CN106704440A - Two-channel lateral rigidity semi-active hydropneumatic suspension - Google Patents
Two-channel lateral rigidity semi-active hydropneumatic suspension Download PDFInfo
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- CN106704440A CN106704440A CN201510464457.2A CN201510464457A CN106704440A CN 106704440 A CN106704440 A CN 106704440A CN 201510464457 A CN201510464457 A CN 201510464457A CN 106704440 A CN106704440 A CN 106704440A
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Abstract
The invention discloses a two-channel lateral rigidity semi-active hydropneumatic suspension adopting a bilateral symmetrical structure. The two-channel lateral rigidity semi-active hydropneumatic suspension comprises a steering wheel, an angle synchronous control valve, a flow follow-up valve, suspension cylinders, energy accumulators, control valves and pipelines. Each suspension cylinder comprises a piston rod, a piston, an inner control valve set, a cylinder barrel and a sealing socket ring. Each suspension cylinder internally comprises an auxiliary oil cavity and a suspension inner cavity which are completely isolated. Each suspension cylinder inner cavity comprises a cylinder barrel inner cavity and a piston rod inner cavity which communicate with each other through the corresponding inner control valve set in the middle so that a suspension cylinder inner cavity system can be formed. Each auxiliary oil cavity is externally connected with the corresponding control valve and the energy accumulator through the corresponding pipeline so that an external control loop can be formed. The angle synchronous control valve is connected with the control valves of the left external control loop and the right external control loop so that state control channs can be formed. The flow follow-up valve is connected with the cylinder barrel inner cavity of the left suspension cylinder inner cavity system and the cylinder barrel inner cavity of the right suspension cylinder inner cavity system so that pressure/flow follow-up channels can be formed. The two control channels are independent from each other, and the contained control loops/inner cavity systems contained are independent from each other. The angle synchronous control valve carries out synchronous control along with the steering wheel, and the flow follow-up valve carries out follow-up control along with the pressure of the left suspension cylinder inner cavity and the pressure of the right suspension cylinder inner cavity.
Description
Technical field
This patent is related to a kind of vehicle active suspension structure, specifically discloses a kind of active hydro pneumatic suspension of binary channels lateral rigidity half.
Background technology
1st, active and semi-active suspension
Suspension is the important component of vehicle chassis, between vehicle frame and vehicle bridge, accepts bumper and absorbing shock function of the chassis to ground,
And the ride performance and control stability to vehicle have great influence.Suspension has passive suspension, semi-active suspension, actively hangs
Several forms such as frame, embody the controlling extent to the mechanical characteristics such as chassis attitude, rigidity, damping and running attitude.
Common vehicle, especially load-carrying vehicle, chassis generally use passive suspension frame structure, and rigidity, damping structure are fixed, vehicle
Ride performance and control stability it is poor.With driving quality, handling quality and Transport Safety, riding comfort
It is required that, people start rigidity to suspension, damping and operation attitude and propose the requirement of active control, and then develop half master
Dynamic and active suspension system.
Active suspension according to the loaded state of automobile, running status and pavement behavior, can in time adjust the attitude, just of suspension
Degree and damp, suspension system is in optimal vibration damping state, vehicle can all have good ride comfort, steady under various pavement behaviors
Qualitative and comfortableness.The critical component of Active suspension is its executing agency, that is, can adjust, the suspension attitude that controls, just
Degree and damping system.
The expensive goods such as Foreign Car, passenger car are researched and developed, apply half active, active suspension system in succession.Mainly using electricity
Sub- control technology is controlled to the rigidity of suspension, damping.The underlying carrier of suspension is helical spring, air spring and hydraulic pressure electricity
Sub- damper.Limited by factors such as structure type, control capability, system costs, half active, Active suspension are in commerial vehicle
And the application of load transportation vehicle is little.
2nd, hydro pneumatic suspension
Pneumatic cylinder is integrated with the structural principle of air spring and hydraulic damper and uses function, with better mechanics
Characteristic and range of application.Pneumatic cylinder Inner portions fill nitrogen and hydraulic oil.Nitrogen has as elastic fluid and energy-accumulating medium
Variation rigidity characteristic, and there is bigger stored energy ratio than metallic resilient material.Hydraulic oil as resisting medium, by suspension cylinder
The damping structure in portion produces damping force.
Due to nitrogen is encapsulated in housing structure, thus pneumatic cylinder has the operating pressure and capacity bigger than air spring.
Similar with conventional hydraulic cylinder structure, by movement relation and mounting structure, pneumatic cylinder is also by cylinder assembly and piston rod assembly structure
Into internal capacity separate space includes rod chamber, rodless cavity, and piston rod is typically hollow-core construction.Wherein, rodless cavity is referred to as in outstanding cylinder
Chamber, is made up of inner cavity of cylinder and piston rod cavity.Rod chamber is referred to as secondary oil pocket, is in suspension by cylinder assembly and piston rod assembly
The annulus surrounded between cylinder waist side wall.
Double oil recess structures, outstanding cylinder inner chamber uses as a cavity, inside filling hydraulic oil and nitrogen, also referred to as air-fuel mixture chamber or
Mixing oil pocket.In use, the volume space amplitude of variation of secondary oil pocket is maximum, is typically used as the internally-damped flow of suspension cylinder
Source.Secondary oil pocket inside filling hydraulic oil, and damp channel is provided with the piston rod side wall of its inside cavities with outstanding cylinder inner chamber
Connect.Only the oil pocket of filling hydraulic oil is referred to as pure oil pocket, including variable pure oil pocket and immutable pure oil pocket.Variable pure oil pocket with it is mixed
Connect to form damp channel with oil pocket.When suspension cylinder compresses or draws god, the volume of variable pure oil pocket and mixing oil pocket, pressure occur
Change produces damping flow.Suspension cylinder inner chamber system pressure externally provides the active area of elastic force, referred to as pressure application surface product.
