CN107199841B - Hydraulic independent suspension with horizontal self-adaptive adjustment and control method thereof - Google Patents
Hydraulic independent suspension with horizontal self-adaptive adjustment and control method thereof Download PDFInfo
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- CN107199841B CN107199841B CN201710536235.6A CN201710536235A CN107199841B CN 107199841 B CN107199841 B CN 107199841B CN 201710536235 A CN201710536235 A CN 201710536235A CN 107199841 B CN107199841 B CN 107199841B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
- B60G2202/414—Fluid actuator using electrohydraulic valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/16—Integrating means, i.e. integral control
Abstract
The invention relates to a hydraulic independent suspension with horizontal self-adaptive adjustment, wherein a hydraulic system comprises a power pump, a safety valve, an oil tank, a three-position four-way proportional reversing valve and a hydraulic control one-way valve; the outlet of the power pump is divided into three paths, the first path is connected with a pressure gauge, the second path is connected with a safety valve to ensure that the system pressure is within a set range, the outlet of the third path is connected with 4 three-position four-way proportional reversing valves in parallel, the three-position four-way proportional reversing valves are O-shaped median functions, and when the three-position four-way proportional reversing valves are in the median position, an oil path is cut off; the four corners of the frame are provided with hydraulic cylinders, and the center positions of the four sides are provided with horizontal sensors; the control system is connected with the horizontal sensor, the gear pump and the three-position four-way proportional reversing valve in a signal way. The horizontal self-adaptive hydraulic independent suspension can enable the four suspensions to independently and automatically adjust the running posture of the vehicle in real time when the vehicle runs on an uneven road surface, so that the vehicle frame is ensured to be horizontal, the vehicle is prevented from rolling, and the running safety is improved.
Description
Technical Field
The invention relates to a hydraulic self-adaptive adjusting device, in particular to a hydraulic independent suspension with horizontal self-adaptive adjustment and a control method thereof, and belongs to the technical field of hydraulic control.
Background
For a long time, due to a series of objective reality such as complex and changeable terrain, large ground fluctuation, irregularity, more steep curves and the like in a part of China, a large number of walking mechanical equipment are difficult to run, low in operation efficiency, poor in quality, low in safety and the like, and the phenomenon of water and soil disuse occurs in the area. The main obstacle to the development of the walking machinery in the area is that the existing suspension has poor ground type adaptability, easy tipping and low safety coefficient, and cannot be actively adapted and adjusted according to the ground type fluctuation.
The Chinese patent document with publication number CN103182916A discloses a multi-axle vehicle hydro-pneumatic suspension leveling device and a method, wherein the multi-axle vehicle hydro-pneumatic suspension leveling device cannot realize horizontal self-adaptive real-time adjustment, and an operator is required to send a leveling instruction before a system starts adjusting work, so that the multi-axle vehicle hydro-pneumatic suspension leveling device is non-closed-loop control; each wheel cannot be independently adjusted; the movement speed of the hydraulic cylinder is uncontrollable, so that the real-time accuracy of levelness adjustment is insufficient. The control method is single, and the uniformity of the stability, accuracy and rapidity of the control system cannot be realized.
How to provide a hydraulic independent suspension for horizontal self-adaptive adjustment and a control method thereof, which improve the terrain adaptability of the walking machinery, have good trafficability in areas with poor mountain areas, hills and road conditions, prevent the machine from turning over, improve the climbing and ridge crossing capacity, realize the horizontal self-adaptive adjustment and become the technical problem which needs to be solved in the field.
Disclosure of Invention
The invention aims to provide a hydraulic independent suspension for horizontal self-adaptive adjustment and a control method thereof, which are used for improving the terrain adaptability of a walking machine, having good trafficability in mountain areas, hills and areas with poor road conditions, preventing a machine from turning over, improving climbing and ridge crossing capacity, realizing closed-loop control of horizontal self-adaptive adjustment and simultaneously obtaining higher adjustment precision.
