CN107215165A - Automobile active tilting control method based on big damping force magneto-rheological semiactive suspension - Google Patents
Automobile active tilting control method based on big damping force magneto-rheological semiactive suspension Download PDFInfo
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- 230000001133 acceleration Effects 0.000 claims description 13
- 230000007423 decrease Effects 0.000 claims description 12
- 230000003028 elevating effect Effects 0.000 claims description 6
- 238000011217 control strategy Methods 0.000 claims description 4
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Classifications
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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
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
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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
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0511—Roll angle
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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
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0521—Roll rate
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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
- B60G2400/10—Acceleration; Deceleration
- B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
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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
- B60G2600/18—Automatic control means
- B60G2600/184—Semi-Active control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/24—Steering, cornering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
- B60G2800/9124—Roll-over protection systems, e.g. for warning or control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of automobile active tilting control method based on big damping force magneto-rheological semiactive suspension, it uses rotary magnetic rheological shock absorber as the actuator of automobile active tilting control, each shock absorber of automotive suspension is replaced with to described magneto-rheological vibration damper, the method that the rotary magnetic rheological shock absorber carries out active tilting control use is that the shock absorber on independent control left and right vehicle wheel both sides is lifted car body, so as to realize the tilting cont of vehicle.This method will significantly improve vehicle handling stability, passage rate, prevent rollover, keep preferable ride comfort simultaneously, the performance of bend can not only be improved, the posture of automobile can also be controlled, reduce the transfer of analysis of wheel vertical load, if suspension before or after the pendulum that individually inclines, the Relative vertical load transfer of antero posterior axis can also then be changed, so as to implement yaw moment control.The scheme proposed can also be used for similar other field.
Description
Technical field
The invention belongs to field of automobile design, and in particular to one kind is based on new big damping force magneto-rheological vibration damper (MRD)
Semi-active suspension make automobile to the method for turn direction active roll control.
Background technology
Traditional passive suspension is anti-by the way of enhancing suspension rate and installation QS to be rolled, and this can cause automobile
The reduction of ride comfort, it is impossible to meet anti-inclination and improve requirement of both ride comfort.Actively or half active roll control can be with
This contradiction is solved, a kind of control mode is that series connection actuator implements active or semi- active control on QS, another
It is actively or in semi-active suspension to car body to implement gesture stability so as to control tilting of automobile to plant control mode.However, these
Roll control is all passively to reduce angle of heel or at most angle of heel is used as target as zero.Vehicle during turning, by
In the effect of centrifugal force automobile can be made to tilt laterally, but if actively can incline to curve inner side, the power for producing automobile gravity
The torque that square reduction or counteracting centrifugal force are produced, so that horizontal vertical load transfer reduction, and occupant's perception are lateral
Acceleration reduces or equal to zero, can not only improve the lateral stability and ride performance of automobile, moreover it is possible to improves automobile cornering and leads to
Scanning frequency degree, prevents rollover.The term of track train active tilt is borrowed, this active tilt is referred to as the pendulum that actively inclines by this patent.
Mainly there are following 2 kinds of vehicles both at home and abroad at present using pendulum technology of actively inclining.One kind is that track train actively inclines pendulum skill
Art, its technology is more ripe, but still suffers from some problems and need research.Another is narrow vehicle (Narrow Commuter
Vehicle, NCV) pendulum technology of actively inclining, NCV attracted the great interest of researcher in recent decades, and NCV has 3 or 4 cars
Wheel, overall width narrow (half of common overall width), lightweight, low speed, suitable city traveling, can effectively alleviate current urban traffic congestion
Situation and pollution problem.NCV is also in the conceptual phase of experimental model at present, and its tilting cont technology is also immature.
In terms of automobile carries out tilting cont, the research of tilting cont is only carried out using Active suspension at present, but it is related
Research and method use be all preferable Active suspension, without reference to specific actuator configurations and embodiment.In addition,
The problems such as tilting cont has complicated, cost height, high energy consumption is carried out using Active suspension.
The content of the invention
In view of Active suspension is complicated, high energy consumption, and hydraulic system low-response, increase actuator in suspension systems
Scheme will also make the problem of structure becomes complexity, the present invention proposes the automobile based on big damping force magneto-rheological semiactive suspension
Active tilting control method.
The technical solution used in the present invention is as follows：
A kind of automobile active tilting control method based on big damping force magneto-rheological semiactive suspension, it uses swinging magnetic
Each shock absorber of automotive suspension is replaced with described magnetic current by rheology shock absorber as the actuator of automobile active tilting control
Become shock absorber, realize that car body is lifted by the control to magneto-rheological vibration damper, specific control automobile actively inclines the method bag of pendulum
Include following steps：
(1) expectation is established to incline pivot angle θdes；According to Vehicular turn and inclination model, the inclination that occupant perceives during stable state accelerates
Spend in 0, following equation can be obtained,
In formula：For side acceleration, V is speed, and θ is the pivot angle that inclines, and h is distance of the spring carried mass barycenter to roll center,To expect yaw velocity, it is equal to yaw velocity during 2DOF turn inside diameter model neutral steer；Due to stable state
When,θ value is small, therefore above formula is approximatelyTherefore, it is desirable to the pivot angle that inclines is,
(2) to expect to incline pivot angle as control targe, the magneto-rheological vibration damper of left and right vehicle wheel suspension for actuator make car body to
Turn direction is rolled, and makes actual measurement angle of heel and the expectation pivot angle that inclines equal；
(3) MRD elevating control strategy is determined, when vehicle turns left, using big damping, compression when left side suspension is upheld
The small dampings of Shi Caiyong, meanwhile, small damping is used when right side suspension is upheld, will on the left of such car body using big damping during compression
Decline, right side can rise；When vehicle is turned right, using big damping when right side suspension is upheld, small damping is used during compression, together
When, small damping is used when left side suspension is upheld, using big damping during compression, will be declined on the right side of such car body, left side can rise.
Further, in the step (3), control car body inclines pendulum, upholds the switch control function of side suspension MRD uses
For：
The switch control function that compressed side suspension MRD is used for：
Wherein, c0Minimum damped coefficient during electric current is not added with for MRD；C (I) is damped coefficient when MRD adds electric current, is electricity
The function of stream.
Or in the step (3), control car body inclines pendulum, the switch control function that extension side suspension MRD is used for：
The switch control function that compressed side suspension MRD is used for：
Wherein, f (I) is MRD damping forces, is the function of electric current；f0Damping force during electric current is not added with for MRD.
Further, the control algolithm used in the step (2) is LQR, PID control, sliding formwork control, in robust control
One kind.
Further, the mode of the actuator MRD work is：The MRD of vehicle left side ramps up car body by control
Or decline, and the MRD on right side makes car body to down or up by control, so that car body is rolled, or vehicle right side MRD
Car body is set to ramp up or decline by control, and the MRD in left side makes car body to down or up by control, so that car body side
Incline.
The beneficial effects of the invention are as follows：Semi-active suspension energy consumption is small, simple in construction, especially magneto-rheological semiactive suspension control
Effect processed is good, and technology is more ripe.The present invention utilizes half active based on a kind of new big damping force magneto-rheological vibration damper (MRD)
Suspension is come the method that carries out automobile active tilting control, and the actuator configurations of use are novel, and cost is low, and energy consumption is small, embodiment
It is simple and easy to apply.Automobile, which implements active tilting control, will significantly improve control stability, passage rate, prevent rollover, keep simultaneously
Preferable ride comfort, can not only improve the performance of bend, can also control the posture of automobile, reduce analysis of wheel vertical load turn
Move, if suspension before or after the pendulum that individually inclines, the Relative vertical load transfer of antero posterior axis can also be changed, so as to implement yaw power
Square is controlled.The scheme proposed can also be used for similar other field.
Brief description of the drawings
Fig. 1 is damping force-speed characteristic curve of rotary magnetic rheological shock absorber.
Fig. 2 is that automobile inclines swing dynamics model, wherein (a) is vehicle lateral dynamic model, (b) is vehicle roll power
Learn model.
Fig. 3 is the control figure for using big damped coefficient to be emulated for 8000Ns/m.
Fig. 4 is the decline control figure for using big damping force to be emulated for 2kN.
Fig. 5 is the decline control figure for using big damping force to be emulated for 3kN.
