CN106427452B - A kind of delay of electronic control air suspension load disturbance and inflation/deflation control method for coordinating - Google Patents
A kind of delay of electronic control air suspension load disturbance and inflation/deflation control method for coordinating Download PDFInfo
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- CN106427452B CN106427452B CN201610986358.5A CN201610986358A CN106427452B CN 106427452 B CN106427452 B CN 106427452B CN 201610986358 A CN201610986358 A CN 201610986358A CN 106427452 B CN106427452 B CN 106427452B
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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
- B60G17/0155—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 pneumatic unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
Abstract
The invention discloses a kind of delays of electronic control air suspension load disturbance and inflation/deflation control method for coordinating, carry out object height decision according to speed, button signal first, obtain object height；Then, the difference for calculating the actual height of object height and height sensor acquisition judges the air spring for needing to adjust by disturbance time delay module for carrying out delay and overproof counting more than error band；Then the air spring coordinated in advance is shown using the strategy filled afterwards, judgement is first put to multiple air springs that needs are adjusted in charge and discharge Coordination module；Finally the adjusting for the air spring coordinated in advance is modified according to the difference of each spring error and error in lifting synchronization module, makes its synchronization lifting, is realized and is effectively reduced adjusting number under quiet, dynamic load disturbance and improve the steady, reliable of adjustment process.
Description
Technical field
The present invention relates to the technical fields of automobile suspension system more particularly to a kind of electronic control air suspension load disturbance to be delayed
With inflation/deflation control method for coordinating.
Background technique
Electronic control air suspension (ECAS) realizes the active control to air spring by using electronic control technology, and realization is not gone together
The bodywork height sailed under operating condition is adjusted, and has many advantages, such as that fast response time, height is adjustable compared with tradition machinery formula air suspension,
Riding comfort, control stability and driving through property are largely improved, the weight of air suspension future development is represented
Want direction.
But accompanying problem is that reducing inflation/deflation number how in the case where load disturbance to improve control valve
Service life under the premise of, realize coordination, the synchronization of inflation/deflation, with improve system controls under the disturbance of quiet, dynamic load reliability,
Stability, the problem are related with the structure of ECAS ontrol valve assembly.Currently, ECAS system mostly use monoblock type ontrol valve assembly or
Split type control valve.Monoblock type generally has a central valve, split type generally by front overhang ontrol valve assembly and rear overhang control valve
Assembly two parts are constituted, and every part has a central valve.
When load change makes vehicle body deviate object height, the adjusting condition of inflation/deflation should be solved first, avoided frequent
Inflation/deflation, to improve the service life of solenoid valve；If meeting control condition, need to solve the coordination problem of inflation/deflation.Each air
Spring, which is filled and deflated by, all to be obtained via central valve, synchronization 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, some air spring decline some air bullet simultaneously all may cause
Spring rises, it is therefore desirable to carry out inflation/deflation coordination；It herein on basis, also to solve while inflated for deflated speed, make sky
Gas spring carry or arrange outside difference on spring carried mass when being unevenly distributed, adjustment speed keeps a degree of synchronization,
To guarantee the steady of vehicle body.
A kind of electronic control air suspension vehicle height of layering structure is disclosed in issued patents [CN104960396A]
Control method, this method is changed with speed and side acceleration variation is delay foundation, and variation certain time then carries out
Corresponding bodywork height is adjusted, and can effectively overcome the oscillation in vehicle body adjustment process, but the coordination for pointing out inflation/deflation and same is not known
Step control.A kind of electronic control air suspension bodywork height is disclosed in issued patents [CN105599558A] to adjust and vehicle appearance
State combination control method, this method obtain vehicle body pitch angle and angle of heel using gyroscope, and thus revises each air spring
PWM, realize the synchronization of height adjustment, but this method and not yet explicitly the inflation/deflation in adjustment process is coordinated, furthermore use gyro
Instrument also increases the cost of system.
Summary of the invention
The technical problem to be solved by the present invention is to overcome problems of the existing technology, provide a kind of electronic control air suspension load
Lotus disturbance delay and inflation/deflation control method for coordinating do not increase under the premise of mitigating service life of the inflation/deflation number to improve control valve
Add other sensors, realize coordination, the synchronization of inflation/deflation, with improve system controls under the disturbance of quiet, dynamic load reliability,
Stability.
