CN107150564B - A kind of overall height adjustment control method and device for multi-axle heavy type vehicle - Google Patents
A kind of overall height adjustment control method and device for multi-axle heavy type vehicle Download PDFInfo
- Publication number
- CN107150564B CN107150564B CN201710299954.0A CN201710299954A CN107150564B CN 107150564 B CN107150564 B CN 107150564B CN 201710299954 A CN201710299954 A CN 201710299954A CN 107150564 B CN107150564 B CN 107150564B
- Authority
- CN
- China
- Prior art keywords
- equivalent strut
- point
- equivalent
- strut point
- turned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention provides a kind of overall height adjustment control methods and device for multi-axle heavy type vehicle, wherein method includes: that the preceding ipsilateral connection of two bridges of multi-axle heavy type vehicle is arranged, the ipsilateral connection of four bridges afterwards, by vehicle be divided into left front Equivalent strut point, it is right before Equivalent strut point behind Equivalent strut point, left back Equivalent strut point and the right side；In the case where mode state is turned up in single-point, by corresponding electromagnetic switch valve and proportional flow control valve in control each circuit of height-regulating hydraulic system, the independent lifting of front left, front right, rear left and right is controlled；Under road-driving mode state, the first object value for adjusting height is preset, by controlling electromagnetic switch valve and proportional flow control valve in each circuit, control front left, front right, rear left and right reaches first object value；Under railway transportation state, the second target value for adjusting height is preset, by controlling electromagnetic switch valve and proportional flow control valve in each circuit, control front left, front right, rear left and right reaches the second target value.
Description
Technical field
The present invention relates to vehicle chassis technical fields more particularly to a kind of overall height for multi-axle heavy type vehicle to adjust control
Method and device.
Background technique
In order to improve the passability of multi-axle heavy type vehicle and meet the functional requirement of special operation condition, vehicle, which is furnished with, is based on oil gas
The bodywork height regulating system of spring, in view of multi-axle heavy type car load, big, vehicle body length, the number of axle are more, travel the spy of road conditions complexity
Point, it is necessary to design suitable overall height and adjust control logic, meet the functional requirement of multi-axle heavy type vehicle overall height adjusting.
Summary of the invention
The present invention is directed at least overcome one of drawbacks described above to provide a kind of overall height adjusting control for multi-axle heavy type vehicle
Method and device, to realize that the bodywork height under multi-mode is adjusted.
In order to achieve the above objectives, technical solution of the present invention is specifically achieved in that
One aspect of the present invention provides a kind of overall height adjustment control method for multi-axle heavy type vehicle, comprising: sets
Set the preceding ipsilateral connection of two bridges of multi-axle heavy type vehicle, the ipsilateral connection of Hou Siqiao, by vehicle be divided into left front Equivalent strut point, it is right before etc.
Equivalent strut point behind effect supporting point, left back Equivalent strut point and the right side；In the case where mode state is turned up in single-point, liquid is turned up by control
Corresponding electromagnetic switch valve and proportional flow control valve in each circuit of pressure system, control left front Equivalent strut point, it is right before Equivalent strut point,
The independent lifting of Equivalent strut point after left back Equivalent strut point and the right side；Under road-driving mode state, it is high to preset adjusting
The first object value of degree controls left front Equivalent strut point, the right side by controlling electromagnetic switch valve and proportional flow control valve in each circuit
Equivalent strut point reaches first object value behind preceding Equivalent strut point, left back Equivalent strut point and the right side；In railway transportation shape
Under state, the second target value for adjusting height is preset, by controlling electromagnetic switch valve and proportional flow control valve in each circuit, control
Make left front Equivalent strut point, it is right before behind Equivalent strut point, left back Equivalent strut point and the right side Equivalent strut point reach the second target
Value.
In addition, before the oil sources of control proportional flow control valve is opened, method further include: environment is detected, when environment item
The oil sources of control proportional flow control valve is opened when part meets preset requirement.
In addition, detecting to environment, the oil sources that proportional flow control valve is controlled when environmental condition meets preset requirement is opened
It include: angle signal to be filled on reading and close to switching signal；If angle signal is greater than 1 ° or abnormal close to switching, forbid adjusting
It is high；If angle signal is normal less than 1 ° or close to switch, it is determined that height-regulating environment is suitable, allows to open oil sources and carries out height-regulating behaviour
Make, adjusts the output voltage of pilot operated compound relief valve, determine that oil sources output pressure meets preset need, control the oil of proportional flow control valve
It opens in source.
In addition, comparative example flow valve slowly accelerates according to the initial stage, the intermediate stage at the uniform velocity, end stage slowly slows down
Rule is controlled.
In addition, method further include: before height-regulating, detection be turned up hydraulic oil source pressure signal, if pressure do not meet it is default
Range then forbids being turned up；In lifting process, the pressure signal of 4 hydro-pneumatic springs is detected, under idle condition, if left front equivalent
Equivalent strut presses force signal greater than the first preset value before supporting point, the right side, stops being turned up；If behind left back Equivalent strut point, the right side etc.
It imitates supporting point pressure signal and is greater than the second preset value, stop being turned up；In lifting process, the pressure letter of 4 hydro-pneumatic springs is detected
Number, under full-loading condition, if Equivalent strut presses force signal greater than the first preset value before left front Equivalent strut point, the right side, stop being turned up；
If Equivalent strut presses force signal greater than the first preset value behind left back Equivalent strut point, the right side, stop being turned up；Detect 4 oil gas bullets
The displacement signal of spring exports prompt information if the difference in height absolute value between 4 points is greater than x.
