CN106427452A - Load disturbance delaying and aerating and de-aerating coordination control method for electronic control pneumatic suspension - Google Patents

Abstract

The invention discloses a load disturbance delaying and aerating and de-aerating coordination control method for an electronic control pneumatic suspension. The method comprises the following steps: firstly, performing target height decision making according to vehicle speed and button signal, thereby acquiring target height; calculating a difference between the target height and the practical height collected by a height sensor, performing delaying and out-of-tolerance counting on the excessive error band through a disturbance delaying module and judging air springs to be adjusted; applying the strategy of aerating after de-aerating to a plurality of air springs to be adjusted in an aerating and de-aerating coordination module and judging firstly coordinated air springs; and finally, correcting the adjustment for the firstly coordinated air springs according to all the spring errors and the difference between the errors in a lifting synchronizing module and synchronously lifting, thereby effectively reducing the adjusting times under static and dynamic load disturbances and improving the stability and the reliability of the adjusting process.

Description

A kind of time delay of electronic control air suspension load disturbance and inflation/deflation control method for coordinating

Technical field

The present invention relates to the technical field of automobile suspension system, more particularly to a kind of electronic control air suspension load disturbance time delay With inflation/deflation control method for coordinating.

Background technology

Electronic control air suspension (ECAS) passes through the active control using electronic control technology realization to air spring, realizes different rows The bodywork height that sails under operating mode is adjusted, have the advantages that fast response time, height adjustable compared with traditional mechanical formula air suspension, Riding comfort, control stability and driving through property is largely improve, represents the weight of air suspension future development Want direction.

But thing followed problem is how in the case of load disturbance, is reducing inflation/deflation number of times to improve control valve Life-span under the premise of, realize coordination, the synchronization of inflation/deflation, with improve under the disturbance of quiet, dynamic load the reliability of system control, Stability, the problem is relevant with the structure of ECAS ontrol valve assembly.At present, more than ECAS system using monoblock type ontrol valve assembly or Split type control valve.Monoblock type typically has a central valve, split type general by front overhang ontrol valve assembly and rear overhang control valve Assembly two parts are constituted, and have a central valve per part.

When load change makes vehicle body deviate object height, the adjusting condition of inflation/deflation should be solved first, it is to avoid frequently Inflation/deflation, to improve the life-span of electromagnetic valve；If meeting control condition, need to solve the coordination problem of inflation/deflation.Each air Spring fills, deflating all obtains via central valve, synchronization or inflation or deflation, it is not possible to while inflation/deflation, and jolting Under travelling on road surface or being static when passenger getting on/off, all it is likely to result in certain air spring and declines while certain air bullet Spring rises, it is therefore desirable to carry out inflation/deflation coordination；On here basis, also the speed while inflated for deflated to be solved, make sky Gas spring carry outside the difference or arrangement on spring carried mass skewness in the case of, governing speed keeps a certain degree of synchronization, To ensure the steady of vehicle body.

A kind of electronic control air suspension car load height of layering structure is disclosed in issued patents [CN104960396A] Control method, the method is changed with speed and lateral acceleration change turns to time delay foundation, and its change certain time is then carried out Corresponding bodywork height is adjusted, the vibration during can effectively overcoming vehicle body to adjust, but do not explicitly point out inflation/deflation coordination and with Step control.Disclose a kind of electronic control air suspension bodywork height in issued patents [CN105599558A] to adjust and car load appearance State combination control method, the method obtains the vehicle body angle of pitch and angle of heel using gyroscope, and thus revising each air spring PWM, realize the synchronization of altitude mixture control, but the inflation/deflation during the method is not clearly adjusted coordinated, adopt gyro in addition Instrument also increases the cost of system.