To solve the above problems, the technical solution adopted by the present invention is that: a kind of delay of electronic control air suspension load disturbance with
Inflation/deflation control method for coordinating, includes the following steps:
Step 1, acquisition speed signal, operation button signal are input to object height decision-making module, obtain object height letter
Number；
Step 2, actual height signal is acquired, the difference of object height and actual height signal is input to disturbance delay mould
Block is regulated enable signal, remembers that the difference of each spring object height and actual height signal is height error Err_i；
Step 3, regulation enable signal is input to charge and discharge Coordination module, obtains PID control enable signal, specifically includes:
Step 3.1, note PID control enable signal is PID_enable_i, indicates to carry out PID control for 1, indicate not for 0
PID control is carried out, according to the input Control_enable_i of upper layer module；
If Control_enable_i=0: if indicate corresponding air spring do not need carry out PID control, enable PID_
Enable_i=0；
If Control_enable_i=1: if count the quantity of bleed air spring, be denoted as Num_disch；
Step 3.2, continue to judge according to Num_disch:
If Num_disch>0: if decision height error E rr_i, if Err_i<0, then it represents that corresponding air spring needs
Deflation PID control is carried out, the PID_enable_i=1 of corresponding air spring is enabled, and Err_i > 0, expression correspond to air spring
It needs to be inflated, does not carry out PID control to it first, enable the PID_enable_i=0 of corresponding air spring；
If Num_disch=0: if illustrate need deflate deflations is completed, be left need inflate adjust, order
Control_enable_i=1 corresponds to the PID_enable_i=1 of air spring.
Step 4, PID control enable signal is input to lifting synchronization module, obtains pwm signal, specifically included:
Step 4.1, according to the input PID_enable_i of upper layer module:
If PID_enable_i=0: if indicate corresponding air spring do not need carry out PID control, to air spring
Pressure maintaining, enabling PWM duty cycle is 0, closes corresponding solenoid valve；
If PID_enable_i=1: if carry out PID calculating, and be converted to PWM duty cycle；
Step 4.2, the quantity for the air spring that statistics needs to adjust, is denoted as Num_cog, is continued according to Num_cog
Judgement:
If Num_cog=2: it needs to adjust 2 air springs, calculates the difference of the corresponding height error of two air springs,
Be denoted as Δ Err1, judge Δ Err1, if Δ Err1 exceed threshold value, carry out PWM duty cycle amendment, if Δ Err1 without departing from
Threshold value is corrected without PWM duty cycle；
If Num_cog > 2: needing to adjust 2 or more air springs, calculate being averaged for the height error of all air springs
Error is denoted as Δ Err_aver, calculates the height error of each air spring and the difference of mean error, is denoted as Δ Err2_i, if
Δ Err2_i exceeds threshold value, PWM duty cycle amendment is carried out, if Δ Err2_i is repaired without departing from threshold value without PWM duty cycle
If just Num_cog=1: only 1 air spring needs to adjust, and corrects without PWM duty cycle.
Step 5, door switch signal, gas tank pressure switch signal are acquired, is input to condition limitation module with pwm signal,
Pwm signal after being limited, drive magnetic valve work.
The height decision-making module obtains object height signal, and step includes:
Step 1.1, mean filter is carried out to speed signal, V1, V2, V3 speed separation is set, at speed separation
Speed hysteresis is set；
Step 1.2, the scanning of button stabilization is carried out based on state machine, obtains button signal, comprising: normal level I button letter
Number it is denoted as KEY_I, side kneels button signal and is denoted as KEY_KNEEL, and rising button signal is denoted as KEY_UP, and declines button signal is denoted as
KEY_DOWN, special height II button signal are denoted as KEY_II, and button signal value is that 1 expression is pressed, and indicate to bounce for 0；
Step 1.3, speed signal is denoted as v, and object height signal is H_Ref_i:
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, the height kept between vehicle bridge and vehicle body when being normal vehicle operation；H_II is defined as
Special height II is the height kept between vehicle bridge and vehicle body when vehicle passes through Special Road；H_III is defined as special height III,
The height kept between vehicle bridge and vehicle body when being high vehicle speeds；H_EEPROM_i be defined as initialization height, solidification in
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 acquisition；H_Cap_knl_i is that the actual height value of side is kneeled in the side of acquisition；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 be
System active flag is in starting state for 1 expression system, finishes for the starting of 0 expression system；Kneel_flg is side kneeling shape state mark
Will is in side kneeling shape state for 1 expression system, indicates non-side kneeling shape state for 0；Symbol in expression " | | " indicate logic or operation,
Symbol " && " indicates that logic and operation, symbol " --- " indicate logical not operation.