In addition, control left front Equivalent strut point, it is right before Equivalent strut point, left back Equivalent strut point, it is right after Equivalent strut point
Reaching first object value includes: control on the basis of the most slow Equivalent strut point of lifting speed, other three Equivalent struts points
The Equivalent strut point that lifting speed is most slow is followed, four Equivalent strut points is controlled and reaches first object value；It controls left front equivalent
It includes: control that Equivalent strut point, which reaches the second target value, behind Equivalent strut point, left back Equivalent strut point, the right side before supporting point, the right side
On the basis of the Equivalent strut point most slow by lifting speed, Equivalent strut that other three Equivalent struts points follow lifting speed most slow
Point controls four Equivalent strut points and reaches the second target value.
Another aspect of the present invention provides a kind of overall height control set for adjusting for multi-axle heavy type vehicle, and multiaxis weight is arranged
The preceding ipsilateral connection of two bridges of type vehicle, the ipsilateral connection of Hou Siqiao, by vehicle be divided into left front Equivalent strut point, it is right before Equivalent strut
Equivalent strut point behind point, left back Equivalent strut point and the right side；Device includes: mode decision module, for determining that mode is single-point
Mode state is turned up；Control module, for passing through phase in control each circuit of height-regulating hydraulic system in the case where mode state is turned up in single-point
The electromagnetic switch valve and proportional flow control valve answered, control left front Equivalent strut point, it is right before Equivalent strut point, left back Equivalent strut point and
The independent lifting of Equivalent strut point behind the right side；Mode decision module is also used to determine that mode is road-driving mode；Control module,
It is also used under road-driving mode state, presets the first object value for adjusting height, by controlling the electricity in each circuit
Magnetic switch valve and proportional flow control valve, control left front Equivalent strut point, it is right before behind Equivalent strut point, left back Equivalent strut point and the right side etc.
Effect supporting point reaches first object value；Mode decision module is also used to determine that mode is railway transportation；Control module,
It is also used under railway transportation state, presets the second target value for adjusting height, by controlling the electricity in each circuit
Magnetic switch valve and proportional flow control valve, control left front Equivalent strut point, it is right before behind Equivalent strut point, left back Equivalent strut point and the right side etc.
Effect supporting point reaches the second target value.
In addition, device further include: detection module, before the oil sources for controlling proportional flow control valve in control module is opened,
Environment is detected, the oil sources of control module control proportional flow control valve is notified to open when environmental condition meets preset requirement.
In addition, detection module, realizes detect to environment in the following way, when environmental condition meets preset requirement
The oil sources for controlling proportional flow control valve is opened: detection module, for reading upper dress angle signal and close to switching signal；If angle is believed
Number be greater than 1 ° or close to switch it is abnormal, then forbid being turned up；If angle signal is normal less than 1 ° or close to switch, it is determined that be turned up
Environment is suitable, allows to open oil sources and carries out height-regulating operation, adjusts the output voltage of pilot operated compound relief valve, determine oil sources output pressure
Meet preset need, the oil sources of notice control module control proportional flow control valve is opened.
In addition, control module, be specifically used for comparative example flow valve slowly accelerate according to the initial stage, the intermediate stage at the uniform velocity,
The rule that end stage is slowly slowed down is controlled.
In addition, detection module, is also used to before height-regulating, hydraulic oil source pressure signal is turned up in detection, if pressure is not met
Preset range then forbids being turned up；In lifting process, the pressure signal of 4 hydro-pneumatic springs is detected, under idle condition, if left front
Equivalent strut presses force signal greater than the first preset value before Equivalent strut point, the right side, stops being turned up；If left back Equivalent strut point, the right side
Equivalent strut presses force signal greater than the second preset value afterwards, stops being turned up；In lifting process, the pressure of 4 hydro-pneumatic springs is detected
Force signal, under full-loading condition, if left front Equivalent strut point, it is right before Equivalent strut press force signal greater than the first preset value, stop
It is turned up；If Equivalent strut presses force signal greater than the first preset value behind left back Equivalent strut point, the right side, stop being turned up；Detect at 4 points
The displacement signal of hydro-pneumatic spring exports prompt information if the difference in height absolute value between 4 points is greater than x.
In addition, control module controls Equivalent strut point, left back equivalent branch before left front Equivalent strut point, the right side in the following way
Equivalent strut point reaches first object value: control module behind support point, the right side, for controlling the Equivalent strut most slow with lifting speed
On the basis of point, it is equal to control four Equivalent strut points for the Equivalent strut point that other three Equivalent struts points follow lifting speed most slow
Reach first object value；Control module control in the following way left front Equivalent strut point, it is right before Equivalent strut point, left back equivalent
Equivalent strut point reaches the second target value: control module behind supporting point, the right side, for controlling the equivalent branch most slow with lifting speed
On the basis of support point, the Equivalent strut point that other three Equivalent struts points follow lifting speed most slow controls four Equivalent strut points
Reach the second target value.