Content of the invention

The technical problem to be solved in the present invention is the problem for overcoming prior art to exist, and provides a kind of electronic control air suspension load Lotus disturbance time delay and inflation/deflation control method for coordinating, mitigate inflation/deflation number of times with improve control valve life-span under the premise of, do not increase Add other sensors, realize coordination, the synchronization of inflation/deflation, with improve under the disturbance of quiet, dynamic load the reliability of system control, Stability.

For solving the above problems, the technical solution used in the present invention is：A kind of time delay of electronic control air suspension load disturbance with Inflation/deflation control method for coordinating, comprises the steps：

Step 1, collection GES, operation button signal input obtain object height letter to object height decision-making module Number；

Step 2, gathers actual height signal, and difference of the object height with actual height signal is input to disturbance time delay mould Block, is regulated enable signal；

Step 3, regulation and control are enabled signal input to charge and discharge Coordination module, are obtained PID control and are enabled signal；

Step 4, PID control is enabled signal input to lifting synchronization module, obtains pwm signal；

Step 5, collection door contact interrupter signal, gas tank pressure switch signal, other signals, condition is input to pwm signal Limit module, the pwm signal after being limited, drive magnetic valve work.

The step 1, height decision-making module obtains object height signal, and step includes：

Step 1.1, carries out mean filter to GES, arranges V1, V2, V3 speed separation, at speed separation Speed hysteresis is set；

Step 1.2, carries out button stabilization scanning based on state machine, obtains button signal, including：Normal level I button is believed Number KEY_I is designated as, side is kneeled button signal and KEY_KNEEL is designated as, rises button signal and KEY_UP is designated as, decline button signal and be designated as KEY_DOWN, special height II button signal is designated as KEY_II, and button signal value is that 1 expression is pressed, and is that 0 expression is upspring；

Step 1.3, note GES is that v, object height signal takes 1,2,3 for H_Ref_i, i ..., represents corresponding sky Gas spring (as do not done specified otherwise, i all represents corresponding air spring)：

If v<V1, H_Ref_i=H_Ref_key_i+H_Ref_start_i+H_Ref_pre_i × C；

If V1≤v<V2, H_Ref_i=H_I × kneel_flg+H_Ref_pre_i × D；

If V2≤v<V3, H_Ref_i=H_I；

If v >=V3, H_Ref_i=H_III；

Wherein：

A=(KEY_KNEEL | | KEY_UP | | KEY_DOWN) ＆＆kneel_flg

H_I is defined as normal level I, is the height for keeping between vehicle bridge and vehicle body during normal vehicle operation；H_II is defined as Special height II is vehicle by the height that keeps between vehicle bridge and vehicle body during Special Road；H_III is defined as special height III, It is the height for keeping between vehicle bridge and vehicle body during high vehicle speeds；H_EEPROM_i is defined as initialization height, is solidified on In EEPROM；H_Ref_pre_i is defined as the reference altitude value of each air spring of previous moment；H_Det is the step-length of lifting；H_ Cap_i is the actual height value of collection；H_Cap_knl_i is the actual height value that side is kneeled in the side of collection；H_Ref_key_i, H_ Ref_start_i, H_I_Ref_i, H_II_Ref_i, H_L_Ref_i, A, B, C, D are intermediate variable；Start_flg is for being System active flag, is that 1 expression system is in starting state, is that 0 expression system start-up is finished；Kneel_flg is side kneels shape state mark Will, is that 1 expression system is in side kneels shape state, is the non-side kneels shape state of 0 expression；Symbol in expression " | | " represent logic or computing, Symbol “ ＆＆ " represents logic and operation, and symbol " " represents logical not operation.