The disturbance time delay module is regulated enable signal, and step includes:
Step 2.1, mean filter, computed altitude error E rr_i are carried out to the actual height signal of acquisition；
Step 2.2, note [ErrMin, ErrMax] is height error band, and Reach_Href_flg_i is actual height state
Mark, does not reach error band range for 0 expression actual height, is adjusted to error band range for 1 expression actual height, indicates for 2
Load disturbance makes actual height be detached from error band range, and note Control_enable_i is regulation enable signal, indicates to need for 1
It adjusts, indicates to be not required to adjust for 0, according to Err_i and Reach_Href_flg_i:
If Reach_Href_flg_i=0: if ErrMin < Err_i < ErrMax, without adjusting, enabling Reach_
Href_flg_i=1, Control_enable_i=0, on the contrary it is adjusted, enable Control_enable_i=1；
If Reach_Href_flg_i ≠ 0: if object height changes, being adjusted, enable Reach_Href_flg_i
=0, Control_enable_i=1, conversely, continuing to judge Reach_Href_flg_i；
If Reach_Href_flg_i ≠ 2: if Err_i>ErrMax or Err_i<ErrMin, open time delay timing
Device, and in delay time, the number that actual height exceeds error band is counted, overproof counting Count_i is denoted as, without adjusting
Section, enables Reach_Href_flg_i=2, Control_enable_i=0, otherwise without adjusting, enable Control_enable_
I=0；
If Reach_Href_flg_i=2: judging whether that delay timing terminates, if not terminating to enable without adjusting
Control_enable_i=0 enables Reach_Href_flg_i=0 if delay timing terminates, and judges overproof counting Count_
Whether i is more than threshold value, which is denoted as Count_Max, if it exceeds the threshold, being then adjusted, enables Control_enable_i
=1, no person enables Control_enable_i=0 without adjusting.
The PWM duty cycle amendment, step include:
Step 4.2.1 respectively needs to adjust air spring height Error Absolute Value, takes its maximum, is denoted as Err_ab_
Max；
Step 4.2.2, note K be correction factor, K=Err_ab_Max/ | Δ Err |, Δ Err be Δ Err1 or Δ Err2_
i；
Step 4.2.3, duty ratio calculated result are denoted as PWM_i, then after correcting are as follows: PWM_i × K.
Compared with prior art the beneficial effects of the present invention are:
Control does not use gyroscope, lateral acceleration sensor, and modularized design realizes disturbance delay, sufficiently coordinates, rises
Synchronization combining control is dropped, has the advantages that at low cost, easy to maintain, adjusting is more stable, reliable.
Detailed description of the invention
Referring to the explanation of the preferred implementing form of following accompanying drawings, will become more apparent that ground understands the present invention.But form of implementation and
Attached drawing is used for simple diagram and explanation, is not applied to limit the scope of the invention, the scope of the present invention is true by claims
It is fixed.
Fig. 1 is the delay of electronic control air suspension load disturbance and inflation/deflation coordinated control schematic diagram of the invention.
Fig. 2 is present invention disturbance time delay module program flow diagram.
Fig. 3 is charge and discharge Coordination module program flow diagram of the present invention.
Fig. 4 is present invention lifting synchronization module program flow diagram.
Fig. 5 is the train experiment result figure for not using control method of the present invention.
Fig. 6 is the train experiment result figure using control method of the present invention.