As seen from the above technical solution provided by the invention, provide through the invention for multi-axle heavy type vehicle
Overall height adjustment control method and device realize the vehicle body under multi-mode using Mr. Yu's multi-axle heavy type vehicle chassis height-adjusting system
Height adjustment, height-regulating precision is high, speed is controllable, meets and demand is turned up under multi-state.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the overall height regulating system hydraulic schematic diagram provided in an embodiment of the present invention for multi-axle heavy type vehicle；
Fig. 2 is the flow chart of the overall height adjustment control method provided in an embodiment of the present invention for multi-axle heavy type vehicle；
Fig. 3 is the detailed process of the overall height adjustment control method provided in an embodiment of the present invention for multi-axle heavy type vehicle
Figure；
Fig. 4 is proportional flow control valve in the overall height adjustment control method provided in an embodiment of the present invention for multi-axle heavy type vehicle
Control curent change rule schematic diagram；
Fig. 5 is the structural representation of the overall height control set for adjusting provided in an embodiment of the present invention for multi-axle heavy type vehicle
Figure.
Specific embodiment
Detailed description of embodiments of the present invention with reference to the accompanying drawing.
The present invention considers the own characteristic and applying working condition of multi-axle heavy type vehicle, height-regulating is divided into single-point, mode, public affairs is turned up
Three kinds of road driving mode, railway transportation are turned up mode for each and propose corresponding control program, to meet multiaxis weight
Height-regulating demand of the type vehicle under various operating conditions.
Fig. 1 shows the overall height regulating system hydraulic schematic diagram provided in an embodiment of the present invention for multi-axle heavy type vehicle,
Referring to Fig. 1, the setting such as Fig. 1 is made to the overall height regulating system provided in an embodiment of the present invention for multi-axle heavy type vehicle, is enabled
The preceding ipsilateral connection of two bridges, the ipsilateral connection of Hou Siqiao, vehicle use equivalent four-point supporting, by vehicle be divided into it is left front, right before, it is left back,
Four Equivalent strut points behind the right side.
Meanwhile intensive analysis is carried out to the structural principle of bodywork height regulating system, comb out control object, system input
And output, it is required according to functional requirement, control, required precision, input and foundation as design control strategy.As shown in table 1.
Overall height regulation and control system includes 14 outputs of electromagnetic switch valve DYA1~DYA14 control voltage signal, 4 proportional flow control valves
BL1~BL4 controls current signal output, 4 inputs of displacement sensor voltage signal, 4 hydro-pneumatic spring pressure sensor voltages
Signal input, 1 height-regulating pressure sensor voltage signal input.
1 Height-Adjusting System input/output signal of table
In addition, according to three kinds of height-regulating modes the characteristics of multi-axle heavy type vehicle and applying working condition demand, are defined: mould is turned up in single-point
Formula, road-driving mode and railway transportation propose corresponding control strategy for three kinds of height-regulating modes respectively, meet multiaxis
The height-regulating duty requirements of heavy vehicle.
Fig. 2 shows the processes of the overall height adjustment control method provided in an embodiment of the present invention for multi-axle heavy type vehicle
Figure, referring to fig. 2, the overall height adjustment control method provided in an embodiment of the present invention for multi-axle heavy type vehicle, comprising:
S201, is arranged the preceding ipsilateral connection of two bridges of multi-axle heavy type vehicle, and vehicle is divided into left front etc. by the ipsilateral connection of Hou Siqiao
Equivalent strut point behind Equivalent strut point, left back Equivalent strut point and the right side before effect supporting point, the right side；
S202 passes through corresponding electromagnetic switch in control each circuit of height-regulating hydraulic system in the case where mode state is turned up in single-point
Valve and proportional flow control valve, control left front Equivalent strut point, it is right before Equivalent strut behind Equivalent strut point, left back Equivalent strut point and the right side
The independent lifting of point；
S203 presets the first object value for adjusting height under road-driving mode state, by controlling each circuit
In electromagnetic switch valve and proportional flow control valve, control left front Equivalent strut point, it is right before Equivalent strut point, left back Equivalent strut point and
Equivalent strut point reaches first object value behind the right side；
S204 presets the second target value for adjusting height under railway transportation state, by controlling each circuit
In electromagnetic switch valve and proportional flow control valve, control left front Equivalent strut point, it is right before Equivalent strut point, left back Equivalent strut point and
Equivalent strut point reaches the second target value behind the right side.
Wherein, mode is turned up for single-point, corresponding electromagnetic switch in control each circuit of height-regulating hydraulic system can be passed through
Valve and proportional flow control valve, realize it is left front, right before, it is left back, right after four Equivalent strut points independent lifting.Specifically, in single-point
It is turned up under mode state, when executing lifting operation, opens hydraulic oil source, controller is opened to the corresponding electromagnetism that point hydraulic circuit is turned up
Valve and proportional flow control valve output control signal are closed, vehicle body starts to increase.As an optional embodiment of the embodiment of the present invention,
Control left front Equivalent strut point, it is right before Equivalent strut point, left back Equivalent strut point, it is right after Equivalent strut point reach first object
Value includes: control on the basis of the most slow Equivalent strut point of lifting speed, and other three Equivalent struts points follow lifting speed most
Slow Equivalent strut point controls four Equivalent strut points and reaches first object value.For example, when executing left front lifting operation,
After opening oil sources, electromagnetic switch valve DYA1, DYA6, DYA7 output voltage control signal are given, solenoid valve is become beating from closed state
Open state；Current controling signal, an optional embodiment party as the embodiment of the present invention are exported to proportional flow control valve BL1 simultaneously
Formula, comparative example flow valve slowly accelerates according to the initial stage, the intermediate stage at the uniform velocity, the rule slowly slowed down of end stage controlled
System.Its current signal changing rule as shown in figure 4, make elevation process follow the initial stage slowly accelerate, the intermediate stage at the uniform velocity, end
The changing rule that the tail stage slowly slows down guarantees the steady progress of entire elevation process.Meanwhile one as the embodiment of the present invention
A optional embodiment can also acquire displacement sensor DBP1 signal in real time, and be shown by display, and overall height is adjusted
To target value, top out operation.Execute reduce operation when, do not need open oil sources, to electromagnetic switch valve DYA1, DYA5,
DYA7 output voltage control signal, while current controling signal is exported to proportional flow control valve BL1, for controlling the speed of vehicle body decline
It spends, the oil liquid in hydro-pneumatic spring passes back into fuel tank.
