWhen, bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor works in electric model, bimorph transducer
Asymmetric cylindrical linear fault tolerant permanent magnet vernier motor provides thrust；
WhenWhen, bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor works in free schema, bimorph transducer
Asymmetric cylindrical linear fault tolerant permanent magnet vernier motor does not provide thrust.
Further, the electromagnetic suspension system based on bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor includes
Long mover among inside stator, outer stator and inside stator and outer stator, inside stator, outer stator equal length
And it is less than long mover length；The inside stator and outer stator side connect into an entirety by E type non-magnet material pipe,
E type non-magnet material pipe and compartment are directly connected, and bearing spring is mounted between the long mover of motor and E type non-magnet material pipe,
The long mover other side directly connects with wheel, tire；The middle opening direction of the E type non-magnet material pipe is long mover
The direction of motion；Air gap g is respectively provided between the inside stator, outer stator and long mover1And g2；The air gap g1And g2It answers
Meet g1> g2, and g1、g2It is all larger than zero；Inside stator and outer stator use different structures, and inside stator is equipped with Surface Mount
Or it is embedded in the permanent magnet on armature, outer stator is equipped with the armature for placing coil windings；The long mover is by nc
A adjustable magnetic ring is along the axial uniformly arrangement composition of motor, and adjustable magnetic ring and inner stator armature are made of permeability magnetic material；It is described to lead
It is to have non-magnet material composition between magnet ring；The adjustable magnetic ring number ncWith permanent magnet pole logarithm npAnd machine winding number of pole-pairs
nwBetween meet following relational expression: nc=np+nw, to reach vernier mudulation effect；Bimorph transducer asymmetry cylindrical linear permanent magnetism holds
It is connected between wrong vernier motor and controller using conducting wire, is connected between controller and battery using conducting wire.
Further, the electronic of bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor with power generation mode is carried according to spring
Quality vertical speedWith cylindrical linear magneto mover speedRelationship switch over.
Further, bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor works in power generation under vector control method
When mode, in mover speedWhen less than 0.02m/s, bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor (15) can not
Guarantee the brake force and feed cell voltage of output, power generation mode is switched to electric model by the motor at this time.
The beneficial effects of the present invention are:
Bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor not only alleviates the weight of nonspring carried mass, avoids
Permanent magnet or coil it is exposed in air caused by leakage field and damage of lying is swept caused by cutting particle because of iron, and introducing fault-tolerant architecture
The reliability of electromagnetic suspension system is improved, while improving the thrust output of the motor using cursor effect.
Vehicle is met using the thrust of performance objective function and the design of " ceiling-ground canopy " hybrid control strategy and has taken into account vehicle
The requirement of ride comfort and operational stability.
According to the relationship of spring carried mass speed and bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor mover speed
Switch that bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor is electronic and power generation mode, thus realize electromagnetic suspension system every
The coordinated control of vibration and energy regenerative, the strategy realize the recycling of vibrational energy, substantially reduce the energy consumption of electromagnetic suspension system.It should
Strategy and the thrust of " ceiling-ground canopy " hybrid control strategy design, which combine effectively to inhibit in vehicle travel process, to be vibrated, and is mentioned
High vehicle ride comfort and control stability, and the recycling of vibrational energy is more crucially realized, it greatly reduces
The energy consumption of electromagnetic suspension system.There is this present invention to not only increase vehicle ride comfort and manipulation stability, improves vehicle
Reliability, and recycled vibrational energy, reduced the energy consumption of suspension system, which is applied electronic
Automobile can extend vehicle driving mileage.
Detailed description of the invention
Fig. 1 is that the present invention is based on the electromagnetic suspension structure of bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor is whole
Schematic diagram；
Fig. 2 is electromagnetic suspension system schematic diagram of the invention；
Fig. 3 is electromagnetic suspension vibration isolation of the invention and energy regenerative control method for coordinating block diagram.
In figure: 1. outer stators；2. coil windings；3. armature tooth；4. fault-tolerant teeth；5. long mover；6. adjustable magnetic ring；7. inside
Stator；8. permanent magnet；9. compartment；10. bearing spring；11. wheel；12. pole shoe；13. controller；14. battery；15. pair fixed
Sub- asymmetry cylindrical linear fault tolerant permanent magnet vernier motor.