Specific embodiment
The preferred embodiment of the present invention is illustrated according to FIG. 1 to FIG. 6.
As shown in Figure 1, system carries out object height decision according to speed, button signal first, object height is obtained.So
Afterwards, the difference for calculating the actual height of object height and height sensor acquisition carries out the error by disturbance time delay module
Judgement.For being more than the carry out time delay count of error band, when being more than threshold value more than the number of error band in delay time, indicate
It needs, no person indicates to be not required to.Charge and discharge Coordination module judges the air spring regulated and controled, using elder generation
Then the strategy filled after putting is again inflated inflation air with first meeting the requirement of bleed air spring.Going up and down synchronous mould
In block, processing be it is coordinated after as a result, i.e. with fill or together put, the speed of adjusting is controlled, to avoid in load
Under effect, air spring is risen or reduction of speed degree has big difference, and causes body gesture unbalance.Signal after synchronized is believed in conjunction with car door
Number, reservoir pressure signal carry out condition limitation, realize forbid in car door opening or low gas tank pressure ECAS adjust function,
To ensure safety.Pwm signal finally through condition limitation module output realizes the adjusting of height for controlling electromagnetism valve assembly.
As shown in Fig. 2, for present invention disturbance time delay module flow chart.Actual height status indicator Reach_ is set first
Href_flg_i, does not reach error band range for 0 expression actual height, is adjusted to error band range for 1 expression actual height, is
2 expression load disturbances make actual height be detached from error band range.Mean filter is carried out to the actual height signal of acquisition, calculates mesh
Absolute altitude degree is poor with actual height, is denoted as Err_i, if [ErrMin, ErrMax] is height error band, remembers Control_enable_i
It to regulate and control enable signal, indicates to need to adjust for 1, indicates to be not required to adjust for 0, 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
It encloses, then without adjusting, actual height status indicator sets 1 i.e. Reach_Href_flg_i=1, updates previous moment reference altitude
That is H_Ref_pre_i=H_Ref_i；The enabled mark of regulation sets 0 i.e. Control_enable_i=0；Conversely, being adjusted, enable
The enabled mark of regulation sets 1 i.e. Control_enable_i=1；
If Reach_Href_flg_i ≠ 0 is not up to error band: if object height variation is H_Ref_i ≠ H_Ref_
Pre_i, then explanation has manually handle or automatically switches height, closes timing, actual height status indicator sets 0 i.e. Reach_Href_
Flg_i=0 regulates and controls enabled mark and sets 1 i.e. Control_enable_i=1, conversely, continuing to judge actual height status indicator
Reach_Href_flg_i；
If load disturbance do not make actual height be detached from error band i.e. Reach_Href_flg_i ≠ 2: if continue decision height
Error, if error exceeds error band, that is, Err>ErrMax and Err<ErrMin, open time delay timer, and in delay time
It is interior, the number that actual height exceeds error band is counted, overproof counting Count_i is denoted as, without adjusting, enables actual height state
Mark sets 2 i.e. Reach_Href_flg_i=2, updates previous moment reference altitude, that is, H_Ref_pre_i=H_Ref_i, regulation
Enabled mark sets 0 i.e. Control_enable_i=0；Otherwise still within the scope of error band, without adjusting, enable regulation enabled
Mark sets 0 i.e. Control_enable_i=0；
If load disturbance makes actual height be detached from error band Reach_Href_flg_i=2: judging whether delay timing knot
Beam, without adjusting, enables the enabled mark of regulation set 0 i.e. Control_enable_i=0, if delay is fixed if do not terminated
When terminate, enable actual height status indicator set 0 i.e. Reach_Href_flg_i=0, Off Timer；Judge overproof counting
Whether Count_i is more than threshold value, which is denoted as Count_Max, if it exceeds the threshold, being then adjusted, overproof counting is enabled to set 0
That is Count_i=0 regulates and controls enabled mark and sets 1 i.e. Control_enable_i=1, and no person enables overproof counting set without adjusting
0 i.e. Count_i=0 regulates and controls enabled mark and sets 0 i.e. Control_enable_i=0.