For road-driving mode, height adjustment target value is preset；By controlling the electromagnetic switch valve in each circuit
And proportional flow control valve, realize it is left front, right before, it is left back, right after four Equivalent strut points all reach goal-selling height value；As this
One optional embodiment of inventive embodiments controls Equivalent strut point, left back Equivalent strut before left front Equivalent strut point, the right side
It includes: control on the basis of the most slow Equivalent strut point of lifting speed that Equivalent strut point, which reaches the second target value, behind point, the right side,
The Equivalent strut point that its three Equivalent strut point follows lifting speed most slow controls four Equivalent strut points and reaches the second target
Value.Using the control strategy of " one main three follows " between each point, i.e., on the basis of the most slow point of lifting speed, other 3 points with
With.Specifically, under road-driving mode state, when executing lifting operation, open oil sources, controller is left front to vehicle, it is right before,
13 electromagnetic switch valve DYA1~DYA4, DYA6~DYA14 and 4 proportional flow in the hydraulic circuit of four points after left back, right
Valve BL1~BL4 output control signal, as an optional embodiment of the embodiment of the present invention, comparative example flow valve is according to first
Stage beginning slowly accelerates, the intermediate stage at the uniform velocity, the rule slowly slowed down of end stage controlled.That is proportional flow control valve electric current control
Signal intensity rule processed follow Fig. 4 execution, vehicle elevation process follow the initial stage slowly accelerate, the intermediate stage at the uniform velocity, end
The changing rule that stage slowly slows down guarantees the steady progress of entire elevation process.Meanwhile one as the embodiment of the present invention
Optional embodiment can also acquire displacement sensor DBP1~DBP4 signal, as input to the controller, for judging in real time
Increase the difference between most slow target point and four target points.Vehicle is left front, it is right before, it is left back, right after four points follow " one main three
Follow " control strategy, i.e., on the basis of going up and down most slow point, other 3 points follow most slow point, keep each raising target point poor
Value guarantees that vehicle is synchronous and rises within a certain error range.When executing reduction operation, does not need to open oil sources, give 13 electromagnetism
Switch valve DYA1~DYA5, DYA7~DYA14 and 4 proportional flow control valve BL1~BL4, which are exported, controls signal, in hydro-pneumatic spring
Oil liquid passes back into fuel tank.
For railway transportation, same preset height adjusts target value, control object and control strategy Dou Yu highway row
Sail that mode is similar, the vehicle mass center that only railway transportation requires is low, and the stroke that vehicle body reduces is big, and wants to the deadline
It asks, therefore, it is necessary to be precisely controlled to the accuracy and speed that vehicle body declines.Specifically, it under railway transportation state, adjusts
High control strategy is similar with road-driving mode, and difference has at two: a. predetermined target value is different；B. raising/decline speed
Difference requires the current controling signal changing rule of proportional flow control valve different.But
Before hydraulic oil source is turned up and opens, environment is detected and is opened, is opened when environmental condition meets the requirements Shi Caike
Open oil sources.As an optional embodiment of the embodiment of the present invention, before the oil sources unlatching for controlling proportional flow control valve, method is also
It include: to be detected to environment, the oil sources that proportional flow control valve is controlled when environmental condition meets preset requirement is opened.As this hair
One optional embodiment of bright embodiment, detects environment, and ratio stream is controlled when environmental condition meets preset requirement
The oil sources unlatching of amount valve includes: angle signal to be filled on reading and close to switching signal；If angle signal is greater than 1 ° or close switch
It is abnormal, then forbid being turned up；If angle signal is normal less than 1 ° or close to switch, it is determined that height-regulating environment is suitable, allows to open
Oil sources carries out height-regulating operation, adjusts the output voltage of pilot operated compound relief valve, determines that oil sources output pressure meets preset need, control
The oil sources of proportional flow control valve is opened.Specifically, referring to Fig. 3, angle signal is filled before oil sources is opened, in reading and is believed close to switch
Number, if angle signal is normal less than 1 ° or close to switch, it is suitable to be turned up environment, allows to open oil sources and carries out height-regulating operation；If
Angle signal is greater than 1 ° or abnormal close to switching, then forbids being turned up.It is turned up after environment satisfaction, oil sources is opened, according to system
Load requirements adjust the output voltage of pilot operated compound relief valve, obtain suitable oil sources output pressure, meet height-adjusting system output work
Rate demand.
As an optional embodiment of the embodiment of the present invention, it can also realize abnormality processing and prompt information, exchange
System mode during height carries out real-time monitoring, when system signal occurs abnormal, also carries out for abnormality processing etc. is turned up
Corresponding judgement or control logic design, monitor height-adjusting system state, guarantee that system operates normally.