The area of damping flow is produced with suspension cylinder compression or draw speed, discharge area is referred to as damped.The elastic force of suspension cylinder, by
Suspension cylinder inner chamber system pressure and pressure application surface product are determined.The damping flow of system, is compressed by damping discharge area and suspension cylinder
Or draw speed is determined.
Three oil recess structures are that outstanding cylinder inner chamber is divided into inner cavity of cylinder and piston rod cavity, piston or valve by piston or valve board structure
Damping structure is disposed with plate.Secondary oil pocket is turned on by piston rod side wall damping structure with outstanding cylinder inner chamber.
The volume change of the damping traffic source of suspension cylinder variable pure oil pocket when suspension cylinder compresses or stretches.And damp the product of flow
Variable pure oil pocket must be connected to mixing oil pocket by life, or be ultimately connected to mix oil pocket by another pure oil pocket, to be formed
Damp channel.Mechanical relationship otherwise inside suspension cylinder is just invalid.From the point of view of existing various outstanding cylinder structures, secondary oil pocket is all
As the main source of system damping flow, and connected with outstanding cylinder inner chamber bar none, form the hydraulic circuit to outer closure.
Fig. 1~Fig. 9, is the primary structure form of existing pneumatic cylinder.Fig. 1, Fig. 2 are the double oil recess structures of single air chamber.Figure
3~Fig. 6 is single oil recess structure of air chamber three, and wherein Fig. 6 is pressure compensation type structure.Fig. 7~Fig. 9 is double oil pocket knots of air chamber three
Structure, Fig. 7 is positive cascaded structure, and Fig. 8, Fig. 9 are the opposed structure of back-pressure.
Conventional damping structure is made up of damping hole, check valve, can not regulate and control during use.The damping characteristic of system be based on
Conic section F=f (v) of speed term, forward and reverse difference, referring to Figure 14.
Fig. 1~Fig. 7 structures, stiffness characteristics are basically identical, and characteristic curve, referring to Figure 12, is a positive nonlinear curve,
There is hard spot in the original position of curve.Whole suspension cylinder inner chamber system is a loop for closing, it is impossible to which introducing outside input is carried out
Control.But variable damper control can to a certain extent be realized based on inner space and structure arrangement mutative damp mechanism.Referring to figure
15 mutative damp characteristic curves.
Shown in Fig. 8, Fig. 9, although obtain the good stiffness characteristics of comparing, (load-deflection curve is referring to figure to eliminate hard spot
13), but both structures must be based on the physical isolation to inner cavity of cylinder and piston rod cavity, thus lose inner cavity of cylinder and
Association between piston rod cavity on important structure, position, speed, flow and pressure, and piston rod cavity is complicated leads
Tubular construction occupies the internal useful space.So that based on the mutative damp to position, flow and Stress control relation in outstanding cylinder inner chamber
Structure cannot be arranged and application.Referring to Figure 11, mutative damp internal control valve block structure.In addition, the complicated conduit of piston rod cavity
Structure, installation and maintenance are difficult, reliability is poor.Lack the control targe and controlling unit of external control, it is also difficult to realize outside
To system stiffness, the control of state.
The pneumatic cylinder of existing various structures, all be focus on suspension cylinder therein rigidity and damping characteristic collocation and solely
The integrality and reliable rows of vertical operation, do not consider that setting is applied external input port and the internal control of active control by outside
Link.Its internal oil pocket, air chamber are interrelated, mutual control, are also generally independently used as separate part before.But
As whole chassis, especially active, semi-active suspension, it is necessary to regard to different road conditions, running status, different driving and behaviour
Make environment, carry out active or semi- active control.But whole pneumatic cylinder is constructed without out for external control or many suspension cylinder groups
Close the independent link of control so that the premium properties and combination potentiality of pneumatic cylinder cannot give a full play of.In existing type
Applying outside active control on outstanding cylinder structure can cause outstanding cylinder interior flow, the disorder of pressure, cause the stability of a system and reliability
Go wrong.
Active and semi- active control suspension system, what is stressed is to system stiffness, damping, stroke, the active of state or half active
Comprehensive Control.Existing pneumatic cylinder foundation structure, lacks the complete architecture basics realized and condition.
Active and semi-active suspension have on the high-end products such as car, commercial vehicle widely to be applied.It is mainly based upon leaf spring,
Helical spring, air spring etc. and the combination of automatically controlled damper, introduce electric-control system and are controlled.But it is limited to suspension parts, electricity
The problems such as displacement volume of control system, control capability, system accuracy and cost structure, in oversize vehicle and general product
Application be above very limited.In the engineering based on hydro pneumatic suspension, the application on heavy and special vehicle also in space state.
A kind of basic pneumatic cylinder structure that can be used for actively and under semi- active control system is urgently proposed, and based on pneumatic cylinder
Active and semi- active control suspension frame structure.
The content of the invention
The present invention proposes a kind of active hydro pneumatic suspension of binary channels lateral rigidity half.Specifically disclose a kind of based on hydro pneumatic suspension knot
Structure, height, stroke, rigidity, the isoparametric control of damping by steering wheel to suspension cylinder component, realizes that vehicle is turning to row
Sail side tilt angle, roll stiffness, inclination damping and steering angle, the semi- active control of steering attitude Auto-matching under state.
The present invention builds isolated pair of air chamber oleo-pneumatic suspension cylinder structure.Secondary oil pocket fills hydraulic oil, completely isolated with outstanding cylinder inner chamber.
Outstanding cylinder inner chamber is divided into inner cavity of cylinder (pure oil pocket) and piston rod cavity (mixing oil pocket) by the internally piloted valve component of piston rod bottom.
Inner cavity of cylinder and piston rod cavity, are connected by the damp channel in internal control valve group, form complete, independent outstanding cylinder inner chamber system.
Outstanding cylinder inner chamber system, there is provided the bulk mechanical parameter of pneumatic cylinder.Secondary oil pocket controls valve and accumulator by pipeline external connection,
Form independent outer control loop.Outer control loop forms the opposed knot of double air chamber back-pressures by secondary oil pocket and outstanding cylinder inner chamber system
Structure relation, in addition to amendment, the mechanics parameter of the outstanding cylinder inner chamber system of supplement, can also implement the active control to hanging cylinder inner chamber system.