Fig. 3 is charge and discharge Coordination module program flow diagram of the present invention.Setting PID control first is identified as PID_enable_i,
It indicates to carry out PID for 1, indicates for 0 without PID control, be Control_ according to the enabled mark of the regulation of upper layer module
Enable_i:
If do not need regulation i.e. Control_enable_i=0: if indicate corresponding air spring do not need progress PID control
System enables PID control mark set 0 i.e. PID_enable_i=0；
If desired adjusting is Control_enable_i=1: then counting the quantity of bleed air spring, is denoted as Num_
disch；
Continue to judge according to Num_disch:
If abandoning quantity greater than 0 i.e. Num_disch>0, judge whether it is to deflate according to Err_i, if Err_i<0,
It indicates that corresponding air spring needs to carry out deflation PID control, the PID control mark of corresponding air spring is enabled to set 1 i.e. PID_
Enable_i=1, and Err_i > 0 are indicated to be inflated air spring needs, are not carried out PID control to it first, enable and corresponding to
The PID control mark of air spring sets 0 i.e. PID_enable_i=0；
If deflation quantity i.e. Num_disch=0 no more than 0, illustrates to need that deflates deflation is completed, it is left to need
Inflation is adjusted, and the PID control mark for enabling Control_enable_i=1 correspond to air spring sets 1 i.e. PID_enable_i=1.
Fig. 4 is present invention lifting synchronization module program flow diagram.It is PID_ according to the PID control of upper layer module mark
Enable_i:
If do not need control i.e. PID_enable_i=0: if indicate corresponding air spring do not need progress PID control,
Then to air spring pressure maintaining, enabling PWM duty cycle is 0, closes corresponding solenoid valve；
If desired control is PID_enable_i=1: then carrying out PID calculating, and is converted to PWM duty cycle, statistics needs
The quantity of the air spring of adjusting, is denoted as Num_cog；
Continue to judge according to Num_cog:
If quantity is equal to 2 i.e. Num_cog=2: needing to adjust 2 air springs, calculate the corresponding height of two air springs
The difference for spending error, is denoted as Δ Err1, judges Δ Err1, if Δ Err1 exceeds threshold value, PWM duty cycle amendment is carried out, if Δ
Err1 is corrected without departing from threshold value without PWM duty cycle；
If quantity is greater than 2 i.e. Num_cog > 2: needing to adjust 2 or more air springs, calculate the height of all air springs
The mean error of error is denoted as Δ Err_aver, calculates the difference of each air spring error and mean error, is denoted as Δ Err2_i,
If Δ Err2_i exceed threshold value, carry out PWM duty cycle amendment, if Δ Err2_i without departing from threshold value, without PWM duty
Than amendment；
The Num_cog=1 if quantity is no more than 2: only 1 air spring needs to adjust, and repairs without PWM duty cycle
Just；
PWM duty cycle amendment, using following steps:
Firstly, respectively needing to adjust air spring height Error Absolute Value, its maximum is taken, Err_ab_Max is denoted as；
Secondly, note K be correction factor, K=Err_ab_Max/ | Δ Err |, Δ Err be Δ Err1 or Δ Err2_i；
Duty ratio calculated result is denoted as PWM_i, then after correcting are as follows: PWM_i × K；
Fig. 5 is the train experiment result figure of non-the method of the present invention, and Fig. 6 is the train experiment result using the method for the present invention
Figure.In order to verify the validity of electronic control air suspension the load disturbance delay and inflation/deflation control method for coordinating, on real vehicle
Tested, driven at a constant speed on B grades of bituminous pavements, speed 25km/h, when initial in normal level I (as benchmark, if
0), control panel to be manually operated, drops to vehicle body minimum, is then returned to normal level I again.It can be seen that Fig. 6 phase
Fig. 5 is being risen and declined in adjustment process, each air spring height variation has better consistency, to effectively increase
Reliability, the stability of system control under load disturbance.