The invention adopts the following technical scheme:
a hydraulic independent suspension with horizontal self-adaptive adjustment comprises a hydraulic system, a frame and a control system; the hydraulic system comprises a power pump, a safety valve 3, an oil tank 4, a three-position four-way proportional reversing valve 8 and a hydraulic control one-way valve; the hydraulic oil outlet of the power pump is divided into three paths, the first path is connected with a pressure gauge 6, the second path is connected with a safety valve 3 to ensure that the system pressure is within a set range, the outlet of the third path is connected with 4 three-position four-way proportional reversing valves 8 which are used for changing the hydraulic oil flow direction of each oil path and then controlling the movement direction of each hydraulic cylinder in parallel, the three-position four-way proportional reversing valves 8 are O-shaped median function, when the three-position four-way proportional reversing valves 8 are in the median position, the oil paths are cut off, the oil outlets of the three-position four-way proportional reversing valves 8 are connected with a pair of hydraulic control check valves 11 and 12 to form a hydraulic lock, and when the three-position four-way proportional reversing valves 8 are in the median position, the hydraulic lock can lock the position of the hydraulic cylinder 21; the hydraulic cylinders 21 are arranged at four corners of the frame, and horizontal sensors are arranged at the center positions of the four sides; the control system is in signal connection with the horizontal sensor, the gear pump and the three-position four-way proportional reversing valve 8.
Further, the hydraulic cylinders are double-acting single-piston oil cylinders, and 4 hydraulic cylinders 21 are connected in parallel; the 4 hydraulic cylinders 21 are respectively arranged at the connection positions of the two cross beams and the two longitudinal beams at the outermost periphery of the suspension, a flange 22 is arranged at one side of a rodless cavity of the hydraulic cylinder 21, and the flange 22 is used for connecting the suspension and the hydraulic cylinder 21.
Further, the level sensor is used for detecting the running gesture of the vehicle, when the vehicle is inclined due to uneven road surface, the level sensor detects the inclination of the vehicle body and sends a signal to the control system, the control system calculates which wheel is at the highest position, and based on the wheel, an analog module of the control system sends a command to the appointed three-position four-way reversing valve through the amplifier, and then the hydraulic cylinder 21 is controlled to act to realize leveling.
Further, the maximum telescopic amount of the hydraulic cylinder 21 is 20cm.
Furthermore, the oil outlet of the safety valve 3 is connected with the cooler 5, so that the system oil temperature is prevented from being too high.
Further, a third path of the oil outlet of the power pump is connected with an oil filter 7, and the outlet of the oil filter 7 is connected with 4 three-position four-way proportional reversing valves 8 in parallel.
Further, an oil outlet of the three-position four-way proportional reversing valve 8 is connected with a one-way throttle valve 10 for controlling the flow of a one-way system, and the oil outlet of the one-way throttle valve 10 is connected with a pair of hydraulic control one- way valves 11 and 12 to form a hydraulic lock.
A control system uses different PID control programs according to different inclination degrees detected by a level sensor, when a target adjustment amount is detected to be greater than 10cm, a first PID program is used for realizing faster adjustment speed of the system, when the target adjustment amount is 2-10cm, a second PID program is used for eliminating static difference of the system, but certain fluctuation exists in the system, and when the target adjustment amount is less than 2cm, a third PID program is used for preventing the super-harmonic system from fluctuation, so that accurate adjustment is realized.
The invention has the beneficial effects that:
1) The four independent suspensions can independently and automatically adjust the running posture of the vehicle in real time when the vehicle runs on an uneven road surface by horizontally and adaptively adjusting the hydraulic independent suspensions, so that the vehicle frame is ensured to be horizontal, the vehicle is prevented from rolling, and the running safety is improved.
2) The system adopts a sectional horizontal self-adaptive adjusting PID control method, selects proper parameters according to different conditions, adjusts by using different PID control programs, has small system oscillation, high leveling speed and high precision, and realizes the unification of the stability, the accuracy and the rapidity of the PID control system.