Wherein method further include:
Before height-regulating, detection is turned up hydraulic oil source pressure signal and forbids being turned up if pressure does not meet preset range；
In lifting process, the pressure signal of 4 hydro-pneumatic springs is detected, under idle condition, if left front Equivalent strut point,
Equivalent strut presses force signal greater than the first preset value before the right side, stops being turned up；If Equivalent strut point behind left back Equivalent strut point, the right side
Pressure signal is greater than the second preset value, stops being turned up；
In lifting process, the pressure signal of 4 hydro-pneumatic springs is detected, under full-loading condition, if left front Equivalent strut point,
Equivalent strut presses force signal greater than the first preset value before the right side, stops being turned up；If Equivalent strut point behind left back Equivalent strut point, the right side
Pressure signal is greater than the first preset value, stops being turned up；
The displacement signal of 4 hydro-pneumatic springs is detected, if the difference in height absolute value between 4 points is greater than x, exports prompt letter
Breath.
Specifically, before height-regulating, hydraulic oil source pressure signal is turned up in detection, if pressure is not in [p1 ± 1, p2 ± 1] range
It is interior, then forbid being turned up；
In lifting process, the pressure signal of 4 hydro-pneumatic springs is detected, under idle condition, if left front, right preceding pressure signal
Greater than p3 (pressure unloading), stop being turned up；If after left back, right pressure signal be greater than p4 (when there is a failure, four axle loads
It is transferred on three axis, system pressure value is p4 at this time), stop being turned up.
In lifting process, the pressure signal of 4 hydro-pneumatic springs is detected, under full-loading condition, if left front, right preceding pressure signal
Greater than p3 (pressure unloading), stop being turned up；If pressure signal is greater than p3 (pressure unloading) after left back, right, stop being turned up.
The displacement signal of 4 hydro-pneumatic springs is detected, if the difference in height absolute value between 4 points is greater than x, it is aobvious that the page is turned up
Show " lifting is asynchronous, stops being turned up ".
It can be seen that the overall height adjustment control method for multi-axle heavy type vehicle provided through the embodiment of the present invention, real
The bodywork height showed under multi-mode is adjusted, and height-regulating precision is high, speed is controllable, meets and demand is turned up under multi-state.
The specific implementation of overall height adjustment control method provided in an embodiment of the present invention for multi-axle heavy type vehicle can be joined
See Fig. 3, this will not be detailed here.
Fig. 5 shows the structural schematic diagram of the processing nonsynchronous system of dual CAN bus timing provided in an embodiment of the present invention,
It is applied to the above method, is only briefly described herein to its structure, other unaccomplished matters, reference can be made to the correlation of the above method
Illustrate, referring to Fig. 5, multiaxis weight is arranged in the overall height control set for adjusting provided in an embodiment of the present invention for multi-axle heavy type vehicle
The preceding ipsilateral connection of two bridges of type vehicle, the ipsilateral connection of Hou Siqiao, by vehicle be divided into left front Equivalent strut point, it is right before Equivalent strut
Equivalent strut point behind point, left back Equivalent strut point and the right side；Device includes:
Mode decision module 501, for determining that mode is that mode state is turned up in single-point；
Control module 502 is used in the case where mode state is turned up in single-point, by corresponding in control each circuit of height-regulating hydraulic system
Electromagnetic switch valve and proportional flow control valve, control left front Equivalent strut point, it is right before Equivalent strut point, left back Equivalent strut point and the right side
The independent lifting of Equivalent strut point afterwards；
Mode decision module 501 is also used to determine that mode is road-driving mode；
Control module 502 is also used under road-driving mode state, presets the first object value for adjusting height,
By controlling electromagnetic switch valve and proportional flow control valve in each circuit, Equivalent strut point, a left side before left front Equivalent strut point, the right side are controlled
Equivalent strut point and Equivalent strut point behind the right side reach first object value afterwards；
Mode decision module 501 is also used to determine that mode is railway transportation；
Control module 502 is also used under railway transportation state, presets the second target value for adjusting height,
By controlling electromagnetic switch valve and proportional flow control valve in each circuit, Equivalent strut point, a left side before left front Equivalent strut point, the right side are controlled
Equivalent strut point and Equivalent strut point behind the right side reach the second target value afterwards.
As an optional embodiment of the embodiment of the present invention, device further include: detection module 503, for controlling
Before the oil sources that module controls proportional flow control valve is opened, environment is detected, the notice when environmental condition meets preset requirement
The oil sources that control module controls proportional flow control valve is opened.As an optional embodiment of the embodiment of the present invention, detection module
503, it realizes in the following way and environment is detected, the oil of proportional flow control valve is controlled when environmental condition meets preset requirement
It opens in source: detection module, for reading upper dress angle signal and close to switching signal；If angle signal is greater than 1 ° or close switch
It is abnormal, then forbid being turned up；If angle signal is normal less than 1 ° or close to switch, it is determined that height-regulating environment is suitable, allows to open
Oil sources carries out height-regulating operation, adjusts the output voltage of pilot operated compound relief valve, determines that oil sources output pressure meets preset need, notice
The oil sources that control module controls proportional flow control valve is opened.It thereby guarantees that before hydraulic oil source is turned up and opens, environment is detected
With unlatching, oil sources can be just opened when environmental condition is met the requirements.