Referring to Figure 20 --- isolated pair of air chamber oleo-pneumatic suspension cylinder structure, Figure 10 is its structural representation.
The present invention is connected, controls two outer control loops of suspension cylinder of left/right respectively by angle synchronous control valve, formation with
Angle synchronous control valve is " the state control passage " of core, and the trapped fuel amount in left/right suspension cylinder pair oil pocket is controlled, and is changed
Become the stroke and height of suspension cylinder, and then control the side tilt angle of chassis or upper frame part.Angle synchronous control valve turns with steering wheel
It is dynamic synchronous, and then control the side tilt angle produced by chassis synchronous with the steering angle of vehicle, form optimal chassis and turn to attitude.
Connect the outstanding cylinder inner chamber system of two suspension cylinders of left/right respectively by flow servo valve, form " the pressure with flow servo valve as core
Power/flow is servo-actuated passage ", the trapped fuel amount in the system of left/right suspension cylinder inner chamber is adjusted and compensation according to pressure.Process is,
Pilot control is carried out to left/right suspension cylinder pair oil pocket by " state control passage " with angle synchronous control valve, by outstanding cylinder
The pressure conduction of chamber system promotes the flow servo valve the servo-actuated compensation of flow is carried out between the outstanding cylinder inner chamber system of left/right, keep it is left/
Between the outstanding cylinder inner chamber system in the right side in it is isobaric/etc. rigidity state.Flow servo valve is carried out to the trapped fuel amount in the outstanding cylinder inner chamber system of left/right
Servo antrol, keep left/right suspension cylinder wait pressure/rigidity, follow, fit angle synchronous control valve control produce angle of heel
Degree.Flow servo valve keeps servo-actuated with the outstanding cylinder chamber pressure change of left/right, it is ensured that produced by the steering angle of vehicle and chassis
Side tilt angle, roll stiffness matching and synchronous, the optimal chassis steering kinetics relation of formation.
In addition, the suspension cylinder structure constructed by the present invention, hangs cylinder inner chamber system completely isolated with outer control loop, independent of one another.
Both the opposed mechanical structure relation of double air chamber back-pressures had been constituted, the complete structure in outstanding cylinder inner chamber has been maintained again and intraware is in place
Put, speed, pressure, the isoparametric complete association of flow.Accordingly, the internal control valve group of cylinder inner chamber is hanged, can be according to outstanding cylinder inner chamber
Pressure and stiffness variation situation implement the variable damper control of outstanding cylinder inner chamber system automatically.
According to steering wheel rotational angle, the difference of velocity of rotation, the inclination of the steering angle, turning amplitude and chassis of vehicle chassis
Angle, roll stiffness, inclination damping form various optimal corresponding relations, so as to realize during Vehicular turn to chassis suspension system
The semi- active control of system operation attitude and mechanics parameter.
The present invention is realized using following organization plan to suspension roll angle, roll stiffness and internally-damped semi- active control
's：A kind of active hydro pneumatic suspension of binary channels lateral rigidity half, using symmetrical layout structure, including：Steering wheel, angle are same
Step control valve, flow servo valve, suspension cylinder, accumulator, control valve and pipeline.Figure 21, is this example --- binary channels is laterally firm
Spend half active hydro-pneumatic suspension system structure chart.
Left/right suspension cylinder builds isolated pair of air chamber oleo-pneumatic suspension cylinder structure, including：Piston rod, piston, internal control valve group, cylinder
Cylinder, seal holder ring.Cylinder barrel, piston rod and piston surround outstanding cylinder inner chamber (rodless cavity) inside suspension cylinder；Cylinder barrel, seal holder ring
And piston rod, piston surround secondary oil pocket (rod chamber) between suspension cylinder waist side wall；Secondary oil pocket fills hydraulic oil, with outstanding cylinder inner chamber
It is completely isolated；Outstanding cylinder inner chamber is divided into inner cavity of cylinder and piston rod cavity by the internally piloted valve component of piston rod bottom；In inner cavity of cylinder
Filling hydraulic oil, bottom is provided with external control interface；Hydraulic oil and nitrogen are filled in piston rod cavity；Inner cavity of cylinder and piston rod
Inner chamber is connected by the damp channel in internal control valve group, forms complete, independent outstanding cylinder inner chamber system, there is provided pneumatic cylinder
Bulk mechanical parameter (rigidity and damping).For secondary oil pocket, external interface is set near seal holder ring position in cylinder barrel, by pipe
External control valve and the accumulator in road, forms independent outer control loop；Control valve is provided with external control interface；External control
Loop passes through secondary oil pocket mechanical structure relation opposed with the double air chamber back-pressures of outstanding cylinder inner chamber system composition, to outstanding cylinder inner chamber mechanics of system ginseng
Number is supplemented and corrected, and can be input into external pressure and flow implementation active control by controlling valve.Figure 20, is this
Isolated pair of air chamber oleo-pneumatic suspension cylinder structure and fundamental system/circuit structure figure constructed by example, Figure 10 are its structural representation.
When outstanding cylinder compresses or stretches, inner cavity of cylinder, secondary oil pocket volume change.For hanging cylinder inner chamber system, in cylinder barrel
Exchanging for flow is carried out between chamber and piston rod cavity, damping discharge area is inner cavity of cylinder area.For outer control loop,
Exchanging for flow is carried out between secondary oil pocket and accumulator, damping discharge area is secondary oil pocket area.The total damping flow of suspension cylinder is
The damping flow sum of outstanding cylinder inner chamber system and outer control loop.The pressure application surface product of outstanding cylinder inner chamber system is inner cavity of cylinder face
Product, the pressure application surface product of outer control loop is secondary oil pocket area.Suspension cylinder overall elasticity power is exported, and is cylinder barrel area and pair
The pressure superposition of oil pocket area.Referring to Figure 16 --- this example suspension cylinder load-deflection curve figure, curve 1 is outstanding cylinder inner chamber system
Load-deflection curve, curve 2 for outer control loop load-deflection curve, curve 3 for suspension cylinder system integral stiffness
Characteristic curve.As seen from Figure 16, outer control loop has been carried out well to outstanding stiffness characteristics of the cylinder inner chamber system in the starting stage
Ground amendment, eliminates the hard spot of original position, and form bidirectional characteristic and zero passage balance position.