3) The system adopts the electro-hydraulic proportion technology to realize horizontal self-adaptive adjustment, has high response speed, improves the running smoothness of the vehicle, and has high intelligent degree.
4) The locking function is realized by virtue of the hydraulic control one-way valve group, so that the sealing performance is good, and the locking precision is high;
5) The horizontal self-adaptive adjustment is real-time adjustment, PID closed-loop control, high adjustment accuracy and strong adaptability.
6) The four corner parts corresponding to the four wheels are respectively and independently adjusted, so that the adjustment precision is high;
7) The safety valve is used for unloading, so that the reliability is high;
8) The one-way throttle valve group is used for controlling the movement speed of the hydraulic cylinder, and overspeed is avoided in the descending process, so that the safety is high and the adjusting precision is high.
Drawings
FIG. 1 is a schematic diagram of a hydraulic system of a horizontally adaptively adjusted hydraulic independent suspension of the present invention.
FIG. 2 is a schematic diagram of the mounting structure of the horizontal adaptive adjustment hydraulic independent suspension of the present invention.
FIG. 3 is an electrohydraulic proportional control diagram.
Fig. 4 is a schematic diagram of PID control.
FIG. 5 is a flow chart of a segment level adaptive PID control.
In the figure, a 1-diesel engine, a 2-gear pump, a 3-safety valve, a 4-oil tank, a 5-cooler, a 6-hydraulic meter, a 7-oil filter, an 8-three-position four-way proportional reversing valve, 9, 10-one-way throttle valves, 11, 12-hydraulic control one-way valves, a 21-hydraulic cylinder, a 22-flange, a 23-beam level sensor, a 24-beam level sensor and a 25-beam 26-beam.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
Referring to fig. 1, the diesel engine is a power source of the whole hydraulic system, the power element is a gear pump, the oil outlet of the gear pump is divided into three paths, one path is connected with a hydraulic meter 6 and used for displaying the system pressure, the other path is connected with a safety valve 3 to ensure that the system pressure is within a set range, the safety valve 3 plays a role of unloading when the hydraulic cylinder does not work, the oil outlet of the safety valve 3 is connected with a cooler 5 and is prevented from excessively high system oil temperature, the other path is connected with an oil filter 7 so as to prevent the proportional valve from being polluted by oil liquid to reduce the service life, the outlet of the oil filter is connected with 4 three-position four-way proportional reversing valves 8 in parallel and used for changing the flow direction of hydraulic oil of each oil way and then controlling the movement direction of each hydraulic cylinder, when the electromagnet on the left side of the proportional reversing valve is electrified, the hydraulic cylinder has a rod cavity for oil inlet and extends outwards, when the electromagnet on the right side of the proportional reversing valve is electrified, the hydraulic cylinder has a rod cavity for oil inlet, the three-position four-way proportional reversing valve is in an O-shaped neutral function, when the throttle valve is in a neutral position, the three-position four-way proportional reversing valve is connected with a one-way reversing valve, the one-way reversing valve is connected with a one-way throttle valve for controlling the flow of the system, and the hydraulic cylinder is in a single-way, when the number of the hydraulic cylinder is in a single-way, and the hydraulic cylinder is formed by the number of the hydraulic cylinder, and the hydraulic cylinder is in a single-lock, and the number of the hydraulic cylinder is guaranteed.
Referring to fig. 2, four hydraulic cylinders 21 are respectively installed at the connection positions of two cross beams 26 and two longitudinal beams 25 at the outermost periphery of the frame, a flange 22 is installed at one side of a rodless cavity of each hydraulic cylinder 21, the flange 22 is used for connection between the frame and the hydraulic cylinders 21, and four level sensors are respectively installed at the middle positions of the cross beams 26 and the longitudinal beams 25 and used for detecting the running posture of the vehicle.
Referring to fig. 3, when the vehicle is tilted due to uneven road surface, the horizontal sensor detects the tilting of the vehicle body and sends a signal to the programmable logic controller PLC, the PLC calculates which wheel is at the highest position, and based on the wheel, the analog module of the PLC sends a command to the designated three-position four-way proportional reversing valve through the amplifier, and then the hydraulic cylinder is controlled to act to realize leveling.