As an optional embodiment of the embodiment of the present invention, control module, be specifically used for comparative example flow valve according to
Initial stage slowly accelerates, the intermediate stage at the uniform velocity, the rule slowly slowed down of end stage controlled.Thus abide by elevation process
Follow the initial stage slowly accelerate, the intermediate stage at the uniform velocity, the changing rule that slowly slows down of end stage, guarantee entire elevation process
It is steady to carry out.
As an optional embodiment of the embodiment of the present invention, detection module 503 is also used to before height-regulating, detection
Hydraulic oil source pressure signal is turned up to forbid being turned up if pressure does not meet preset range；In lifting process, 4 points of oil are detected
The pressure signal of gas spring, under idle condition, if left front Equivalent strut point, it is right before Equivalent strut to press force signal pre- greater than first
If value, stop being turned up；If Equivalent strut presses force signal greater than the second preset value behind left back Equivalent strut point, the right side, stop being turned up；
In lifting process, detect the pressure signal of 4 hydro-pneumatic springs, under full-loading condition, if left front Equivalent strut point, it is right before it is equivalent
Supporting point pressure signal is greater than the first preset value, stops being turned up；If Equivalent strut presses force signal behind left back Equivalent strut point, the right side
Greater than the first preset value, stop being turned up；The displacement signal of 4 hydro-pneumatic springs is detected, if the difference in height absolute value between 4 points is big
In x, then prompt information is exported.It is possible thereby to which the system mode during exchanging height carries out real-time monitoring, when system signal occurs
When abnormal, corresponding judgement or control logic design are also carried out for abnormality processing etc. is turned up, height-adjusting system state has been monitored, protects
Card system operates normally.
As an optional embodiment of the embodiment of the present invention, control module 502 controls left front etc. in the following way
Equivalent strut point reaches first object value behind Equivalent strut point, left back Equivalent strut point, the right side before effect supporting point, the right side: control mould
Block 502, for controlling on the basis of the most slow Equivalent strut point of lifting speed, other three Equivalent struts points follow lifting speed
Most slow Equivalent strut point controls four Equivalent strut points and reaches first object value；Control module 502 is controlled in the following way
Make left front Equivalent strut point, it is right before Equivalent strut point, left back Equivalent strut point, it is right after Equivalent strut point reach the second target
Value: control module 502, for controlling on the basis of the most slow Equivalent strut point of lifting speed, other three Equivalent struts points with
With the Equivalent strut point that lifting speed is most slow, controls four Equivalent strut points and reach the second target value.It is possible thereby to guarantee whole
The steady progress of a elevation process.
It can be seen that the overall height control set for adjusting for multi-axle heavy type vehicle provided through the embodiment of the present invention, real
The bodywork height showed under multi-mode is adjusted, and height-regulating precision is high, speed is controllable, meets and demand is turned up under multi-state.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Above embodiment is only that preferred embodiments of the present invention will be described, is not carried out to the scope of the present invention
It limits, without departing from the spirit of the design of the present invention, this field ordinary engineering and technical personnel is to technical solution of the present invention
The various changes and improvements made, should fall within the scope of protection determined by the claims of the present invention.
Claims (8)
1. a kind of overall height adjustment control method for multi-axle heavy type vehicle characterized by comprising
The preceding ipsilateral connection of two bridges of multi-axle heavy type vehicle is set, the ipsilateral connection of Hou Siqiao, by vehicle be divided into left front Equivalent strut point,
Equivalent strut point behind Equivalent strut point, left back Equivalent strut point and the right side before the right side；
In the case where mode state is turned up in single-point, pass through corresponding electromagnetic switch valve and ratio stream in control each circuit of height-regulating hydraulic system
Valve is measured, before the control left front Equivalent strut point, the right side behind Equivalent strut point, the left back Equivalent strut point and the right side etc.
Imitate the independent lifting of supporting point；
Under road-driving mode state, the first object value for adjusting height is preset, described in controlling in each circuit
Electromagnetic switch valve and the proportional flow control valve, control the left front Equivalent strut point, it is described it is right before Equivalent strut point, described left back
Equivalent strut point reaches the first object value after Equivalent strut point and the right side；
Under railway transportation state, the second target value for adjusting height is preset, described in controlling in each circuit
Electromagnetic switch valve and the proportional flow control valve, control the left front Equivalent strut point, it is described it is right before Equivalent strut point, described left back
Equivalent strut point reaches second target value after Equivalent strut point and the right side；
The method also includes: environment is detected, the oil of proportional flow control valve is controlled when environmental condition meets preset requirement
It opens in source；Described to detect to environment, the oil sources that proportional flow control valve is controlled when environmental condition meets preset requirement opens packet
It includes:
Angle signal is filled in reading and close to switching signal；
If angle signal is greater than 1 ° or abnormal close to switching, forbid being turned up；
If angle signal is normal less than 1 ° or close to switch, it is determined that height-regulating environment is suitable, allows to open oil sources and carries out height-regulating behaviour
Make, adjusts the output voltage of pilot operated compound relief valve, determine that oil sources output pressure meets preset need, control the oil of proportional flow control valve
It opens in source.
2. the method according to claim 1, wherein
The proportional flow control valve is slowly accelerated according to the initial stage, the intermediate stage at the uniform velocity, the rule slowly slowed down of end stage
It is controlled.