For outer control loop, input/output certain pressure and flow, can both change on the external control interface of control valve
Become the pressure and trapped fuel amount in secondary oil pocket, so as to change suspension cylinder state, stroke and integral rigidity.This control, is outside
Control loop passes through what secondary oil pocket applied, is completely isolated with outstanding cylinder inner chamber system, and is a kind of Reverse Turning Control, thus is
A kind of safety-type control.It is as shown in figure 17 outer control loop stiffness reliability performance plot, curve 1 is original stiffness characteristics
Curve, curve 2 is input control flow, and the outstanding cylinder of compression highly, hangs the cylinder increased curve of rigidity.
For hanging cylinder inner chamber system, input/output certain pressure and flow, both may be used on the external control interface of cylinder barrel bottom
Change the pressure and trapped fuel amount in outstanding cylinder inner chamber system, so as to significantly change suspension cylinder integral rigidity.It is as shown in figure 18 to outstanding
Cylinder inner chamber system implements the stiffness reliability performance plot of control, and curve 1 is original load-deflection curve, and curve 2 is output control stream
Load-deflection curve after amount, curve 3 is the load-deflection curve after input control flow.
Combination, Synchronization Control are implemented to outer control loop and outstanding cylinder inner chamber system, it is possible to achieve various control effect.Figure 19
The stiffness reliability performance plot for implementing isobaric, Synchronization Control to outer control loop and outstanding cylinder inner chamber system is shown, curve 1 is original
Beginning load-deflection curve, curve 2 is compression travel, reduces the load-deflection curve after height.
It is a kind of automatic variable damping control assembly of internal pressure control for internal control valve group.It can be according to outstanding cylinder inner chamber system
Pressure perceive, judge the working condition of suspension cylinder, and to the flow and damped coefficient between inner cavity of cylinder and piston rod cavity
It is automatically adjusted and controls.As shown in figure 15, it is internal control valve group bent according to the damping characteristic that internal system pressure is automatically controlled
Line.Figure 11 is internal control valve group detailed structure view.
Connect two external control interfaces of left/right suspension cylinder outer control loop respectively with angle synchronous control valve, formed with angle
Degree synchronous control valve is " the state control passage " of core, controls left/right two outer control loops of suspension cylinder.It is servo-actuated with flow
Valve, two external control interfaces of the outstanding cylinder inner chamber system of left/right are connected by pipeline respectively, are formed with flow servo valve as core
" pressure/flow is servo-actuated passage ", control left/right suspension cylinder two outstanding cylinder inner chamber systems.Two control passages and wrapped
Between the control system for containing and loop independently of one another, it is ensured that the stability and reliability of system work.Angle synchronous control valve, with side
To disk Synchronization Control.Flow servo valve, servo-actuated compensation and adjustment are carried out to flow according to the outstanding cylinder inner chamber system pressure of left/right, are protected
That holds the outstanding cylinder inner chamber system of left/right waits pressure/rigidity.
Figure 21 is this example --- the active hydro-pneumatic suspension system structure chart of binary channels lateral rigidity half.
" state control passage ", by the outer control loop pair oil pocket of angle synchronous control valve control two suspension cylinders of left/right
Trapped fuel amount change the stroke of suspension cylinder and height, and then control the side tilt angle and roll stiffness on chassis, realize to suspension
Gesture stability.
" pressure/flow is servo-actuated passage ", by depositing in the outstanding cylinder inner chamber system of flow servo valve control two suspension cylinders of left/right
Oil mass come keep left/right suspension cylinder etc. rigidity, formed needed for roll stiffness.
Flow servo valve keeps the outstanding cylinder inner chamber system pressure of left/right to synchronize change with vehicle operation, and internal control valve group is based on hanging
Cylinder inner chamber system pressure is further controlled automatically to system damping, thus sets up basic multistage, complete, open control
Framework processed, the extreme enrichment method and means of hydro pneumatic suspension active control.
Figure 22 is system architecture state diagram when vehicle turns left, and Figure 23 is system architecture state diagram when vehicle is turned right.
In straight-line travelling, angle synchronous control valve does not produce control flow actively to vehicle to left/right both sides outer control loop,
Flow is not also controlled between flow servo valve and the outstanding cylinder inner chamber system of left/right.In outstanding cylinder inner chamber system, piston rod cavity and cylinder
The exchange of flow is carried out between tube inner chamber by internal control valve group；In outer control loop, by control between accumulator and secondary oil pocket
Valve carries out the exchange of flow.Road bump is met, the pressure difference that left/right both sides outer control loop is produced is cut by angle synchronous control valve
Only；Flow servo valve inside includes damping stop valve, and the instantaneous pressure produced between the outstanding cylinder inner chamber system of left/right is servo-actuated by flow
Valve is decayed and is ended.
In Turning travel, each system and loop are in working condition to vehicle.In " state control passage ", angle is synchronously controlled
Valve processed carries out the adjustment and distribution of flow to two outer control loops of left/right, realizes the gesture stability to chassis." pressure/
Flow is servo-actuated passage " in, flow servo valve according to the control attitude of angle synchronous control valve, to two outstanding cylinder inner chamber systems of left/right
The compensation and adjustment of flow are carried out, is realized to the Slide attitude control on chassis and to the mechanical response of " state control passage ".
Under the control of steering wheel difference steering angle, the steering angle of vehicle, side tilt angle, roll stiffness are formed a series of right
State is answered, the semi- active control of suspension system roll stiffness is realized.
Core of the invention is：
1st, it is pneumatic cylinder pair oil pocket is completely isolated with outstanding cylinder inner chamber (including inner cavity of cylinder and piston rod cavity), and by pair
Oil pocket realizes the active to suspension cylinder stroke, height and rigidity or semi- active control as the target link for carrying out external control；
2nd, cylinder inner chamber is hanged, is core connection, control inner cavity of cylinder and piston rod cavity with internal control valve group, structure one is complete
Pressure/flow control system, there is provided the bulk mechanical parameter (Stiffness/Damping) of suspension cylinder, and the variable resistance for realizing internal system
Buddhist nun's active control.
The 3rd, accumulator, control valve are set outside pneumatic cylinder, are connected with suspension cylinder pair oil pocket by pipeline, build independent
Outer control loop.This measure reaches three below purpose simultaneously：
1. with accumulator (mixing oil pocket), complete pressure, the discharge relation of outer control loop is built with secondary oil pocket.
2. to control valve, external control input port is set up, while also serving as the damping element of outer control loop itself；
3. the outer control loop set up and outstanding cylinder inner chamber system, new, complete double air chamber back-pressures are formed by secondary oil pocket
Opposed mechanical structure relation；
4th, the outer control loop and outstanding cylinder inner chamber system independence for building.Supplemented by secondary oil pocket, cylinder inner chamber system is hanged in amendment
Mechanics parameter, and reverse active control is carried out to outstanding cylinder inner chamber system in the parameters such as state, stroke, pressure and rigidity.
5th, on the basis of double air chamber opposed structures of back-pressure are realized, complete outstanding cylinder inner-cavity structure is built, is realized based on double air chambers
Outstanding cylinder inner chamber system automatic variable damping control under the opposed structure of back-pressure, for various mutative damp active controls from now on provide one kind
Brand-new basic framework.
6th, (complete outstanding cylinder inner chamber system and separate outer are controlled back to rely on isolated pair of air chamber pneumatic cylinder architectural characteristic
Road), whole suspension control system sets according to binary channels：" state control passage " is set up by core of angle synchronous control valve,
Connection, two outer control loops of control left/right suspension cylinder.With flow servo valve, as core foundation, " pressure/flow is servo-actuated logical
Road ", connection, two outstanding cylinder inner chamber systems of control left/right suspension cylinder.Between two control passages and the system for being included and loop
Independently of one another, it is ensured that the stability and reliability of system work.
Some explanation：
1st, this patent builds left/right symmetrical structure, and whole system realizes most complete function and characteristic, including the opposed rigidity of back-pressure
Characteristic, dual system, binary channels control, variable rigidity control, variable damper control, height control, Stroke Control, side tilt angle,
Roll stiffness control etc., and keep open structure.With Multistage Control, combination control, Synchronization Control, Reverse Turning Control,
The features such as security control.
2nd, the opposed suspension cylinder structure of new double air chamber back-pressures keeps complete, succinct outstanding cylinder inner-cavity structure, and inner cavity of cylinder
It is complete between piston rod cavity to associate, build complete outstanding cylinder inner chamber system and independent outer control loop.Outstanding cylinder inner chamber
System provides the main body parameter of suspension cylinder, and outer control loop provides the control parameter of system.Independent outstanding cylinder inner chamber system with it is outer
Portion's control loop structure, it is ensured that the stability and reliability of suspension system work；
3rd, the pressure application surface product and damping discharge area for hanging cylinder inner chamber system are inner cavity of cylinder area.The pressure of outer control loop
Power active area and damping discharge area are secondary oil pocket area.Outer control loop constitutes double air chamber back-pressures pair with outstanding cylinder inner chamber system
Structure is put, in addition to the defect and deficiency of the outstanding cylinder inner chamber system pressure characteristic of compensation and amendment, the bidirection press for also forming suspension cylinder is special
Property and zero passage equalization point, and the stroke of suspension cylinder and rigidity can be control effectively.Referring to Figure 16,17,18,19.
4th, the mutative damp Self Adaptive Control of this example, is the complete structure based on outstanding cylinder inner chamber, and in inner cavity of cylinder and piston rod
The complete structure such as relative position, speed, pressure, flow between chamber and association.Internal control valve group is based on internal system pressure
A kind of variable damper control mechanism, be accomplished that two point, stable state mutative damp flow control.F=f (p, v).Figure 15 be
Under empty full load state, two damping characteristic curves of system Auto-matching.The variable damper control discharge area of this example is in cylinder barrel
Cavity area, has reached the maximum rating of housing structure.
The core of internal control valve group is to construct the core assembly and adaptive damping structure with internal pressure as control input, forms internal
Adaptive damping passage.Core assembly inside includes a seal-off pressure chamber for being used for system identification, internal to provide valve element base with spring
Quasi- pressure promotes valve core movement.Valve element reference pressure is set between suspension cylinder zero load pressure and loading pressure.It is disposed with valve element
Two groups of damping holes of inside/outside and check valve, fixed damp channel and controllable damping passage, fixed damping are cooperatively formed with valve element seat ring
Passage is long logical.Controllable damping passage is opened when valve element stretches out, and controllable damping passage is closed when valve element is retracted.Core assembly is also included
There are damping cavity, damping ring, the steady-state response for controlling valve element itself.Figure 11 is internal control valve group detail of construction.
Some explanation to internal control valve group：
1. builds in cylinder interior adaptive damping structure, adaptive damping passage and automatic control structure, to hang cylinder inner chamber system
Pressure as variable damper control |input paramete, F=f (p, v).
2. valve elements reference pressure is used for inside identifying system unloaded pressure and loading pressure, and promotion valve element is superimposed with system pressure
Holding is stretched out and two specific positions of retracting.Therefore, it is a typical two point variable damper control, sees Figure 15.
3. damping cavity, the damping ring in core assemblies, the steady-state response for controlling valve element itself.The pressure oscillation of internal system
With compression shock, transient state startup and the rigid impact of valve element are not resulted in.Therefore, system is a stable state control,
4. this example is currently the only based under double opposed structures of air chamber back-pressure, and the outside active control of realization is controlled automatically with internal mutative damp
The suspension cylinder structure of system, for technology development from now on provides a brand-new basic pneumatic cylinder structure.