The step 2, disturbance time delay module is regulated enable signal, and step includes：

Step 2.1, the actual height signal to gathering carries out mean filter, and calculating object height is poor with actual height, note For Err_i；

Step 2.2, it is actual height state that note [ErrMin, ErrMax] is height error band, Reach_Href_flg_i Mark, is that 0 expression actual height does not reach error band scope, is that 1 expression actual height is adjusted to error band scope, is 2 expressions Load disturbance makes actual height depart from error band scope, and note Control_enable_i enables signal for regulation and control, is 1 expression needs Adjust, be that 0 expression is not required to adjust, according to Err_i and Reach_Href_flg_i：

If Reach_Href_flg_i=0：If ErrMin<Err_i<ErrMax, then be not adjusted, and makes Reach_ Href_flg_i=1, Control_enable_i=0, on the contrary it is adjusted, make Control_enable_i=1；

If Reach_Href_flg_i ≠ 0：If object height changes, it is adjusted, makes Reach_Href_flg_i =0, Control_enable_i=1, conversely, continue to judge Reach_Href_flg_i；

If Reach_Href_flg_i ≠ 2：If ErrMax<Err_i<ErrMin, then open time delay intervalometer, and prolonging When the time in, count actual height beyond error band number of times, be designated as overproof counting Count_i, be not adjusted, make Reach_ Href_flg_i=2, Control_enable_i=0, on the contrary it is not adjusted, make Control_enable_i=0；

If Reach_Href_flg_i=2：Judge whether that delay timing terminates, be not adjusted if not terminating, order Control_enable_i=0, if delay timing terminates, makes Reach_Href_flg_i=0, judges overproof counting Count_ Whether i exceedes threshold value, and the threshold value is designated as Count_Max, if it exceeds the threshold, being then adjusted, makes Control_enable_i =1, no person is not adjusted, and makes Control_enable-i=0.

The step 3, charge and discharge Coordination module obtains PID control and enables signal, and step includes：

Step 3.1, note PID control enable signal be PID_enable_i, be that 1 expression carries out PID control, be 0 expression not PID control is carried out, according to the input Control_enable_i of upper layer module：

If Control_enable_i=0：Then represent that corresponding air spring need not carry out PID control, make PID_ Enable_i=0；

If Control_enable_i=1：The quantity of bleed air spring is then counted, is designated as Num_disch；

Step 3.2, proceeds to judge according to Num_disch：

If Num_disch>0：Then judge Err_i, if Err_i<0, then it represents that corresponding air spring needs to be put Gas PID control, the PID_enable_i=1 of the corresponding air spring of order, and Err_i>0, represent that corresponding air spring needs to carry out Inflation, does not first carry out PID control to which, the PID_enable_i=0 of the corresponding air spring of order；

If Num_disch=0：Then explanation need deflate all with complete deflate, be left need inflation adjust, order Control_enable_i=1 corresponds to the PID_enable_i=1 of air spring；

The step 4, lifting synchronization module obtains pwm signal, and step includes：

Step 4.1, according to the input PID_enable_i of upper layer module：

If PID_enable_i=0：Then represent that corresponding air spring need not carry out PID control, then to air spring Pressurize, makes PWM for 0, makes corresponding closed electromagnetic valve；

If PID_enable_i=1：PID calculating is then carried out, and is converted to PWM duty cycle；

Step 4.2, statistics needs the quantity of the air spring for adjusting, and is designated as Num_cog, is proceeded according to Num_cog Judge：

If Num_cog=2：Need to adjust 2 air springs, the difference of the corresponding height error of two air springs calculated, Δ Err is designated as, judges Δ Err, if Δ Err exceeds threshold value, PWM duty cycle correction is carried out, if Δ Err is without departing from threshold Value, does not carry out PWM duty cycle correction；

If Num_cog>2：Need to adjust 2 air above springs, calculate all air springs height error average Error, is designated as Δ Err_aver, calculates each air spring error and the difference of mean error, is designated as Δ Err, if Δ Err exceeds Threshold value, carries out PWM duty cycle correction, if Δ Err does not carry out PWM duty cycle correction without departing from threshold value；

If Num_cog=1:Only 1 air spring needs to adjust, and does not carry out PWM duty cycle correction；

The step 5, condition limits the pwm signal after module is limited, and step includes：

Step 5.1, according to input signal, judges to limiting the condition for adjusting：

If car door is opened, it is not adjusted；

If pressure is low, it is not adjusted；

Other signal demands are limited to regulation, e.g., brake signal, curb detection signal etc., according to concrete feelings Condition is adopted with the processing mode as step 5.1.