3. the method according to claim 1, wherein further include:
Before height-regulating, detection is turned up hydraulic oil source pressure signal and forbids being turned up if pressure does not meet preset range；
In lifting process, the pressure signal of 4 hydro-pneumatic springs is detected, under idle condition, if the left front Equivalent strut point,
Equivalent strut presses force signal greater than the first preset value before the right side, stops being turned up；If the left back Equivalent strut point, the right side
Equivalent strut presses force signal greater than the second preset value afterwards, stops being turned up；
In lifting process, the pressure signal of 4 hydro-pneumatic springs is detected, under full-loading condition, if the left front Equivalent strut point,
Equivalent strut presses force signal greater than the first preset value before the right side, stops being turned up；If the left back Equivalent strut point, the right side
Equivalent strut presses force signal greater than the first preset value afterwards, stops being turned up；
The displacement signal of 4 hydro-pneumatic springs is detected, if the difference in height absolute value between 4 points is greater than x, exports prompt information.
4. the method according to claim 1, wherein
The left front Equivalent strut point of the control, it is right before Equivalent strut point, left back Equivalent strut point, it is right after Equivalent strut point reach
The first object value includes:
On the basis of the most slow Equivalent strut point of lifting speed, other three Equivalent struts points follow the lifting speed most for control
Slow Equivalent strut point controls four Equivalent strut points and reaches the first object value；
The left front Equivalent strut point of the control, it is right before Equivalent strut point, left back Equivalent strut point, it is right after Equivalent strut point reach
Second target value includes:
On the basis of the most slow Equivalent strut point of lifting speed, other three Equivalent struts points follow the lifting speed most for control
Slow Equivalent strut point controls four Equivalent strut points and reaches second target value.
5. a kind of overall height control set for adjusting for multi-axle heavy type vehicle, which is characterized in that before setting multi-axle heavy type vehicle
The ipsilateral connection of two bridges, the ipsilateral connection of Hou Siqiao, by vehicle be divided into left front Equivalent strut point, it is right before Equivalent strut point, left back equivalent
Equivalent strut point after supporting point and the right side；Described device includes:
Mode decision module, for determining that mode is that mode state is turned up in single-point；
Control module, for passing through corresponding electromagnetism in control each circuit of height-regulating hydraulic system in the case where mode state is turned up in single-point
Switch valve and proportional flow control valve control Equivalent strut point, the left back Equivalent strut before the left front Equivalent strut point, the right side
The independent lifting of Equivalent strut point after point and the right side；
The mode decision module is also used to determine that mode is road-driving mode；
The control module is also used under road-driving mode state, is preset the first object value for adjusting height, is passed through
The electromagnetic switch valve and the proportional flow control valve in each circuit are controlled, before controlling the left front Equivalent strut point, the right side
Equivalent strut point reaches the first object value behind Equivalent strut point, the left back Equivalent strut point and the right side；
The mode decision module is also used to determine that mode is railway transportation；
The control module is also used under railway transportation state, is preset the second target value for adjusting height, is passed through
The electromagnetic switch valve and the proportional flow control valve in each circuit are controlled, before controlling the left front Equivalent strut point, the right side
Equivalent strut point reaches second target value behind Equivalent strut point, the left back Equivalent strut point and the right side；
Further include:
Detection module, for being detected to environment before the oil sources of control module control proportional flow control valve is opened, when
Environmental condition notifies the oil sources of the control module control proportional flow control valve to open when meeting preset requirement；
The detection module, realize in the following way it is described environment is detected, when environmental condition meets preset requirement
The oil sources for controlling proportional flow control valve is opened:
The detection module, for reading upper dress angle signal and close to switching signal；It is opened if angle signal is greater than 1 ° or approaches
It closes abnormal, then forbids being turned up；If angle signal is normal less than 1 ° or close to switch, it is determined that height-regulating environment is suitable, allows out
It opens oil sources and carries out height-regulating operation, adjust the output voltage of pilot operated compound relief valve, determine that oil sources output pressure meets preset need, lead to
Know that the oil sources of the control module control proportional flow control valve is opened.
6. device according to claim 5, which is characterized in that
The control module, be specifically used for slowly accelerating the proportional flow control valve according to the initial stage, the intermediate stage at the uniform velocity, it is last
The rule that the tail stage slowly slows down is controlled.
7. device according to claim 5, which is characterized in that
The detection module, is also used to before height-regulating, and hydraulic oil source pressure signal is turned up in detection, if pressure does not meet default model
It encloses, then forbids being turned up；In lifting process, the pressure signal of 4 hydro-pneumatic springs is detected, under idle condition, if described left front etc.
Equivalent strut presses force signal greater than the first preset value before effect supporting point, the right side, stops being turned up；If the left back Equivalent strut
Equivalent strut presses force signal greater than the second preset value behind point, the right side, stops being turned up；In lifting process, 4 points of oil are detected
The pressure signal of gas spring, under full-loading condition, if the left front Equivalent strut point, it is described it is right before Equivalent strut to press force signal big
In the first preset value, stop being turned up；If Equivalent strut presses force signal greater than first behind the left back Equivalent strut point, the right side
Preset value stops being turned up；The displacement signal of 4 hydro-pneumatic springs is detected, it is defeated if the difference in height absolute value between 4 points is greater than x
Prompt information out.