5th, this patent is the proposition first outside existing document and product.As the active control oil under mechanical/hydraulic control mode
Gas suspension frame structure, with obvious Inventive Characteristics and application value.
This patentThe active hydro pneumatic suspension of binary channels lateral rigidity half, based on hydro pneumatic suspension, in the way of machinery, hydraulic pressure, passes through
Specific structure realizes the semi- active control of hydro pneumatic suspension roll stiffness with control principle.For existing complicated, expensive electronics control
Active suspension system processed has range of application and use value well.
Brief description of the drawings
Fig. 1Put on piston rod, the double oil recess structure schematic diagrames of single air chamber；
Fig. 2Piston rod is underlying, the double oil recess structure schematic diagrames of single air chamber；
Fig. 3Put on piston rod, the oil recess structure schematic diagram of single air chamber three；
Fig. 4Piston rod is underlying, the oil recess structure schematic diagram of single air chamber three；
Fig. 5Piston rod is underlying, the oil recess structure schematic diagram of single air chamber three；
Fig. 6Put on piston rod, the oil pocket pressure-compensated structural representation of single air chamber three；
Fig. 7Piston rod is underlying, double air chambers three oil recess structure schematic diagrames of positive series connection；
Fig. 8Piston rod is underlying, the reverse opposed three oil recess structures schematic diagram of double air chambers；
Fig. 9Piston rod is underlying, the reverse opposed three oil recess structures schematic diagram of double air chambers；
Figure 10 this patentsIsolated pair of air chamber suspension cylinder structural representation；
Figure 11 this patentsSuspension cylinder mutative damp internal control valve group schematic enlarged-scale view；
Figure 12Traditional list air chamber and the double air chamber suspension cylinder load-deflection curve figures of series connection；
Figure 13The opposed structure suspension cylinder load-deflection curve figure of traditional double air chamber back-pressure；
Figure 14Traditional pneumatic cylinder damping characteristic curve figure；
Figure 15 this patentsSuspension cylinder Stress control mutative damp performance diagram；
Figure 16 this patentsIsolated pair of air chamber suspension cylinder load-deflection curve figure；
Figure 17 this patentsOuter control loop stiffness reliability performance plot；
Figure 18 this patentsOutstanding cylinder inner chamber system stiffness control characteristic figure；
Figure 19 this patentsOuter control loop and outstanding cylinder inner chamber system equipressure/synchronous stiffness reliability performance plot
Figure 20 this patentsIsolated pair of air chamber hangs cylinder structure and fundamental system/circuit structure figure；
Figure 21 this patentsThe active hydro-pneumatic suspension system structure chart of binary channels lateral rigidity half；
Figure 22 this patentsThe active hydro pneumatic suspension left-hand rotation system construction drawing of binary channels lateral rigidity half；
Figure 23 this patentsThe active hydro pneumatic suspension right-hand rotation system construction drawing of binary channels lateral rigidity half；
Specific embodiment
This patent, the active hydro pneumatic suspension of binary channels lateral rigidity half, using symmetrical layout structure, including steering wheel 1, angle
Degree synchronous control valve 2, flow servo valve 3, suspension cylinder 8, accumulator 15, control valve 16, pipeline 17, pipeline 18.
The suspension cylinder 8, including piston rod 10, piston 11, internal control valve group 12, cylinder barrel 13, seal holder ring 14.The cylinder
Cylinder 13, piston rod 10 and piston 11 surround outstanding cylinder inner chamber 20 (rodless cavity) inside suspension cylinder 8.The cylinder barrel 13,
Seal holder ring 14 and piston rod 10, piston 11 surround secondary oil pocket 21 (rod chamber) between the waist side wall of suspension cylinder 8.It is described
Secondary oil pocket 21 fills hydraulic oil, completely isolated with outstanding cylinder inner chamber 20.The outstanding cylinder inner chamber 20 is by the bottom of piston rod 10
Internal control valve group 12 is divided into inner cavity of cylinder 22 and piston rod cavity 23.Hydraulic oil, piston are filled in the inner cavity of cylinder 22
Hydraulic oil and nitrogen are filled in bar inner chamber 23.The inner cavity of cylinder 22 and piston rod cavity 23, by internal control valve group 12
Damp channel connection, form the complete outstanding cylinder inner chamber system 30 of suspension cylinder 8.The bottom of the inner cavity of cylinder 22 is provided with outside
Control interface 31.The secondary oil pocket 21, sets connector, by pipeline in cylinder barrel 13 near the position of seal holder ring 14
17 external accumulators 15 and control valve 16, form the independent outer control loop 40 of suspension cylinder 8.The control valve 16
It is provided with external control interface 41.The outer control loop 40 is completely isolated with outstanding cylinder inner chamber system 30, independently of one another.
Figure 20 is the internal structure and fundamental system/circuit structure figure of the suspension cylinder 8, and Figure 10 is structural representation.
Secondary oil pocket 21 in the outer control loop 40 forms double gas with the inner cavity of cylinder 22 in outstanding cylinder inner chamber system 30
The opposed structure of room back-pressure.The accumulator 15, inside filling hydraulic oil and nitrogen.The secondary oil pocket 21, as external control
The target link of suspension cylinder state, stroke and rigidity.It is described control valve 16, except as external control suspension cylinder state, stroke with
Outside the input port of rigidity, the damping/flow control element of outer control loop 40 itself is also served as.
The internal control valve group 12, is Stress control automatic variable damping component, installed in the bottom of piston rod 10.It is outstanding by perceiving
The pressure of cylinder inner chamber system 30 is realized to the automatic variable damping control under suspension cylinder empty full load state.Figure 11 is internal control valve group
12 detailed structure view.Figure 15 is the automatic variable damping controlling curve of internal control valve group 12.