Step 5.2, if not being adjusted, makes PWM duty cycle for 0, system pressurize.

The step 4.2, PWM duty cycle correction adopts following steps：

Step 4.2.1, respectively needs to adjust air spring height Error Absolute Value, takes its maximum, is designated as Err_ab_ Max；

Step 4.2.2, note K is correction factor, K=Err_ab_Max/ | Δ Err |；

Step 4.2.3, dutycycle result of calculation is designated as PWM_i, then after revising be：PWM_i=PWM_i × K.

Compared with prior art the invention has the beneficial effects as follows：

Control does not adopt gyroscope, lateral acceleration sensor, modularized design, and realization disturbs time delay, fully coordinates, rises Drop synchronization combining control, with low cost, easy care, adjusts more stable, reliable advantage.

Description of the drawings

With reference to the explanation of the preferred implementing form of accompanying drawings below, will become more apparent that ground understands the present invention.But, form of implementation and Accompanying drawing is used for simple diagram and explanation, bel not applied to limit the scope of the present invention, and the scope of the present invention is true by claims Fixed.

Fig. 1 coordinates control principle drawing for the electronic control air suspension load disturbance time delay of the present invention with inflation/deflation.

Fig. 2 disturbs time delay module program flow diagram for the present invention.

Fig. 3 is charge and discharge Coordination module program flow diagram of the present invention.

Fig. 4 lifts synchronization module program flow diagram for the present invention.

Fig. 5 is the train experiment result figure for being provided without control method of the present invention.

Fig. 6 is the train experiment result figure using control method of the present invention.

Specific embodiment

According to Fig. 1～Fig. 6, the preferred embodiment of the present invention is illustrated.

As shown in figure 1, system carries out object height decision-making according to speed, button signal first, object height is drawn.So Afterwards, the difference of the actual height that object height is gathered with height sensor is calculated, by disturbing time delay module, the error is carried out Judge.Enter line delay counting for exceed error band, when the number of times more than error band in the delay time exceedes threshold value, represent Need regulation and control, no person represent be not required to regulation and control.The air spring regulated and controled to needs by charge and discharge Coordination module judges, using elder generation The strategy for filling after putting, first to meet the requirement of bleed air spring, is then inflated to inflating air again.In the synchronous mould of lifting In block, what which was processed be coordinated after result, i.e., with filling or with putting, the speed for adjusting be controlled, to avoid in load Under effect, air spring rises or reduction of speed degree has big difference, and causes body gesture unbalance.Signal after synchronized, believes in conjunction with car door Number, reservoir pressure signal carry out condition restriction, realize forbidding, in car door opening or gas tank pressure, the function that ECAS is adjusted when low, To guarantee safety.The final pwm signal for limiting module output through condition, for controlling electromagnetism valve assembly, realizes the regulation of height.

As shown in Fig. 2 disturbing time delay module flow chart for the present invention.Actual height status indicator Reach_ is set first Href_flg_i, is that 0 expression actual height does not reach error band scope, is that 1 expression actual height is adjusted to error band scope, is 2 expression load disturbance make actual height depart from error band scope.Actual height signal to gathering carries out mean filter, calculates mesh Absolute altitude degree is poor with actual height, is designated as Err_i, if [ErrMin, ErrMax] is height error band, remembers Control_enable_i Signal is enabled for regulation and control, be that 1 expression needs to adjust, be that 0 expression is not required to adjust, according to Err_i and Reach_Href_flg_i：