Specific embodiment
Legibly illustrate having for electromagnetic suspension vibration isolation of the invention and energy regenerative control method for coordinating in order to simpler
Beneficial effect carries out detailed statement below with reference to a specific embodiment.
Step 1, the electromagnetic suspension model based on bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor is established；
Electromagnetism of the invention based on bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor 15 as shown in Figure 1 is outstanding
Frame structural schematic diagram, including the long mover 5 among inside stator 7, outer stator 1 and inside and outside two stators, two stators are long
Degree is respectively less than long 5 length of mover.The inside stator 7 and outer stator 1 by E type non-magnet material pipe connect into one it is whole
Body, E type non-magnet material pipe are connected directly with compartment 9, and bearing spring 10 is placed on the long mover 5 of motor and E type non-magnet material
Between pipe, long 5 other side of mover directly connects with wheel 11, tire.Divide between inside stator 7, outer stator 1 and long mover 5
It Ju You not air gap g1And g2, take g1=g2+0.2mm.It include fault-tolerant teeth 4 and armature in outer stator to improve motor fault-tolerant ability
Tooth 3 is 2*m=10.The two is staggeredly alternatively arranged, and a fault-tolerant teeth 4, fault-tolerant teeth 4 are arranged between two neighboring armature tooth 3
Radial thickness be equal to the radial thickness of pole shoe 12 and add the radial thickness of armature tooth 3, the axial width of armature tooth 3 is greater than fault-tolerant
The axial width of tooth 4 is less than the axial width of pole shoe 12.The coiling in a manner of cake of coil windings 2, be placed in 1 slot of outer stator and
Using concentratred winding split-phase mode.The long mover 5 of motor is by ncA adjustable magnetic ring 6 is adjusted along the axial uniformly arrangement composition of motor
Magnet ring 6 is made of permeability magnetic material.The number n of long mover adjustable magnetic ring 6c(nc0) and the number of pole-pairs n of permanent magnet 8 greater thanpAnd electricity
Machine winding number of pole-pairs nwBetween meet following relational expression: nc=np+nw, realize vernier mudulation effect.The number of pole-pairs n of permanent magnet 8p=
6, the number of pole-pairs n of coil windings 2w=9, so the number n of long mover adjustable magnetic ring 6c=9+6=15.The long mover adjustable magnetic ring of the present invention
It is non-magnet material between 6.Permanent magnet 8 on inside stator 7 uses array excitation mode.It is only moved with long 10 side of bearing spring
Son 5 direct external wheel 11, tire after being connected, greatly reduce the unsprung mass of system, possess suspension system preferably dynamic
State responding ability and vehicle it is handling.Between bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor 15 and controller 13
It is connected using conducting wire, is connected between controller 13 and battery 14 using conducting wire.
Step 2, operating speed sensor measurement electromagnetic suspension spring carried mass vertical speedWith bimorph transducer asymmetry cylinder
The fault-tolerant vernier motor mover speed of linear permanent-magnetFind out nonspring carried mass vertical speed
Step 3, the mathematical model of electromagnetic suspension system is established according to fig. 2
In formula,It is electromagnetic suspension spring carried mass normal acceleration,It is nonspring carried mass normal acceleration, xwIt is non-spring
Mounted mass vertical displacement, xgIt is road surface vertical displacement, xmIt is bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor mover position
It moves, mbIt is spring carried mass, mwIt is nonspring carried mass, F is bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor thrust, ks
It is suspension stiffness, ktIt is tire stiffness.
Step 4, while considering vehicle ride comfort and control stability, design object performance function
Wherein, csFor spring carried mass acceleration weighting coefficient；cgFor the dynamic displacement weighting coefficient of nonspring carried mass；T is that road conditions become
Change the period.C is found out using Lagrangian principlesAnd cg。
Step 5, according to the thought of " ceiling " and " canopy ", " ceiling-ground canopy " Compound Control Strategy is designed, determines the cylinder
The thrust output of linear motor
In formula,It is electromagnetic suspension spring carried mass vertical speed,It is nonspring carried mass vertical speed.