Referring to fig. 4, the control system sets three PID programs according to the range of target values, and different adjustment effects are achieved by setting the magnitudes of the proportional gain P, the integral constant I, and the differential constant D. When the target adjustment amount is detected to be more than 10cm, a first PID1 program is used for realizing the faster adjustment speed of the system, when the target adjustment amount is between 2cm and 10cm, a second PID2 program is used for eliminating the static difference of the system, but the system has certain fluctuation, and when the target adjustment amount is less than 2cm, a third PID3 program is used for preventing the overshoot and the fluctuation of the system and realizing the accurate adjustment.
Referring to fig. 5, the level sensor monitors the running posture of the vehicle in real time, when the inclination of the vehicle is detected, the sensor transmits a signal to the PLC through a data line, the PLC determines which wheel is at the highest position through calculation, and calculates the target adjustment amounts of the remaining three hydraulic independent suspensions based on the wheel, when the target adjustment amount is greater than 10cm, the PID1 program is used for adjustment, when the target adjustment amount is between 2 and 10cm, the PID2 program is used for adjustment, and when the target adjustment amount is less than 2cm, the PID3 program is used for adjustment. The sectional level self-adaptive PID control realizes the unification of the stability, the accuracy and the rapidity of the control system.
The foregoing is a preferred embodiment of the present invention, and various changes and modifications may be made therein by those skilled in the art without departing from the general inventive concept, and such changes and modifications should be considered as falling within the scope of the claimed invention.
Claims (6)
1. The utility model provides a hydraulic pressure independent suspension of level self-adaptation regulation which characterized in that:
comprises a hydraulic system, a frame and a control system;
the hydraulic system comprises a power pump, a safety valve (3), an oil tank (4), a three-position four-way proportional reversing valve (8) and a hydraulic control one-way valve; the hydraulic oil outlet of the power pump is divided into three paths, the first path is connected with a pressure gauge (6), the second path is connected with a safety valve (3) to ensure that the system pressure is within a set range, the outlet of the third path is connected with 4 three-position four-way proportional reversing valves (8) which are used for changing the hydraulic oil flow direction of each oil path and then controlling the movement direction of each hydraulic cylinder, the three-position four-way proportional reversing valves (8) are O-shaped median functions, when the three-position four-way proportional reversing valves are in a median position, the oil paths are cut off, the oil outlets of the three-position four-way proportional reversing valves (8) are connected with a pair of hydraulic control one-way valves (11 and 12) to form a hydraulic lock, and when the three-position four-way proportional reversing valves (8) are in the median position, the hydraulic lock can lock the position of the hydraulic cylinder (21);
the four corners of the frame are provided with the hydraulic cylinders (21), and the center positions of the four sides are provided with horizontal sensors;
the control system is in signal connection with the horizontal sensor, the gear pump and the three-position four-way proportional reversing valve (8);
the oil outlet of the three-position four-way proportional reversing valve (8) is connected with a one-way throttle valve (10) for controlling the flow of a one-way system, and the oil outlet of the one-way throttle valve (10) is connected with a pair of hydraulic control one-way valves (11, 12) to form a hydraulic lock;
the horizontal sensor is used for detecting the running gesture of the vehicle, when the vehicle is inclined due to uneven road surface, the horizontal sensor detects the inclination of the vehicle body and sends a signal to the control system, the control system calculates which wheel is at the highest position, and based on the wheel, an analog module of the control system sends a command to a specified three-position four-way reversing valve through an amplifier, and then the hydraulic cylinder (21) is controlled to act to realize leveling;
the control system uses different PID control programs according to different inclination degrees detected by the level sensor, when the target adjustment quantity is detected to be larger than 10cm, the first PID program is used for realizing the faster adjustment speed of the system, when the target adjustment quantity is 2-10cm, the second PID program is used for eliminating the static difference of the system, but the system has certain fluctuation, and when the target adjustment quantity is smaller than 2cm, the third PID program is used for preventing the super-harmonic system fluctuation, so that the accurate adjustment is realized.