If Reach_Href_flg_i=0 reaches error band：If ErrMin<Err_i<ErrMax reaches error model Enclose, be not then adjusted, actual height status indicator puts 1 i.e. Reach_Href_flg_i=1, update previous moment reference altitude That is H_Ref_pre_i=H_Ref_i；Regulation and control enable mark and set to 0 i.e. Control_enable_i=0；Conversely, being adjusted, order Regulation and control enable mark and put 1 i.e. Control_enable_i=1；

If Reach_Href_flg_i ≠ 0 is not up to error band：If object height change is H_Ref_i ≠ H_Ref_ Pre_i, then explanation has manually handle or the height that automatically switches, and closes timing, and actual height status indicator sets to 0 i.e. Reach_Href_ Flg_i=0, regulation and control enable mark and put 1 i.e. Control_enable_i=1, conversely, continuing to judge actual height status indicator Reach_Href_flg_i；

If load disturbance does not make actual height depart from error band i.e. Reach_Href_flg_i ≠ 2：Then continue decision height Error, if error is ErrMax beyond error band<Err_i<ErrMin, then open time delay intervalometer, and in delay time, Number of times of the actual height beyond error band is counted, overproof counting Count_i is designated as, is not adjusted, make actual height state mark Know and 2 i.e. Reach_Href_flg_i=2 is put, it is H_Ref_pre_i=H_Ref_i to update previous moment reference altitude, and regulation and control make Can identify and set to 0 i.e. Control_enable_i=0；Otherwise still within the scope of error band, it is not adjusted, order regulation and control enable mark Know and set to 0 i.e. Control_enable_i=0；

If load disturbance makes actual height depart from error band Reach_Href_flg_i=2：Judge whether that delay timing is tied Bundle, if do not terminated, is not adjusted, and order regulation and control enable mark and set to 0 i.e. Control_enable_i=0, if time delay is fixed When terminate, make actual height status indicator set to 0 i.e. Reach_Href_flg_i=0, Off Timer；Judge overproof counting Whether Count_i exceedes threshold value, and the threshold value is designated as Count_Max, if it exceeds the threshold, being then adjusted, makes overproof counting set to 0 That is Count_i=0, regulation and control enable mark and put 1 i.e. Control_enable_i=1, and no person is not adjusted, and make overproof counting put 0 i.e. Count_i=0, regulation and control enable mark and set to 0 i.e. Control_enable_i=0.

Fig. 3 is charge and discharge Coordination module program flow diagram of the present invention.PID control is set first PID_enable_i is designated, Representing for 1 carries out PID, is that 0 expression does not carry out PID control, and it is Control_ to enable mark according to the regulation and control of upper layer module enable_i：

If i.e. Control_enable_i=0 need not be regulated and controled：Then represent that corresponding air spring need not carry out PID control System, makes PID control mark set to 0 i.e. PID_enable_i=0；

If desired regulation is Control_enable_i=1：The quantity of bleed air spring is then counted, is designated as Num_ disch；

Proceed to judge according to Num_disch：

If abandoning quantity more than 0 i.e. Num_disch>0, then judge whether it is to deflate according to Err_i, if Err_i<0, then Represent that corresponding air spring needs deflation PID control is carried out, the PID control mark of the corresponding air spring of order puts 1 i.e. PID_ Enable_i=1, and Err_i>0, representing for air spring needs to be inflated, and does not first carry out PID control to which, and order is corresponded to The PID control mark of air spring sets to 0 i.e. PID_enable_i=0；

If deflation quantity is not more than 0 i.e. Num_disch=0, illustrate to need to deflate all to complete to deflate, be left needs Inflation is adjusted, and the PID control mark for making Control_enable_i=1 correspond to air spring puts 1 i.e. PID_enable_i=1.