Claims (4)
1. a kind of electronic control air suspension load disturbance delay and inflation/deflation control method for coordinating, which is characterized in that including walking as follows
It is rapid:
Step 1, acquisition speed signal, operation button signal are input to object height decision-making module, obtain object height signal；
Step 2, actual height signal is acquired, the difference of object height and actual height signal is input to disturbance time delay module, is obtained
To regulation enable signal, remember that the difference of each spring object height and actual height signal is height error Err_i；
Step 3, regulation enable signal is input to charge and discharge Coordination module, obtains PID control enable signal, specifically includes:
Step 3.1, note PID control enable signal be PID_enable_i, for 1 indicate carry out PID control, for 0 indicate without
PID control, according to the input Control_enable_i of upper layer module；
If Control_enable_i=0: if indicate corresponding air spring do not need carry out PID control, enable PID_enable_
I=0；
If Control_enable_i=1: if count the quantity of bleed air spring, be denoted as Num_disch；
Step 3.2, continue to judge according to Num_disch:
If Num_disch>0: if decision height error E rr_i, if Err_i<0, then it represents that corresponding air spring need into
Row deflation PID control enables the PID_enable_i=1 of corresponding air spring, and Err_i > 0, the corresponding air spring of expression need
It is inflated, does not carry out PID control to it first, enable the PID_enable_i=0 of corresponding air spring；
If Num_disch=0: if illustrate need deflate deflations is completed, be left need inflate adjusting, enable Control_
Enable_i=1 corresponds to the PID_enable_i=1 of air spring；
Step 4, PID control enable signal is input to lifting synchronization module, obtains pwm signal, specifically included:
Step 4.1, according to the input PID_enable_i of upper layer module:
If PID_enable_i=0: if indicate that corresponding air spring does not need to carry out PID control, to air spring pressure maintaining,
Enabling PWM duty cycle is 0, closes corresponding solenoid valve；
If PID_enable_i=1: if carry out PID calculating, and be converted to PWM duty cycle；
Step 4.2, the quantity for the air spring that statistics needs to adjust, is denoted as Num_cog, continues to judge according to Num_cog:
If Num_cog=2: needing to adjust 2 air springs, calculate the difference of the corresponding height error of two air springs, be denoted as
Δ Err1 judges Δ Err1, if Δ Err1 exceeds threshold value, PWM duty cycle amendment is carried out, if Δ Err1 is without departing from threshold
Value is corrected without PWM duty cycle；
If Num_cog > 2: it needs to adjust 2 or more air springs, calculates the mean error of the height error of all air springs,
It is denoted as Δ Err_aver, calculates the height error of each air spring and the difference of mean error, is denoted as Δ Err2_i, if Δ
Err2_i exceeds threshold value, PWM duty cycle amendment is carried out, if Δ Err2_i is repaired without departing from threshold value without PWM duty cycle
Just；
If Num_cog=1: only 1 air spring needs to adjust, and corrects without PWM duty cycle；
Step 5, door switch signal, gas tank pressure switch signal are acquired, condition limitation module is input to pwm signal, obtains
Pwm signal after restriction, drive magnetic valve work.
2. electronic control air suspension load disturbance delay according to claim 1 and inflation/deflation control method for coordinating, feature
It is, the height decision-making module obtains object height signal, and step includes:
Step 1.1, mean filter is carried out to speed signal, V1, V2, V3 speed separation is set, be arranged at speed separation
Speed hysteresis；
Step 1.2, the scanning of button stabilization is carried out based on state machine, obtains button signal, comprising: normal level I button signal note
For KEY_I, side kneels button signal and is denoted as KEY_KNEEL, and rising button signal is denoted as KEY_UP, and declines button signal is denoted as KEY_
DOWN, special height II button signal are denoted as KEY_II, and button signal value is that 1 expression is pressed, and indicate to bounce for 0；
Step 1.3, speed signal is denoted as v, and object height signal is H_Ref_i:
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, the height kept between vehicle bridge and vehicle body when being normal vehicle operation；H_II is defined as special
Height II is the height kept between vehicle bridge and vehicle body when vehicle passes through Special Road；H_III is defined as special height III, is vehicle
The height kept between vehicle bridge and vehicle body when running at high speed；H_EEPROM_i is defined as initialization height, solidifies 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 to adopt
The actual height value of collection；H_Cap_knl_i is that the actual height value of side is kneeled in the side of acquisition；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 active flag,
It is in starting state for 1 expression system, is finished for the starting of 0 expression system；Kneel_flg is that Status Flag is kneeled in side, indicates system for 1
System is in side kneeling shape state, indicates non-side kneeling shape state for 0；Symbol in expression " | | " indicate logic or operation, symbol " && " indicate
Logic and operation, symbol " --- " indicate logical not operation.