Connect the external control interface 41 of left/right suspension cylinder outer control loop 40 respectively with angle synchronous control valve 2, formed
" state control passage " with angle synchronous control valve 2 as core, connection, two external controls of control left/right suspension cylinder are returned
Road 40.With flow servo valve 3, the external control of the outstanding cylinder inner chamber system 30 of left/right suspension cylinder is connected respectively by pipeline 18
Interface 31, forms " pressure/flow is servo-actuated passage " with flow servo valve 3 as core, connection, control left/right suspension cylinder
Two outstanding cylinder inner chamber systems 30." state control passage "/" pressure/flow is servo-actuated passage " and the outside control for being included
Loop processed 40/ is hanged between cylinder inner chamber system 30 independently of one another, it is ensured that the stability and reliability of system work.The angle is same
Step control valve 2, with the Synchronization Control of steering wheel 1.Flow servo valve 3, with the pressure difference between the outstanding cylinder inner chamber system 30 of left/right
Servo antrol, the flow/pressure to the outstanding cylinder inner chamber system 30 of left/right is compensated.
Figure 21 is this example --- the active hydro-pneumatic suspension system structure chart of binary channels lateral rigidity half.
When steering wheel 1 turns left, angle synchronous control valve 2 is to the difference input/output control of left/right outer control loop 40
Flow Q1, the pressure rise of left hand external control loop 40, left side accumulator 15 absorbs flow ql, and left side pair oil pocket 21 increases
Plus flow Ql, Ql=Q1-ql；The reduction of the pressure of right hand external control loop 40, the release flow qr of right side accumulator 15, the right side
Side pair oil pocket 21 reduces flow Qr, Qr=Q1-qr, and control chassis produces side tilt angle to the left.Flow servo valve 3, root
According to the pressure change of the outstanding cylinder inner chamber system 30 of the left/right turned left produced by operation of angle synchronous control valve 2, servo-actuated behaviour is made
Make：Cylinder inner chamber system 30 difference input/output control flow Q2 outstanding to left/right, reduces the outstanding cylinder inner chamber system 30 in left side
Flow Q2, the outstanding cylinder inner chamber system 30 in right side increases flow Q2, to keep the pressure between the outstanding cylinder inner chamber system 30 of left/right
In poised state.So, the control left/right of angle synchronous control valve 2 outer control loop 40 produces side tilt angle to the left
Φ, the servo-actuated operation of flow servo valve 3, pressure and rigidity that the outstanding cylinder inner chamber system 30 of control left/right is consistent.See Figure 22,
System architecture state diagram when vehicle turns left.
When steering wheel 1 is turned right, angle synchronous control valve 2 is to the difference input/output control of left/right outer control loop 40
Flow Q1, the pressure of left hand external control loop 40 reduction, the release flow ql of left side accumulator 15, left side pair oil pocket 21 subtracts
Few flow Ql, Ql=Q1-ql, the pressure rise of right hand external control loop 40, right side accumulator 15 absorbs flow qr, right
Side pair oil pocket 21 increases flow Qr, Qr=Q1-qr, and control chassis produces side tilt angle to the right.Flow servo valve 3, root
According to the pressure change of the outstanding cylinder inner chamber system 30 of the left/right turned right produced by operation of angle synchronous control valve 2, servo-actuated behaviour is made
Make：Cylinder inner chamber system 30 difference input/output control flow Q2 outstanding to left/right, increases the outstanding cylinder inner chamber system 30 in left side
Flow Q2, the outstanding cylinder inner chamber system 30 in right side reduces flow Q2, to keep the pressure between the outstanding cylinder inner chamber system 30 of left/right
In poised state.So, the control left/right of angle synchronous control valve 2 outer control loop 40 produces side tilt angle to the right
Φ, the servo-actuated operation of flow servo valve 3, pressure and rigidity that the outstanding cylinder inner chamber system 30 of control left/right is consistent.See Figure 23
System architecture state diagram when vehicle turns left.
The Q1 flows control that angle synchronous control valve 2 is carried out in " state control passage " to left/right outer control loop 40,
It is a process control.Correspondingly, flow servo valve 3 hangs cylinder inner chamber system " pressure/flow is servo-actuated passage " to left/right
The 30 Q2 flows controls for being carried out, are also a synchronous adjoint process control.In angle synchronous control valve 2 to " state is controlled
During passage " carries out side tilt angle control, the height change of the left/right suspension cylinder of generation, flow servo valve 3 keep it is left/
Pressure equilibrium, rigidity between the outstanding cylinder inner chamber system 30 in the right side is consistent.This control is a kind of isobaric, synchronous servo antrol.
Figure 19, is the outstanding cylinder rigidity Tequ line of this process.
In straight-line travelling, angle synchronous control valve 2 does not produce control actively to vehicle to left/right both sides outer control loop 40
Flow is not also controlled between the outstanding cylinder inner chamber system 30 of flow, flow servo valve 3 and left/right.In outstanding cylinder inner chamber system 30,
Exchanging for flow is carried out by internal control valve group 12 between piston rod cavity 23 and inner cavity of cylinder 22；Outer control loop 40
In, carry out exchanging for flow by controlling valve 16 between accumulator 15 and secondary oil pocket 21.Meet road bump, left/right both sides
The pressure difference that outer control loop 40 is produced is ended by angle synchronous control valve 2.The inside of flow servo valve 3 includes damping stop valve,
The instantaneous pressure produced between the outstanding cylinder inner chamber system 30 of left/right is damped stop valve and decays and end.
In Turning travel, each system and loop are in working condition to vehicle.In " state control passage ", angle is synchronously controlled
Valve processed 2 carries out the adjustment and distribution of flow to two outer control loops 40 of left/right, realizes the gesture stability to chassis.In " pressure
Power/flow is servo-actuated passage " in, flow servo valve 3 according to the control attitude of angle synchronous control valve 2, to two outstanding cylinders of left/right
Inner chamber system 30 carries out the compensation and adjustment of flow, realizes to the Slide attitude control on chassis and to " state control passage "
Mechanical response.Under the control of steering wheel difference steering angle, steering angle, side tilt angle, the roll stiffness of vehicle are with regard to shape
Into a series of corresponding states, the semi- active control of suspension system roll stiffness is realized.