Fig. 4 lifts synchronization module program flow diagram for the present invention.PID control mark according to upper layer module is PID_ enable_i：

If i.e. PID_enable_i=0 need not be controlled：Then represent that corresponding air spring need not carry out PID control, Then to air spring pressurize, make PWM duty cycle for 0, make corresponding closed electromagnetic valve；

If desired control is PID_enable_i=1：PID calculating is then carried out, and PWM duty cycle is converted to, statistics needs The quantity of the air spring of regulation, is designated as Num_cog；

Proceed to judge according to Num_cog：

If quantity is equal to 2 i.e. Num_cog=2：Need to adjust 2 air springs, the corresponding height of two air springs of calculating The difference of degree error, is designated as Δ Err, judges Δ Err, if Δ Err exceeds threshold value, carries out PWM duty cycle correction, if Δ Err Without departing from threshold value, PWM duty cycle correction is not carried out；

If quantity i.e. Num_cog more than 2>2：Need 2 air above springs are adjusted, calculate the height of all air springs The mean error of error, is designated as Δ Err_aver, calculates each air spring error and the difference of mean error, is designated as Δ Err, if Δ Err exceeds threshold value, carries out PWM duty cycle correction, if Δ Err does not carry out PWM duty cycle correction without departing from threshold value；

If quantity be not more than 2 if Num_cog=1：Only 1 air spring needs to adjust, and does not carry out PWM duty cycle and repaiies Just；

PWM duty cycle correction, using following steps：

First, respectively need air spring height Error Absolute Value is adjusted, its maximum is taken, is designated as Err_ab_Max；

Secondly, note K is correction factor, K=Err_ab_Max/ | Δ Err |；

Dutycycle result of calculation is designated as PWM_i, then after revising be：PWM_i=PWM_i × K；

Fig. 5 is the train experiment result figure of non-the inventive method, and Fig. 6 is the train experiment result using the inventive method Figure.In order to verify the effectiveness of electronic control air suspension load disturbance time delay and inflation/deflation control method for coordinating, on real vehicle Tested, at the uniform velocity travel B level bituminous paving on, speed be 25km/h, when initial in normal level I (as benchmark, if For 0), manual operation control panel, drop to vehicle body minimum, be then returned to normal level I again.It can be seen that Fig. 6 phase For Fig. 5 during rising and declining regulation, each air spring height change has more preferable concordance, so as to effectively increase The reliability of system control, stability under load disturbance.

Claims (7)

1. a kind of time delay of electronic control air suspension load disturbance and inflation/deflation control method for coordinating, it is characterised in that walk including following Suddenly：

Step 1, collection GES, operation button signal input obtain object height signal to object height decision-making module；

Step 2, gathers actual height signal, difference of the object height with actual height signal is input to disturbance time delay module, is obtained Signal is enabled to regulation and control；

Step 3, regulation and control are enabled signal input to charge and discharge Coordination module, are obtained PID control and are enabled signal；

Step 4, PID control is enabled signal input to lifting synchronization module, obtains pwm signal；

Step 5, collection door contact interrupter signal, gas tank pressure switch signal, other signals, condition restriction is input to pwm signal Module, the pwm signal after being limited, drive magnetic valve works.

2. electronic control air suspension load disturbance according to claim 1 time delay and inflation/deflation control method for coordinating, its feature It is, described height decision-making module obtains object height signal, and step includes：

Step 1.1, carries out mean filter to GES, arranges V1, V2, V3 speed separation, arranges at speed separation Speed hysteresis；

Step 1.2, carries out button stabilization scanning based on state machine, obtains button signal, including：Normal level I button signal is remembered For KEY_I, side is kneeled button signal and is designated as KEY_KNEEL, rises button signal and is designated as KEY_UP, declines button signal and is designated as KEY_ DOWN, special height II button signal is designated as KEY_II, and button signal value is that 1 expression is pressed, and is that 0 expression is upspring；

Step 1.3, GES is designated as v, and object height signal takes 1,2,3 for H_Ref_i, i ..., represents corresponding air bullet Spring (as do not done specified otherwise, i all represents corresponding air spring)：