2. The horizontally adaptive hydraulic independent suspension of claim 1 wherein: the hydraulic cylinders are double-acting single-piston oil cylinders, and 4 hydraulic cylinders (21) are connected in parallel; the four hydraulic cylinders (21) are respectively arranged at the connection positions of the two cross beams and the two longitudinal beams at the outermost periphery of the suspension, a flange (22) is arranged on one side of a rodless cavity of each hydraulic cylinder (21), and the flange (22) is used for connecting the suspension with the hydraulic cylinders (21).
3. The horizontally adaptive hydraulic independent suspension of claim 1 wherein: the maximum expansion and contraction amount of the hydraulic cylinder (21) is 20cm.
4. The horizontally adaptive hydraulic independent suspension of claim 1 wherein: the oil outlet of the safety valve (3) is connected with the cooler (5) to avoid overhigh system oil temperature.
5. The horizontally adaptive hydraulic independent suspension of claim 1 wherein: the third path of the oil outlet of the power pump is connected with an oil filter (7), and the outlet of the oil filter (7) is connected with 4 three-position four-way proportional reversing valves (8) in parallel.
6. The horizontally adaptive hydraulic independent suspension of claim 1 wherein: the oil outlet of the three-position four-way proportional reversing valve (8) is connected with a one-way throttle valve (10) for controlling the flow of a one-way system, and the oil outlet of the one-way throttle valve (10) is connected with a pair of hydraulic control one-way valves (11, 12) to form a hydraulic lock.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710536235.6A CN107199841B (en) | 2017-07-04 | 2017-07-04 | Hydraulic independent suspension with horizontal self-adaptive adjustment and control method thereof |
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| CN201710536235.6A CN107199841B (en) | 2017-07-04 | 2017-07-04 | Hydraulic independent suspension with horizontal self-adaptive adjustment and control method thereof |
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| CN107199841A CN107199841A (en) | 2017-09-26 |
| CN107199841B true CN107199841B (en) | 2023-06-16 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108167584B (en) * | 2018-01-02 | 2020-04-14 | 京东方科技集团股份有限公司 | Support leveling device and control method thereof |
| CN108468678A (en) * | 2018-05-21 | 2018-08-31 | 岭南师范学院 | A kind of hydraulic control system of agricultural machinery vehicle body self-balancing |
| CN108944327B (en) * | 2018-07-25 | 2023-11-10 | 农业部南京农业机械化研究所 | Double-layer automatic adjustable suspension suitable for hilly and mountain areas |
| CN110588271B (en) * | 2019-09-27 | 2021-06-29 | 卧龙电气(上海)中央研究院有限公司 | Automobile, chassis and self-adaptive suspension system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102295248B (en) * | 2010-06-25 | 2014-04-23 | 上海梅山钢铁股份有限公司 | Hydraulic elevating leveling device and control and use method for the same |
| CN103182916B (en) * | 2011-12-28 | 2016-11-02 | 长春孔辉汽车科技股份有限公司 | Multiple-axle vehicle hydro pneumatic suspension levelling device and method |
| CN203009432U (en) * | 2012-12-28 | 2013-06-19 | 中联重科股份有限公司 | Flow control type combined valve and landing leg hydraulic control system and engineering machine |
| CN203321924U (en) * | 2013-07-04 | 2013-12-04 | 郑州新大方重工科技有限公司 | Hydraulic device for controlling stretching, pressure reserving and floating of oil cylinder |
| CN203381464U (en) * | 2013-08-14 | 2014-01-08 | 重庆大江工业有限责任公司 | Hydro-pneumatic spring adjusting device of wheeled armored vehicle |
| CN206983657U (en) * | 2017-07-04 | 2018-02-09 | 农业部南京农业机械化研究所 | A kind of hydraulic pressure independent suspension of horizontal automatic adjusument |
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