This exampleThe active hydro pneumatic suspension of binary channels lateral rigidity half, proposes based on hydro pneumatic suspension lateral rigidity semi-active suspension first
Control program and novel foundation suspension cylinder modular construction.Scheme is based on traditional mechanical-hydraulic technology, has abandoned complicated, expensive
Electronic control system, there is prominent advantage at aspects such as the stability of a system, reliability, service lifes, and system control
Capacity processed is improved significantly, and has been significantly expanded range of application and use value.
By basic suspension frame structure, by steel plate leaf spring, helical spring lifting to hydro pneumatic suspension, it is important that proposing that isolated pair of air chamber hangs
Cylinder structure is hung, is that control program obtains the basic condition for breaking through.Another important breakthrough is to solve non-automatically controlled condition
Under, the systemic problem of pneumatic cylinder variable damper control.Thus, the active control technology of hydro pneumatic suspension will be no longer dependent on multiple
Miscellaneous electronic control system, and can just realize economic, efficient, the chassis master of Large Copacity by classical mechanical/hydraulic principle
Dynamic control.This example is the scheme framework of the chassis semi- active control based on stroke, state and rigidity, the automatic change with current construction
Damping control technology is combined the scope in the field of greatly expanded application and vehicle.
Active control technology before is overly dependent upon electronic control system, ignores the research to traditional structure and technology.From now
From the point of view of having document and an existing all kinds of vehicle products, this organization plan be all disclose first it is non-it is automatically controlled under the conditions of lateral rigidity half it is main
The complete structure scheme of dynamic control suspension system, with obvious Inventive Characteristics and application value.
Claims (5)
1. the active hydro pneumatic suspension of a kind of binary channels lateral rigidity half, using bilateral symmetry, including steering wheel, angle synchronous control valve, flow servo valve, suspension cylinder, accumulator, control valve and pipeline；The suspension cylinder, including piston rod, piston, internal control valve group, cylinder barrel, seal holder ring；The cylinder barrel, piston rod and piston surround outstanding cylinder inner chamber inside suspension cylinder；The cylinder barrel, seal holder ring and piston rod, piston surround secondary oil pocket between suspension cylinder waist side wall；The secondary oil pocket filling hydraulic oil, it is completely isolated with outstanding cylinder inner chamber；The outstanding cylinder inner chamber is divided into inner cavity of cylinder and piston rod cavity by the internally piloted valve component of piston rod bottom；Hydraulic oil is filled in the inner cavity of cylinder, hydraulic oil and nitrogen are filled in piston rod cavity；The inner cavity of cylinder and piston rod cavity, are connected by the damp channel in internal control valve group, form complete outstanding cylinder inner chamber system；The inner cavity of cylinder bottom is provided with external control interface；The secondary oil pocket, connector is set in cylinder barrel near the position of seal holder ring, by the external accumulator of pipeline and control valve, forms independent outer control loop；The control valve is provided with external control interface；The outer control loop is completely isolated with outstanding cylinder inner chamber system, independently of one another；It is characterized in that：Angle synchronous control valve connects the external control interface of left/right suspension cylinder outer control loop respectively, is formed " state control passage " with angle synchronous control valve as core, connection, two outer control loops of control left/right suspension cylinder；Flow servo valve connects the external control interface of the outstanding cylinder inner chamber system of left/right suspension cylinder respectively, forms " pressure/flow is servo-actuated passage " with flow servo valve as core, connection, two outstanding cylinder inner chamber systems of control left/right suspension cylinder；Between " state control passage "/" pressure/flow is servo-actuated passage " and between outer control loop/outstanding cylinder inner chamber system for being included independently of one another；, with steering wheel Synchronization Control, flow servo valve is with the pressure difference servo antrol between the outstanding cylinder inner chamber system of left/right for the angle synchronous control valve.
2. binary channels lateral rigidity active hydro pneumatic suspension according to claim 1, it is characterised in that：Inner cavity of cylinder and piston rod cavity, are connected by the damp channel in internal control valve group, form complete outstanding cylinder inner chamber system；Secondary oil pocket, connector is set in cylinder barrel near the position of seal holder ring, by the external accumulator of pipeline and control valve, forms independent outer control loop.
3. the binary channels lateral rigidity active hydro pneumatic suspension according to claim 1,2, it is characterised in that：Secondary oil pocket fills hydraulic oil, completely isolated with outstanding cylinder inner chamber.
4. the controlled stroke pneumatic cylinder according to claim 1,2,3, it is characterised in that secondary oil pocket in the outer control loop and the inner cavity of cylinder in the system of outstanding cylinder inner chamber form the opposed structure of double air chamber back-pressures.
5. the controlled stroke pneumatic cylinder according to claim 1,2, it is characterised in that the outstanding cylinder inner chamber keeps complete inner-cavity structure and pressure/flow association, and internal control valve group is used as variable damper control component between inner cavity of cylinder and piston rod cavity.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110039994A (en) * | 2019-03-27 | 2019-07-23 | 江苏大学 | A kind of inflatable liquid electricity feed energy suspension |
| CN110552429A (en) * | 2019-08-27 | 2019-12-10 | 天津大学 | Self-balancing three-dimensional shock-isolation anti-swing device and method |
| CN113059975A (en) * | 2021-04-22 | 2021-07-02 | 中国矿业大学 | Semi-active hydro-pneumatic suspension system of mining dump truck and control method |
| CN114559782A (en) * | 2022-02-15 | 2022-05-31 | 江苏理工学院 | Integrated semi-active hydro-pneumatic suspension structure and control method thereof |
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| CN113059975A (en) * | 2021-04-22 | 2021-07-02 | 中国矿业大学 | Semi-active hydro-pneumatic suspension system of mining dump truck and control method |
| CN114559782A (en) * | 2022-02-15 | 2022-05-31 | 江苏理工学院 | Integrated semi-active hydro-pneumatic suspension structure and control method thereof |
| CN114559782B (en) * | 2022-02-15 | 2023-05-12 | 江苏理工学院 | Integrated semi-active oil-gas suspension structure and control method thereof |
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