Fig. 6 is the control figure for using big damped coefficient to be emulated for 4000Ns/m.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
The present invention is using a kind of actuator of rotary magnetic rheological shock absorber as automobile active tilting control, with antero posterior axis
Be independent suspension car exemplified by, 4 shock absorbers of automotive suspension are replaced with this magneto-rheological vibration damper.This shock absorber
Shear mode is operated in, in the presence of externally-applied magnetic field, magnetic flow liquid shows the property of Bingham plastic fluids, i.e., zero
Also very big damping can be obtained under speed, its damp can increase with the increase in magnetic field, and with common magneto-rheological vibration damper
Compare, bigger damping force can be produced in the case where electric current is suitable, in the case of maximum damping force, the magnetorheological of automobile subtracts
The device that shakes is enough to make the relative motion of suspension to stop.This magneto-rheological vibration damper is by ball-screw nut by the vertical vibration of automobile
The rotary motion of leading screw is converted into, the bottom of leading screw is connected with the rotor in magnetic field, magnetic flow liquid, rotor are full of between rotor and stator
Rotary motion cut by magnetic flow liquid, form damping.Magnetic field intensity can be adjusted by changing size of current, so as to control resistance
The size of Buddhist nun's power.Fig. 1 show a kind of external characteristic curve of rotary magnetic rheological shock absorber, it is seen then that apply electric current 3.5A, in phase
During to speed close to 0, its damping force also can reach 3kN.
This rotary magnetic rheological shock absorber carries out active tilting control, and the method for use is independent control left and right vehicle wheel two
The shock absorber on side is lifted car body, so as to realize the tilting cont of vehicle.Automobile in the process of moving, due to ground not
Disconnected excitation, car body always up-down vibration (in normal road, the relative displacement amplitude of suspension is in Centimeter Level).
Car body is lifted by MRD control, its mechanism is：Make use of shock absorbers compression and uphold damping asymmetric makes car
The characteristic that body equilbrium position changes, high damping extension/compression ratio causes car body equilbrium position to decline, conversely, high pressure
Contracting/extension damping ratio causes car body to rise.Its theoretical explanation is：During high damping extension/compression ratio, vehicle is stored in during compression
Potential energy in bearing spring is dissipated when upholding due to higher damping, so as to reduce stretching exercise, makes vehicle spring charge material
The equilbrium position of amount declines；Situation during high compression/extension damping ratio is opposite.It can make damping using novel rotary type MRD
Extension/compression ratio can control the lifting of car body in very big range.Because car body is in lifting process, spring
Still support car body, therefore actually need not very big damping force.
Based on considerations above, the method for automobile active tilting control is：
(1) expectation is established to incline pivot angle θdes.Vehicular turn and inclination model as shown in Figure 2, the side that occupant perceives during stable state
Acceleration incline in 0, following equation can be obtained,
In formula,For side acceleration, V is speed, and θ is the pivot angle that inclines, and h is distance of the spring carried mass barycenter to roll center,To expect yaw velocity, it is equal to yaw velocity during 2DOF turn inside diameter model neutral steer.During due to stable state,θ value is small, therefore above formula is approximatelyTherefore, it is desirable to the pivot angle that inclines is,
(2) to expect to incline pivot angle as control targe, the MRD of left and right vehicle wheel suspension makes car body to turn direction side for actuator
Incline, make actual measurement angle of heel and the expectation pivot angle that inclines equal.The control algolithm of use can be optimum control LQR, PID control, sliding formwork
Control, robust control etc..
(3) mode of actuator MRD work is：The MRD of vehicle left side (or right side) by control make car body ramp up (or
Decline), and the MRD on right side makes car body to (or rising) is declined by control, so that car body is rolled.
(4) MRD elevating control strategy is determined.When vehicle turns left and (turned right similar), left side (right side) suspension is upheld
Big (small) dampings of Shi Caiyong, using small (big) damping during compression, will decline, right side can rise on the left of such car body.Such as Fig. 2
(b) vehicle roll model, by taking right-hand bend as an example, rises right side drop, the switch control function of use is as follows on the left of control car body：
Wherein, c0Minimum damped coefficient during electric current is not added with for MRD；C (I) is damped coefficient when MRD adds electric current, is electricity
The function of stream.
The above is the formula for adjusting MRD damped coefficient sizes, it would however also be possible to employ directly adjust the mode of damping force, it is opened out
Close control function as follows：
Wherein, f (I) is MRD damping force, is the function of electric current；f0Damping force during electric current is not added with for MRD.
Now illustrate the feasibility (this scheme is only one of concrete scheme of proposed tilting cont method) of the method：
The lifting of left/right-body is individually controlled using magneto-rheological vibration damper as actuator, i.e., what is a side body controlled downwards is same
When another side body is controlled upwards, or only to a side body control, so i.e. can reach make car body lateral tilting pendulum purpose.