3. electronic control air suspension load disturbance delay according to claim 1 and inflation/deflation control method for coordinating, feature
It is, the disturbance time delay module is regulated enable signal, and step includes:
Step 2.1, mean filter, computed altitude error E rr_i are carried out to the actual height signal of acquisition；
Step 2.2, note [ErrMin, ErrMax] is height error band, and Reach_Href_flg_i is actual height status indicator,
Error band range is not reached for 0 expression actual height, is adjusted to error band range for 1 expression actual height, is disturbed for 2 expression load
Dynamic that actual height is made to be detached from error band range, note Control_enable_i is regulation enable signal, indicates to need to adjust for 1,
It indicates to be not required to adjust for 0, according to Err_i and Reach_Href_flg_i:
If Reach_Href_flg_i=0: if ErrMin < Err_i < ErrMax, without adjusting, enabling Reach_Href_
Flg_i=1, Control_enable_i=0, on the contrary it is adjusted, enable Control_enable_i=1；
If Reach_Href_flg_i ≠ 0: if object height changes, it is adjusted, enables Reach_Href_flg_i=0,
Control_enable_i=1, conversely, continuing to judge Reach_Href_flg_i；
If Reach_Href_flg_i ≠ 2: if Err_i>ErrMax or Err_i<ErrMin, open time delay timer, and
In delay time, the number that actual height exceeds error band is counted, overproof counting Count_i is denoted as, without adjusting, enabled
Reach_Href_flg_i=2, Control_enable_i=0, otherwise without adjusting, enable Control_enable_i=0；
If Reach_Href_flg_i=2: judging whether that delay timing terminates, if not terminating to enable without adjusting
Control_enable_i=0 enables Reach_Href_flg_i=0 if delay timing terminates, and judges overproof counting Count_
Whether i is more than threshold value, which is denoted as Count_Max, if it exceeds the threshold, being then adjusted, enables Control_enable_i
=1, no person enables Control_enable_i=0 without adjusting.
4. electronic control air suspension load disturbance delay according to claim 1 and inflation/deflation control method for coordinating, feature
It is, the PWM duty cycle amendment, using following steps:
Step 4.2.1 respectively needs to adjust air spring height Error Absolute Value, takes its maximum, is denoted as Err_ab_Max；
Step 4.2.2, note K be correction factor, K=Err_ab_Max/ | Δ Err |, Δ Err be Δ Err1 or Δ Err2_i；
Step 4.2.3, duty ratio calculated result are denoted as PWM_i, then after correcting are as follows: PWM_i × K.
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| CN107891723B (en) * | 2017-11-29 | 2023-06-30 | 辽宁工业大学 | Sliding mode control method and device for automobile electric control air suspension |
| CN108437735A (en) * | 2018-03-19 | 2018-08-24 | 北京航天发射技术研究所 | The control method that a kind of special vehicle chassis suspension is turned up |
| CN108944326B (en) * | 2018-06-12 | 2021-08-03 | 江苏大学 | Intelligent control system and method for height of vehicle body |
| CN109649106A (en) * | 2018-12-03 | 2019-04-19 | 珠海格力电器股份有限公司 | A kind of air suspension height control system and control method |
| CN112373261A (en) * | 2020-09-30 | 2021-02-19 | 东风商用车有限公司 | Height smooth control method for commercial vehicle electric control air suspension |
| CN112519522B (en) * | 2020-11-26 | 2022-06-17 | 珠海格力电器股份有限公司 | Air suspension system, single-shaft internal balance adjusting method and device thereof, and storage medium |
| CN112455175B (en) * | 2020-11-27 | 2022-08-02 | 珠海格力电器股份有限公司 | Method, device and system for controlling height of vehicle suspension |
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