Step 6: according to electromagnetic suspension spring carried mass vertical speedIt is swum with bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet
Mark electric mover speedBetween relationship switching bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor operating mode,
As shown in Figure 3；
1) whenWhen, it is flexible that bearing spring needs damping force to hinder, and cylindrical linear magneto works in power generation mould
Formula, cylindrical linear magneto provide brake force；
2) whenWhen, it is flexible that bearing spring needs active force to accelerate, and cylindrical linear magneto works in electronic mould
Formula, cylindrical linear magneto provide active thrust；
3) whenWhen, bearing spring does not need any external force, and cylindrical linear magneto works in free schema,
Cylindrical linear magneto does not provide any power.
Further, bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor works in power generation under vector control method
When mode, in mover speedWhen less than 0.02m/s, bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor not can guarantee
The brake force and feed cell voltage of output, power generation mode is switched to electric model by the motor at this time.
From the above it is found that electromagnetic suspension vibration isolation of the invention and energy regenerative control method for coordinating not only effectively inhibit vehicle
It is vibrated in driving process, improves vehicle ride comfort, ride performance, manipulation stability, and realize vibrational energy
It is partially recycled, greatly reduce the energy consumption of electromagnetic active suspension system.Therefore, the present invention is in electromagnetic active suspension system regions
Possess good application prospect.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (4)
1. a kind of control method for coordinating of electromagnetic suspension vibration isolation and energy regenerative, which is characterized in that specifically includes the following steps:
Step 1, the electromagnetic suspension system based on bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor is established；
Step 2, operating speed sensor measurement electromagnetic suspension spring carried mass vertical speedForever with bimorph transducer asymmetry cylindrical linear
Magnetic-capacity mistake vernier motor mover speedFind out nonspring carried mass vertical speed
Step 3, the mathematical model of the electromagnetic suspension system is established；
Wherein, xwIt is nonspring carried mass vertical displacement, xgIt is road surface vertical displacement, xmIt is bimorph transducer asymmetry cylindrical linear permanent magnetism
Fault-tolerant vernier motor mover displacement, mbIt is spring carried mass, mwIt is nonspring carried mass, F is that bimorph transducer asymmetry cylindrical linear permanent magnetism holds
Wrong vernier motor thrust, ksIt is suspension stiffness, ktIt is tire stiffness；
Step 4, according to the requirement of vehicle ride comfort and control stability, design object performance function
Wherein, csFor spring carried mass acceleration weighting coefficient；cgFor the dynamic displacement weighting coefficient of nonspring carried mass；T is road condition change week
Phase finds out c using Lagrangian principlesAnd cg；
Step 5, according to the thought of " ceiling " and " canopy ", " ceiling-ground canopy " Compound Control Strategy is designed, determines the cylindrical linear
The thrust output of fault tolerant permanent magnet vernier motor
Step 6, according to electromagnetic suspension spring carried mass vertical speedWith bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor
Mover speedBetween the vibration isolation of relational implementation electromagnetic suspension and energy regenerative coordinated control；
WhenWhen, bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor works in power generation mode, and bimorph transducer is not right
Cylindrical linear fault tolerant permanent magnet vernier motor is claimed to provide brake force；
WhenWhen, bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor works in electric model, and bimorph transducer is not right
Cylindrical linear fault tolerant permanent magnet vernier motor is claimed to provide thrust；
WhenWhen, bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor works in free schema, and bimorph transducer is not right
Cylindrical linear fault tolerant permanent magnet vernier motor is claimed not provide thrust.
2. the control method for coordinating of a kind of electromagnetic suspension vibration isolation and energy regenerative according to claim 1, which is characterized in that described
Electromagnetic suspension system based on bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor includes that inside stator (7), outside are fixed
The intermediate long mover (5) of sub (1) and inside stator (7) and outer stator (1), inside stator (7), outer stator (1) length
It is equal and be less than long mover (5) length；The inside stator (7) and outer stator (1) side pass through E type non-magnet material Guan Lian
It is connected into an entirety, E type non-magnet material pipe and compartment (9) are directly connected, and bearing spring (10) is mounted on the long mover of motor (5)
Between E type non-magnet material pipe, long mover (5) other side directly connects with wheel (11)；The E type non-magnet material pipe
Middle opening direction is the direction of motion of long mover (5)；The inside stator (7), outer stator (1) and long mover (5) it
Between be respectively provided with air gap g1And g2；The air gap g1And g2G should be met1>g2, and g1、g2It is all larger than zero；Inside stator (7) and outside
Stator (1) uses different structures, and the permanent magnet (8) that inside stator (7) is equipped with Surface Mount or is embedded on armature, outside is fixed
Sub (1) is equipped with the armature for placing coil windings (2)；The long mover (5) is by ncA adjustable magnetic ring (6) is axially equal along motor
Even arrangement composition, and adjustable magnetic ring (6) and inner stator armature are made of permeability magnetic material；Be between the adjustable magnetic ring (6) have it is non-
Permeability magnetic material is constituted；Adjustable magnetic ring (6) the number ncWith permanent magnet pole logarithm npAnd machine winding number of pole-pairs nwBetween meet such as
Lower relational expression: nc=np+nw, to reach vernier mudulation effect；Bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor
(15) it is connected between controller (13) using conducting wire, is connected between controller (13) and battery (14) using conducting wire.
3. the control method for coordinating of a kind of electromagnetic suspension vibration isolation and energy regenerative according to claim 1, which is characterized in that double fixed
The electronic and power generation mode of sub- asymmetry cylindrical linear fault tolerant permanent magnet vernier motor is according to spring carried mass vertical speedAnd circle
Cylinder permanent magnet linear motor mover speedRelationship switch over.
4. the control method for coordinating of a kind of electromagnetic suspension vibration isolation and energy regenerative according to claim 3, which is characterized in that double fixed
When sub- asymmetry cylindrical linear fault tolerant permanent magnet vernier motor works in power generation mode under vector control method, in mover speed
When less than 0.02m/s, bimorph transducer asymmetry cylindrical linear fault tolerant permanent magnet vernier motor (15) not can guarantee output brake force and
Cell voltage is fed, power generation mode is switched to electric model by the motor at this time.
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| CN201610902072.4A CN106394157B (en) | 2016-10-17 | 2016-10-17 | A kind of control method for coordinating of electromagnetic suspension vibration isolation and energy regenerative |
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| CN201610902072.4A CN106394157B (en) | 2016-10-17 | 2016-10-17 | A kind of control method for coordinating of electromagnetic suspension vibration isolation and energy regenerative |
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| JP6486414B2 (en) * | 2017-06-16 | 2019-03-20 | 本田技研工業株式会社 | Electromagnetic suspension device |
| JP6480983B2 (en) * | 2017-06-16 | 2019-03-13 | 本田技研工業株式会社 | Electromagnetic suspension device |
| JP7251538B2 (en) * | 2020-10-19 | 2023-04-04 | トヨタ自動車株式会社 | VEHICLE CONTROL METHOD AND CONTROL DEVICE |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201797431U (en) * | 2010-08-31 | 2011-04-13 | 东南大学 | Linear generator suitable for low-speed waves |
| CN203902200U (en) * | 2014-06-18 | 2014-10-29 | 吉林大学 | Rigidity and damping variable energy feedback active suspension system of automobile |
| CN105172510A (en) * | 2015-09-30 | 2015-12-23 | 江苏大学 | Vehicle suspension control system and method based on virtual inertia capacity |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006187079A (en) * | 2004-12-27 | 2006-07-13 | Hitachi Ltd | Cylindrical linear motor, electromagnetic suspension and vehicle employing it |
| JP2010035287A (en) * | 2008-07-25 | 2010-02-12 | Hitachi Ltd | Cylindrical linear motor, and electromagnetic suspension and motor-driven power steering device using the same |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201797431U (en) * | 2010-08-31 | 2011-04-13 | 东南大学 | Linear generator suitable for low-speed waves |
| CN203902200U (en) * | 2014-06-18 | 2014-10-29 | 吉林大学 | Rigidity and damping variable energy feedback active suspension system of automobile |
| CN105172510A (en) * | 2015-09-30 | 2015-12-23 | 江苏大学 | Vehicle suspension control system and method based on virtual inertia capacity |
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