Here, only proving the feasibility of this lift truck body controlling means.For the sake of simplicity, using 1/4 vehicle suspension mould of general car
Type carries out elevating control emulation.Control strategy is：When the difference of car body and the vertical speed of wheel is that timing (MRD extensions) takes big resistance
Buddhist nun, for it is negative when (MRD compressions) take small damping, the simple switching control of progress.2 kinds of control programs are respectively adopted：(1) regulation damping
The mode of coefficient magnitude, such as formula (1)；(2) mode of damping force is adjusted, such as formula (2).The effect of gravity, road surface are considered in model
For B grades of road surfaces, speed is 20m/s, and emulation starts with small damping (c0=300Ns/m), it is switched to elevating control after 20 seconds.
1st kind of simulation result will be as shown in figure 3, for ease of display car body or so lifting displacement difference, will decline and rise control
Displacement curve be put on a figure show, use big damped coefficient to be emulated for 8000Ns/m, obtained damping force peak value
For 3kN, the difference of left/right-body equilbrium position is 0.05m, and spring carried mass acceleration root-mean-square value is 0.95m/s2, take turns movement of the foetus displacement
Root-mean-square value is 0.00285m, and corresponding passive suspension (damped coefficient is 1100Ns/m) spring carried mass acceleration root-mean-square value
For 0.65m/s2, wheel movement of the foetus displacement root-mean-square value is 0.00225m.2nd kind of simulation result is as shown in Figures 4 and 5, only right in emulation
Car body carries out decline control, and big damping force is 2kN and 3kN respectively, the equilbrium position deviations of 20 seconds aftercarriages be respectively 0.1m and
0.155m.From emulation, logical overdamped control substantially makes car body tilt.The suspension travel of general passenger car is
0.25m, the tiltable maximum angle of car body is 10 °, and the producible maximum side acceleration of gravity is after the spot cars that actively inclines
0.17g, and the side acceleration that normal direction of rotation is produced is 0.3-0.5g.Understand that Fig. 3 tilting cont can make car through primary Calculation
Body tilts 1 ° or so, and side acceleration reduces 10% or so than common outward-dipping vehicle.The tilting cont of Figure 4 and 5 makes car
Body tilts 2.5 ° and 4.5 °, and side acceleration reduces 20% and 35% or so than common outward-dipping vehicle.It can be seen that, even if turning
Only allow body inner side declines when curved and outside is not controlled, car body can also reach to incline pendulum effect well.In addition, the spring charge material of vehicle
It is little that amount acceleration compares change with passive suspension with tyre dynamic load lotus.
This new MRD is actually used, car body stop motion can be made by applying enough damping forces, if upholding (or compression)
When limitation motion, motion is decontroled during compression (or uphold), the purpose for rising or falling car body can be so reached.At the 1st kind
In emulation, if big damped coefficient takes 40000Ns/m (if not reaching this damped coefficient in practice, because this MRD can stop
The motion of car body, it is possible to implement elevating control using switching control, at this moment MRD big damping force serves single-way switch
Effect.), simulation result is as shown in Figure 6, it is seen that the difference increase of the displacement than Fig. 3 is many.
The basic principles, principal features and advantages of the present invention have been shown and described above.One of ordinary skill in the art
It should be appreciated that above-described embodiment protection domain that the invention is not limited in any way, the mode such as all use equivalent substitutions is obtained
The technical scheme obtained, falls within protection scope of the present invention.
Part that the present invention does not relate to is same as the prior art or can be realized using prior art.
Claims (5)
1. a kind of automobile active tilting control method based on big damping force magneto-rheological semiactive suspension, it is characterised in that use back
Each shock absorber of automotive suspension is replaced with described by rotatable magneto-rheological vibration damper as the actuator of automobile active tilting control
Magneto-rheological vibration damper, realize that car body is lifted by the control to magneto-rheological vibration damper, specific control automobile actively inclines pendulum
Method comprises the following steps：
(1) expectation is established to incline pivot angle θdes；According to Vehicular turn and roll model, during stable state occupant perceive roll acceleration in
0, following equation can be obtained,
In formula：For side acceleration, V is speed, and θ is the pivot angle that inclines, and h is distance of the spring carried mass barycenter to roll center,
To expect yaw velocity, it is equal to yaw velocity during 2DOF turn inside diameter model neutral steer；During due to stable state,θ value is small, therefore above formula is approximatelyTherefore, it is desirable to the pivot angle that inclines is,
(2) to expect to incline pivot angle as control targe, the magneto-rheological vibration damper of left and right vehicle wheel suspension makes car body to turning for actuator
Direction is rolled, and makes actual measurement angle of heel and the expectation pivot angle that inclines equal；
(3) MRD elevating control strategy is determined, when vehicle turns left, using big damping when left side suspension is upheld, is adopted during compression
With small damping, meanwhile, small damping is used when right side suspension is upheld, using big damping during compression, such car body left side will decline,
Right side can rise；When vehicle is turned right, using big damping when right side suspension is upheld, small damping is used during compression, meanwhile, left side
Small damping is used when suspension is upheld, using big damping during compression, will be declined on the right side of such car body, left side can rise.
2. a kind of automobile active tilting control side based on big damping force magneto-rheological semiactive suspension according to claim 1
Method, it is characterised in that in the step (3), control car body inclines pendulum, the switch control function that extension side suspension MRD is used for：
The switch control function that compressed side suspension MRD is used for：
Wherein, c0Minimum damped coefficient during electric current is not added with for MRD；C (I) is damped coefficient when MRD adds electric current, is electric current
Function.
3. a kind of automobile active tilting control side based on big damping force magneto-rheological semiactive suspension according to claim 1
Method, it is characterised in that in the step (3), control car body inclines pendulum, the switch control function that extension side suspension MRD is used for：
The switch control function that compressed side suspension MRD is used for：
Wherein, f (I) is MRD damping forces, is the function of electric current；f0Damping force during electric current is not added with for MRD.
4. a kind of automobile active tilting control side based on big damping force magneto-rheological semiactive suspension according to claim 1
Method, it is characterised in that the control algolithm used in the step (2) is LQR, PID control, sliding formwork control, one in robust control
Kind.
5. a kind of automobile active tilting control side based on big damping force magneto-rheological semiactive suspension according to claim 1
Method, it is characterised in that the mode of actuator MRD work is：The MRD of vehicle left side by control make car body ramp up or under
Drop, and the MRD on right side makes car body to down or up by control, so that car body is rolled, or the MRD of vehicle right side passes through
Control makes car body ramp up or decline, and the MRD in left side makes car body to down or up by control, so that car body is rolled.
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Cited By (7)
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|---|---|---|---|---|
| CN109203900A (en) * | 2018-10-31 | 2019-01-15 | 清华大学 | Automobile electrically-controlled semi-active suspension system and its control method based on magnetic converting technique |
| CN111338208A (en) * | 2020-03-02 | 2020-06-26 | 南京林业大学 | Vehicle side-tipping and smoothness coordination control method |
| CN112590771A (en) * | 2021-03-02 | 2021-04-02 | 上海拿森汽车电子有限公司 | Vehicle stability control method and system |
| CN112689569A (en) * | 2020-09-23 | 2021-04-20 | 华为技术有限公司 | Suspension control method, suspension control device and vehicle |
| CN113120101A (en) * | 2019-12-30 | 2021-07-16 | 观致汽车有限公司 | Control method of anti-rolling system, activation method of anti-rolling system and vehicle |
| CN113255062A (en) * | 2021-06-11 | 2021-08-13 | 南京林业大学 | Vehicle height solving method for controlling vehicle body lifting based on vibration utilization |
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| CN111338208B (en) * | 2020-03-02 | 2022-05-20 | 南京林业大学 | Vehicle side-tipping and smoothness coordination control method |
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| CN112590771A (en) * | 2021-03-02 | 2021-04-02 | 上海拿森汽车电子有限公司 | Vehicle stability control method and system |
| CN112590771B (en) * | 2021-03-02 | 2021-05-28 | 上海拿森汽车电子有限公司 | Vehicle stability control method and system |
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| CN113255062B (en) * | 2021-06-11 | 2023-09-19 | 南京林业大学 | Vehicle height solving method for controlling lifting of vehicle body based on vibration utilization |
| CN113917936A (en) * | 2021-09-27 | 2022-01-11 | 天津内燃机研究所（天津摩托车技术中心） | Vehicle inertia detection device and vehicle sway adjustment method |
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