If v<V1, H_Ref_i=H_Ref_key_i+H_Ref_start_i+H_Ref_pre_i × C；

If V1≤v<V2, H_Ref_i=H_I × kneel_flg+H_Ref_pre_i × D；

If V2≤v<V3, H_Ref_i=H_I；

If v >=V3, H_Ref_i=H_III；

Wherein：

$H\_\mathrm{Re}f\_key\_i=(H\_I\_\mathrm{Re}f\_i+H\_II\_\mathrm{Re}f\_i+H\_L\_\mathrm{Re}f\_i)\&times;\stackrel{\&OverBar;}{start\_f\lg }$

$\begin{array}{c}H\_L\_\mathrm{Re}f\_i=(\left(H\_Det\&times;\left(KEY\_UP-KEY\_DOWN-KEY\_KNEEL\right)+H\_Cap\_knl\_i\right)\&times;A\\ +\left(H\_Det\&times;\left(KEY\_UP-KEY\_DOWN\right)+H\_Cap\_i\right))\&times;B)\&times;\stackrel{\&OverBar;}{KEY\_II}\end{array}$

$C=\stackrel{\&OverBar;}{KEY\_KNEEL\left|\right|KEY\_I\left|\right|KEY\_UP\left|\right|KEY\_DOWN}$

H_I is defined as normal level I, is the height for keeping between vehicle bridge and vehicle body during normal vehicle operation；H_II is defined as special Height II is vehicle by the height that keeps between vehicle bridge and vehicle body during Special Road；H_III is defined as special height III, is car The height for keeping between vehicle bridge and vehicle body when running at high speed；H_EEPROM_i is defined as initialization height, is solidified in EEPROM； H_Ref_pre_i is defined as the reference altitude value of each air spring of previous moment；H_Det is the step-length of lifting；H_Cap_i is for adopting The actual height value of collection；H_Cap_knl_i is the actual height value that side is kneeled in the side of collection；H_Ref_key_i, H_Ref_start_ I, H_I_Ref_i, H_II_Ref_i, H_L_Ref_i, A, B, C, D are intermediate variable；Start_flg is system start-up mark, Represent that system is in starting state for 1, be that 0 expression system start-up is finished；Kneel_flg kneels Status Flag for side, is 1 expression system System, in side kneels shape state, is the non-side kneels shape state of 0 expression；Symbol in expression " | | " represent logic or computing, symbol “ ＆＆ " represent Logic and operation, symbol " " represents logical not operation.

3. electronic control air suspension load disturbance according to claim 1 time delay and inflation/deflation control method for coordinating, its feature It is, described disturbance time delay module is regulated enable signal, and step includes：

Step 2.1, the actual height signal to gathering carries out mean filter, and calculating object height is poor with actual height, is designated as Err_i；

Step 2.2, it is actual height status indicator that note [ErrMin, ErrMax] is height error band, Reach_Href_flg_i, Error band scope is not reached for 0 expression actual height, be that 1 expression actual height is adjusted to error band scope, be that 2 expression load are disturbed Moving makes actual height depart from error band scope, and note Control_enable_i is regulation and control enable signal, is that 1 expression needs to adjust, Represent for 0 and be not required to adjust, according to Err_i and Reach_Href_flg_i：

If Reach_Href_flg_i=0：If ErrMin<Err_i<ErrMax, then be not adjusted, and makes Reach_Href_ Flg_i=1, Control_enable_i=0, on the contrary it is adjusted, make Control_enable_i=1；

If Reach_Href_flg_i ≠ 0：If object height changes, it is adjusted, Reach_Href_flg_i=0 is made, Control_enable_i=1, conversely, continue to judge Reach_Href_flg_i；

If Reach_Href_flg_i ≠ 2：If ErrMax<Err_i<ErrMin, then open time delay intervalometer, and in time delay In, number of times of the actual height beyond error band is counted, overproof counting Count_i is designated as, is not adjusted, makes Reach_ Href_flg_i=2, Control_enable_i=0, on the contrary it is not adjusted, make Control_enable_i=0；

If Reach_Href_flg_i=2：Judge whether that delay timing terminates, be not adjusted if not terminating, order Control_enable_i=0, if delay timing terminates, makes Reach_Href_flg_i=0, judges overproof counting Count_ Whether i exceedes threshold value, and the threshold value is designated as Count_Max, if it exceeds the threshold, being then adjusted, makes Control_enable_i =1, no person is not adjusted, and makes Control_enable_i=0.

4. electronic control air suspension load disturbance according to claim 1 time delay and inflation/deflation control method for coordinating, its feature It is, described charge and discharge Coordination module obtains PID control and enables signal, step includes：

Step 3.1, it is PID_enable_i that note PID control enables signal, is that 1 expression carries out PID control, is that 0 expression is not carried out PID control, according to the input Control_enable_i of upper layer module：

If Control_enable_i=0：Then represent that corresponding air spring need not carry out PID control, make PID_enable_ I=0；

If Control_enable_i=1：The quantity of bleed air spring is then counted, is designated as Num_disch；

Step 3.2, proceeds to judge according to Num_disch：

If Num_disch>0：Then judge Err_i, if Err_i<0, then it represents that corresponding air spring needs to carry out deflation PID Control, the PID_enable_i=1 of the corresponding air spring of order, and Err_i>0, represent that corresponding air spring needs to be inflated, PID control is not first carried out to which, the PID_enable_i=0 of the corresponding air spring of order；

If Num_disch=0：Then explanation need deflate all with complete deflate, be left need inflation adjust, make Control_ Enable_i=1 corresponds to the PID_enable_i=1 of air spring.

5. electronic control air suspension load disturbance according to claim 1 time delay and inflation/deflation control method for coordinating, its feature It is, described lifting synchronization module obtains pwm signal, and step includes：

Step 4.1, according to the input PID_enable_i of upper layer module：

If PID_enable_i=0：Then represent that corresponding air spring need not carry out PID control, then to air spring pressurize, Make PWM duty cycle for 0, make corresponding closed electromagnetic valve；

If PID_enable_i=1：PID calculating is then carried out, and is converted to PWM duty cycle；

Step 4.2, statistics needs the quantity of the air spring for adjusting, and is designated as Num_cog, proceeds to judge according to Num_cog：

If Num_cog=2：Need to adjust 2 air springs, the difference of the corresponding height error of two air springs is calculated, is designated as Δ Err, judges Δ Err, if Δ Err exceeds threshold value, carries out PWM duty cycle correction, if Δ Err is without departing from threshold value, no Carry out PWM duty cycle correction；

If Num_cog>2：Need 2 air above springs are adjusted, the mean error of the height error of all air springs calculated, Δ Err_aver is designated as, each air spring error and the difference of mean error is calculated, Δ Err is designated as, if Δ Err exceeds threshold value, PWM duty cycle correction is carried out, if Δ Err does not carry out PWM duty cycle correction without departing from threshold value；

If Num_cog=1：Only 1 air spring needs to adjust, and does not carry out PWM duty cycle correction.

6. electronic control air suspension load disturbance according to claim 1 time delay and inflation/deflation control method for coordinating, its feature It is, described condition limits module and obtains revised pwm signal, and step includes：

Step 5.1, according to input signal, judges to limiting the condition for adjusting：

If car door is opened, it is not adjusted；

If pressure is low, it is not adjusted；

Step 5.2, if not being adjusted, makes PWM duty cycle for 0, system pressurize.

7. lifting synchronization module according to claim 5, it is characterised in that described PWM duty cycle correction, using as follows Step：

Step 4.2.1, respectively needs to adjust air spring height Error Absolute Value, takes its maximum, is designated as Err_ab_Max；

Step 4.2.2, note K is correction factor, K=Err_ab_Max/ | Δ Err |；

Step 4.2.3, dutycycle result of calculation is designated as PWM_i, then after revising be：PWM_i=PWM_i × K.