8. device according to claim 5, which is characterized in that
The control module control in the following way left front Equivalent strut point, it is right before Equivalent strut point, left back Equivalent strut point,
Equivalent strut point reaches the first object value behind the right side:
The control module, for controlling on the basis of the most slow Equivalent strut point of lifting speed, other three Equivalent struts points
The Equivalent strut point that the lifting speed is most slow is followed, four Equivalent strut points is controlled and reaches the first object value；
The control module control in the following way left front Equivalent strut point, it is right before Equivalent strut point, left back Equivalent strut point,
Equivalent strut point reaches second target value behind the right side:
The control module, for controlling on the basis of the most slow Equivalent strut point of lifting speed, other three Equivalent struts points
The Equivalent strut point that the lifting speed is most slow is followed, four Equivalent strut points is controlled and reaches second target value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710299954.0A CN107150564B (en) | 2017-05-02 | 2017-05-02 | A kind of overall height adjustment control method and device for multi-axle heavy type vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710299954.0A CN107150564B (en) | 2017-05-02 | 2017-05-02 | A kind of overall height adjustment control method and device for multi-axle heavy type vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107150564A CN107150564A (en) | 2017-09-12 |
| CN107150564B true CN107150564B (en) | 2019-10-11 |
Family
ID=59794318
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710299954.0A Active CN107150564B (en) | 2017-05-02 | 2017-05-02 | A kind of overall height adjustment control method and device for multi-axle heavy type vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107150564B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248326A (en) * | 2018-01-24 | 2018-07-06 | 中国石油大学(华东) | A kind of cross-country chassis height intelligent regulating system of multi-axle heavy type |
| 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 |
| CN110065356A (en) * | 2019-04-19 | 2019-07-30 | 北京航天发射技术研究所 | The independent suspension height-adjusting system and height-regulating method of multi-axle heavy type vehicle |
| CN113525010A (en) * | 2021-05-18 | 2021-10-22 | 北京航天发射技术研究所 | Stepped cooperative control strategy and system for vehicle chassis suspension heightening |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0331175A2 (en) * | 1988-03-03 | 1989-09-06 | Toyota Jidosha Kabushiki Kaisha | A hydraulic circuit system for a vehicle height control device |
| CN106567904A (en) * | 2016-11-10 | 2017-04-19 | 湖北航天技术研究院特种车辆技术中心 | Lifting hydro-pneumatic suspension hydraulic system |
| CN107116986A (en) * | 2017-05-03 | 2017-09-01 | 北京航天发射技术研究所 | A kind of big stroke adjustment system of bodywork height for multi-axle heavy type vehicle |
| CN107116985A (en) * | 2017-05-03 | 2017-09-01 | 北京航天发射技术研究所 | A kind of big stroke suspension system for multi-axle heavy type vehicle |
-
2017
- 2017-05-02 CN CN201710299954.0A patent/CN107150564B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0331175A2 (en) * | 1988-03-03 | 1989-09-06 | Toyota Jidosha Kabushiki Kaisha | A hydraulic circuit system for a vehicle height control device |
| CN106567904A (en) * | 2016-11-10 | 2017-04-19 | 湖北航天技术研究院特种车辆技术中心 | Lifting hydro-pneumatic suspension hydraulic system |
| CN107116986A (en) * | 2017-05-03 | 2017-09-01 | 北京航天发射技术研究所 | A kind of big stroke adjustment system of bodywork height for multi-axle heavy type vehicle |
| CN107116985A (en) * | 2017-05-03 | 2017-09-01 | 北京航天发射技术研究所 | A kind of big stroke suspension system for multi-axle heavy type vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107150564A (en) | 2017-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107150564B (en) | A kind of overall height adjustment control method and device for multi-axle heavy type vehicle | |
| RU2460670C2 (en) | Method and device to control shift of movable stabiliser on aircraft | |
| US20040000143A1 (en) | Control system for improved transient response in a variable-geometry turbocharger | |
| CN103043225B (en) | A kind of power control for aircraft structure strength test and position control are in conjunction with loading system and method | |
| US7258307B2 (en) | Device and method for damping at least one of a rigid body mode and elastic mode of an aircraft | |
| CN205620115U (en) | Durable degree testing arrangement of fork truck portal | |
| CN102887435A (en) | Hydraulic system for controlling amplitude variation of boom, control method and crane | |
| GB2575399A (en) | Hydraulic drive system | |
| CN109950580B (en) | Low-cost fuel cell stack anode working pressure rapid regulating system | |
| CN209455962U (en) | A kind of the full Terrain Cranes setting-up extension and retraction system | |
| US7679306B2 (en) | Feedback control system | |
| DE19812843B4 (en) | Method for boost pressure control of an internal combustion engine | |
| CN109368500A (en) | A kind of the full Terrain Cranes setting-up extension and retraction system and control method | |
| CN104326365B (en) | Energy-saving control method and system for crane | |
| AU677007B2 (en) | Process for driving electric, current-controlled actuators | |
| CN108437735A (en) | The control method that a kind of special vehicle chassis suspension is turned up | |
| CN106438527B (en) | The flow-compensated method and flow compensation device of ratio control pump | |
| CA2510115C (en) | Device and method for damping at least one of a rigid body mode and elastic mode of an aircraft | |
| CN202075579U (en) | Horizontal control system of operating platform based on gravity regulation | |
| CN108496012A (en) | The control device of fluid pressure actuated device | |
| Hönlinger et al. | Structural aspects of active control technology | |
| CN112693456B (en) | Cruise method and device based on torque ring | |
| CN209700331U (en) | A kind of hydro pneumatic suspension height adjustment device and hydraulic control system | |
| CN111943095B (en) | Method for controlling stability of boom of aerial work platform | |
| Nguyen et al. | Synthesizing an adaptive controller to enhance movement quality of a flight control actuator under external load |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |