CN107559372B - Bypass type energy-regenerative vehicle semi-active suspension actuator and control method thereof - Google Patents
Bypass type energy-regenerative vehicle semi-active suspension actuator and control method thereof Download PDFInfo
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- CN107559372B CN107559372B CN201710900074.4A CN201710900074A CN107559372B CN 107559372 B CN107559372 B CN 107559372B CN 201710900074 A CN201710900074 A CN 201710900074A CN 107559372 B CN107559372 B CN 107559372B
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Abstract
The invention discloses a bypass energy feedback type semi-active suspension actuator for a vehicle, which comprises a piston cylinder body, a main piston, an auxiliary piston cylinder, a cavity separating plate, an inner cavity lower end cover, an upper piston rod, a lower piston rod, an actuator controller and a super capacitor group, wherein a bypass adjusting pipe is provided with a magnetic conduction iron core and an excitation coil, and the actuator controller is connected with a road surface unevenness displacement sensor, an unsprung mass displacement sensor, a sprung mass displacement sensor, a piston rod speed sensor and a current regulator. The invention also discloses a control method of the bypass type energy feedback type vehicle semi-active suspension actuator, which comprises the following steps: 1. collecting data; 2. acquiring ideal semi-active control force of a semi-active suspension actuator; 3. calculating the yield strength of the magnetorheological fluid; 4. and acquiring the current of the excitation coil to realize the semi-active control of the actuator controller. The semi-active suspension actuator can change the damping force output by the semi-active suspension actuator in real time to enable the semi-active suspension actuator to be in an optimal state.
Description
Technical Field
The invention belongs to the technical field of control of a vehicle semi-active suspension actuator, and particularly relates to a bypass type energy feedback type vehicle semi-active suspension actuator and a control method thereof.
Background
The magneto-rheological fluid is an intelligent material which can be changed into viscous fluid by well flowing liquid in a short time under the action of an external magnetic field, the yield strength of the magneto-rheological fluid is increased along with the increase of the magnetic field intensity, so the magneto-rheological damper manufactured by applying the characteristic of the magneto-rheological fluid has the advantages of large variation range, easiness in control and the like under the action of the external magnetic field. The vehicle runs and inevitably meets various jolts, so that the vehicle suspension actuator vibrates, a bypass type energy regenerative vehicle semi-active suspension actuator and a control method thereof are lacked, energy is recovered by utilizing the vibration of the vehicle suspension actuator, magnetorheological fluid is arranged in the vehicle semi-active suspension actuator, required damping force is output in real time according to parameters of the vehicle semi-active suspension actuator and a vehicle body, the aim of controlling the damping force of the semi-active suspension actuator is achieved by adjusting and controlling the current introduced into an excitation coil in real time, and the vehicle is in an optimal state during vibration reduction.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a bypass type energy feedback type vehicle semi-active suspension actuator aiming at the defects in the prior art, the energy recovery of a linear electromagnetic energy feedback device is adopted by utilizing the up-and-down motion of an upper piston rod, the energy recovery is carried out by utilizing the up-and-down motion of a lower piston rod to drive a transmission pair and a rotary electromagnetic energy feedback device to move relatively, ideal semi-active control force can be output in real time according to the parameters of the vehicle semi-active suspension actuator and a vehicle body, and the damping force output by the semi-active suspension actuator is adjusted by controlling the current of an excitation coil to be in an optimal state, so that the semi-active suspension actuator is convenient to popularize and use.
In order to solve the technical problems, the invention adopts the technical scheme that: a bypass type energy feedback type semi-active suspension actuator of a vehicle is characterized in that: the linear electromagnetic energy feeder comprises a rotor and a coil iron core, wherein the coil iron core is positioned outside the rotor and fixed on the upper end cover of the piston cylinder body, the rotor comprises a first magnetic yoke fixed on the outer side of the upper piston rod and a first permanent magnet fixed on the outer side of the first magnetic yoke, a first coil winding is wound on the coil iron core, a rotor through hole for the rotor to stretch is formed in the position, close to the upper piston rod, of the upper end cover of the piston cylinder body, and the top end of the upper piston rod is connected with an upper lifting lug;
one end of a lower piston rod is connected with the bottom of the auxiliary piston cylinder, the other end of the lower piston rod penetrates out of the inner cavity and extends into the outer cavity, the other end of the lower piston rod is communicated with a transmission pair, racks are arranged on the two side walls of the transmission pair, a gear is arranged in the transmission pair and is a gear with a half-circle straight tooth, the gear with the half-circle straight tooth is meshed with the rack on the single side wall of the transmission pair, the lower piston rod and a lower end cover of the inner cavity are sealed by a sealing ring, and a lower lifting lug is connected to the lower end cover of the outer cavity of the piston cylinder body;
a cavity separating plate is arranged in the inner cavity and positioned at the lower sides of the main piston and the auxiliary piston cylinder, a piston cylinder upper cavity is formed in a space between the upper sides of the main piston and the auxiliary piston cylinder and an upper end cover of the piston cylinder body, a piston cylinder lower cavity is formed in a space between the lower sides of the main piston and the auxiliary piston cylinder and a space between the cavity separating plate and a lower end cover of the inner cavity, a compensation cavity is formed in a space between the cavity separating plate and the lower end cover of the inner cavity, a rebound valve for magnetorheological fluid to flow from the compensation cavity to the piston cylinder lower cavity and a compression valve for magnetorheological fluid to flow from the piston cylinder lower cavity to the compensation cavity are arranged on the cavity separating plate, the piston cylinder upper cavity and the compensation cavity are communicated through a first bypass adjusting pipe and a second bypass adjusting pipe which are symmetrically arranged, magnetic conductive iron cores are sleeved on the first bypass adjusting pipe and the second bypass adjusting pipe, and excitation coils are wound in the magnetic conductive iron cores;
the linear electromagnetic energy feedback device is used for charging the super capacitor group through the rectifying circuit and the DC/DC converter, the input end of the actuator controller is connected with a road surface unevenness displacement sensor for detecting the road surface unevenness displacement in real time, an unsprung mass displacement sensor for detecting the unsprung mass displacement in real time, a sprung mass displacement sensor for detecting the sprung mass displacement in real time and a piston rod speed sensor for detecting the speed of an upper piston rod or a lower piston rod in real time, and the output end of the actuator controller is connected with a current regulator for regulating the input current of the excitation coil.
The bypass type energy feedback type semi-active suspension actuator for the vehicle is characterized in that: the rotating electromagnetic energy feedback device comprises a rotating electromagnetic energy feedback device shell, a second coil winding mounting plate which is fixed on the inner wall of the rotating electromagnetic energy feedback device shell and is of a hollow structure, a first magnet yoke steel plate and a second magnet yoke steel plate which are coaxially arranged in the rotating electromagnetic energy feedback device shell, second permanent magnets are arranged on the inner sides of the first magnet yoke steel plate and the second magnet yoke steel plate, a connecting shaft of the first magnet yoke steel plate and the second magnet yoke steel plate penetrates out of the rotating electromagnetic energy feedback device shell to be connected with a central shaft of a gear in a transmission mode, the second coil winding mounting plate is located between the first magnet yoke steel plate and the second magnet yoke steel plate and penetrates through the connecting shaft, the second coil winding mounting plate is a circular plate, and a plurality of second coil windings are uniformly arranged on the second coil winding mounting plate in the circumferential direction.
The bypass type energy feedback type semi-active suspension actuator for the vehicle is characterized in that: the upper lifting lug is in threaded connection with the top end of the upper piston rod, and the lower lifting lug is welded on the lower end cover of the outer cavity of the piston cylinder body.
Foretell bypass formula is presented can type vehicle semi-active suspension actuator which characterized in that: the central axis of the upper piston rod and the central axis of the lower piston rod are positioned on the same straight line, the upper piston rod, the auxiliary piston cylinder and the lower piston rod are sequentially provided with mutually communicated threading holes, the threading holes in the upper piston rod, the threading holes in the auxiliary piston cylinder and the threading holes in the lower piston rod form a connecting line channel, and a current connecting line output by the linear electromagnetic energy feedback device is connected with the rectifying circuit through the connecting line channel.
The bypass type energy feedback type semi-active suspension actuator for the vehicle is characterized in that: the cross sections of the first bypass adjusting pipe and the second bypass adjusting pipe are circular, and the pipe diameters of the first bypass adjusting pipe and the second bypass adjusting pipe are equal.
The invention also provides a control method of the bypass energy feedback type vehicle semi-active suspension actuator, which utilizes the vibration of the vehicle suspension actuator to recover energy, arranges magnetorheological fluid in the vehicle semi-active suspension actuator, outputs the required damping force in real time according to the parameters of the vehicle semi-active suspension actuator and a vehicle body, achieves the aim of controlling the damping force of the semi-active suspension actuator by adjusting and controlling the current led into an exciting coil in real time and ensures that the vehicle is in the best state during vibration reduction, and is characterized by comprising the following steps:
step one, data acquisition: the system comprises a road surface unevenness displacement sensor, a sprung mass displacement sensor, a piston rod speed sensor, an actuator controller, a sensor control module and a controller, wherein the road surface unevenness displacement sensor is used for detecting road surface unevenness displacement in real time, the unsprung mass displacement sensor is used for detecting unsprung mass displacement in real time, the sprung mass displacement sensor is used for detecting sprung mass displacement in real time, the piston rod speed sensor is used for detecting the speed of an upper piston rod or a lower piston rod in real time, and the actuator controller is used for periodically sampling the road surface unevenness displacement, the unsprung mass displacement, the sprung mass displacement and the speed of the upper piston rod or the lower piston rod;
step two, obtaining ideal semi-active control force U of semi-active suspension actuator i : the actuator controller calls an LQG optimal control module to analyze and process the sampled signal to obtain ideal semi-active control force U of the semi-active suspension actuator during the ith sampling i I is a positive integer greater than 1;
step three, according to a Bingham model formula
Calculating the yield strength tau of the magnetorheological fluid y Wherein eta is the zero field viscosity of the magnetorheological fluid, l is the length of the magnet exciting coil arranged along the length direction of the second bypass adjusting pipe, D is the inner diameter of the piston cylinder body, D is the diameter of the upper piston rod or the lower piston rod, h is the inner diameter of the first bypass adjusting pipe or the second bypass adjusting pipe, and V' is the flow velocity of the magnetorheological fluid in the first bypass adjusting pipe and the second bypass adjusting pipe
V is the movement speed of the upper piston rod or the lower piston rod acquired by the piston rod speed sensor, A is the cross-sectional area of the main piston p The cross sections of the first bypass adjusting pipe and the second bypass adjusting pipe are both circular rings, and the pipe diameters of the first bypass adjusting pipe and the second bypass adjusting pipe are equal;
setting the downward flowing direction of the magnetorheological fluid in the first bypass adjusting pipe and the second bypass adjusting pipe as positive, wherein the upper piston rod moves upwards, and the specific working process of the semi-active suspension actuator is as follows: when a vehicle runs on an uneven road surface, the vehicle body vibrates to drive the upper lifting lug and the lower lifting lug to move relatively, the upper lifting lug drives the upper piston rod to move, the upper piston rod drives the auxiliary piston cylinder and the main piston to move, and further drives the lower piston rod to move together, the volume of magnetorheological fluid in the upper cavity and the lower cavity of the piston cylinder body changes at the moment, when the upper piston rod moves upwards, sgn (V') is positive, the volume of the upper cavity of the piston cylinder is reduced, the pressure of the magnetorheological fluid in the upper cavity of the piston cylinder is increased, the magnetorheological fluid in the upper cavity of the piston cylinder flows into the compensation cavity through the first bypass adjusting pipe and the second bypass adjusting pipe at the moment, the compression valve is closed, the recovery valve is opened, the magnetorheological fluid flows into the lower cavity of the piston cylinder through the recovery valve, and the upper piston rod drives the first magnetic yoke and the first permanent magnet to move upwards, the first magnetic yoke and the first permanent magnet generate relative motion with the coil iron core and the first coil winding, so that the power generation work of the linear electromagnetic energy feeder is also realized, meanwhile, the lower piston rod moves upwards to drive the transmission pair to move upwards, so that the rack meshed with the gear in the transmission pair drives the gear to rotate, the gear drives the second magnetic yoke and the second permanent magnet to rotate, so that the gear and the second coil winding form relative motion, so that the power generation work of the rotary electromagnetic energy feeder is also realized, the first coil winding and the second coil winding convert the generated electric energy into direct current through the rectifying circuit, and then the alternating current and the direct current are converted by the DC/DC converter to charge the super capacitor group, so that the continuous recovery of vibration energy is realized;
when the upper piston rod moves downwards, sgn (V') is negative, the volume of a lower cavity of the piston cylinder is reduced, the pressure of magnetorheological fluid in the lower cavity of the piston cylinder is increased, the recovery valve is closed, the compression valve is opened, the magnetorheological fluid flows into the compensation cavity through the compression valve, and then flows into an upper cavity of the piston cylinder through the first bypass adjusting pipe and the second bypass adjusting pipe, the upper piston rod drives the first magnetic yoke and the first permanent magnet to move downwards, so that the first magnetic yoke and the first permanent magnet generate relative motion with the coil iron core and the first coil winding, and the power generation work of the linear electromagnetic energy feeder is realized;
step four, according to the formula
Calculating the current I of the excitation coil, providing the current I to the excitation coil, and realizing semi-active control of the actuator controller, wherein N is the number of turns of the excitation coil, R is the magnetic resistance of the excitation coil, phi is the magnetic flux of the excitation coil, and phi = H mu 0 A p H is the magnetic field strength and H 2 ∝τ y ，μ 0 Is the relative permeability of the magnetically permeable core.
Compared with the prior art, the invention has the following advantages:
1. the invention adopts a bypass type energy feedback type semi-active suspension actuator for a vehicle, a main piston is arranged into a hollow structure, a first permanent magnet in a linear electromagnetic energy feedback device is fixed at the top inside a piston cylinder body, the main piston moves up and down along the outer side of the first permanent magnet along with the up-and-down movement of an upper piston rod, a first coil winding is wound on the first permanent magnet, a first magnet yoke and a first permanent magnet are fixed on the upper piston rod, the first magnet yoke and the first permanent magnet are driven to move together when the upper piston rod moves up and down, at the moment, the first magnet yoke and a first coil winding on the first permanent magnet generate relative movement, and alternating current is generated on the first coil winding.
2. The bypass type energy feedback type semi-active suspension actuator for the vehicle is characterized in that a transmission pair is arranged at one end, extending out of an inner cavity, of a lower piston rod, a rack is arranged on the side wall of the transmission pair, a rotary electromagnetic energy feedback device is connected with a gear and meshed with the rack, a second coil winding on a second permanent magnet on the rotary electromagnetic energy feedback device moves relatively, alternating current is generated on the second coil winding, and the alternating current is rectified into direct current through a rectifying circuit and then passes through a DC/DC converter, and energy recovery is achieved through a super capacitor set, so that the actuator is reliable and stable, and good in using effect.
3. The first bypass adjusting pipe and the first bypass adjusting pipe are arranged to be communicated with the upper piston cylinder cavity and the compensation cavity, magnetorheological fluid circulates in the upper piston cylinder cavity, the lower piston cylinder cavity and the compensation cavity, the current of the magnet exciting coil is adjusted through the actuator controller, and therefore the damping force of the vehicle semi-active suspension actuator is changed and is in the best state.
4. The control method of the bypass energy feedback type vehicle semi-active suspension actuator is simple in steps, and the actuator controller is adopted to obtain the ideal semi-active control force of the semi-active suspension actuator according to the vehicle semi-active suspension actuator and the parameters of a vehicle body, so that the yield strength of magnetorheological fluid is obtained, the current input to the magnet exciting coil is obtained, the semi-active control of the actuator controller is realized, and the method is convenient to popularize and use.
In conclusion, the energy recovery device is novel and reasonable in design, the upper piston rod moves up and down to recover energy by adopting the linear electromagnetic energy feedback device, the lower piston rod moves up and down to drive the transmission pair and the rotary electromagnetic energy feedback device to move relatively to recover energy, ideal semi-active control force can be output in real time according to parameters of the semi-active suspension actuator of the vehicle and the vehicle body, and the damping force output by the semi-active suspension actuator is adjusted by controlling the current of the excitation coil to be in an optimal state, so that the energy recovery device is convenient to popularize and use.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic structural diagram of a semi-active suspension actuator of a bypass type energy feedback vehicle according to the present invention.
Fig. 2 is a schematic structural diagram of a linear electromagnetic energy feeder according to the present invention.
Fig. 3 is a schematic view of the connection relationship between the gear and the rotary electromagnetic energy feeder of the present invention.
FIG. 4 is a schematic diagram of the circuit connection relationship among the linear electromagnetic energy feeder, the rotary electromagnetic energy feeder, the rectification circuit, the DC/DC converter and the super capacitor bank according to the present invention.
FIG. 5 is a schematic diagram of the electrical connections of the sensor, actuator controller, current regulator and field coil of the present invention.
Fig. 6 is a flow chart of the control method of the present invention.
Description of the reference numerals:
1, lifting a lug; 2-upper piston rod; 3-linear electromagnetic energy feedback device;
3-1-coil core; 3-2 — a first coil winding; 3-3 — a first permanent magnet;
3-4 — a first magnetic yoke; 4-magnetorheological fluid; 5-1-a first bypass regulator tube;
5-2-a second bypass regulating pipe; 6-outer cavity lower end cover; 7-a field coil;
8-magnetic conductive iron core; 9-a piston cylinder; 10-mover through holes;
11 — a primary piston; 12-an auxiliary piston cylinder; 13-a cavity-separating plate;
14-a reset valve; 15-a compression valve; 16-piston cylinder bottom plate;
17-a sealing ring; 18-lower piston rod; 19-a transmission pair;
20-a rack; 21-a gear; 22-actuator controller;
23-a supercapacitor bank; 24-lower lifting lug; 25-rotating electromagnetic energy feeder;
25-1-rotating electromagnetic energy feeder housing; 25-2-yoke steel plate I;
25-3-a second yoke steel plate; 25-4-a second permanent magnet;
25-5-a second coil winding mounting plate; 25-6-second coil winding;
26-displacement sensor of road surface unevenness; 27-unsprung mass displacement transducer;
28-sprung mass displacement sensor; 29-piston rod speed sensor;
30, a rectification circuit; 31-a DC/DC converter;
32-current regulator.
Detailed Description
As shown in fig. 1 to 5, the bypass energy feedback type semi-active suspension actuator for a vehicle according to the present invention includes a piston cylinder 9 and an inner cavity lower end cap 16 disposed in the piston cylinder 9 and dividing the piston cylinder 9 into an inner cavity and an outer cavity, wherein a main piston 11 of a hollow structure and an auxiliary piston cylinder 12 disposed at the bottom of the main piston 11 are disposed in the inner cavity, the main piston 11 is used for sealing the main piston 11, an upper piston rod 2 sequentially passes through an upper end cap of the piston cylinder 9 and the main piston 11 to be connected to the auxiliary piston cylinder 12, a linear electromagnetic energy feedback device 3 is disposed in a space outside the upper piston rod 2 and inside the hollow structure of the main piston 11, the linear electromagnetic energy feedback device 3 includes a rotor and a coil core 3-1 disposed outside the rotor and fixed to the upper end cap of the piston cylinder 9, the rotor includes a first magnetic yoke 3-4 fixed to the outer side of the upper piston rod 2 and a first permanent magnet 3-3 fixed to the outer side of the first magnetic yoke 3-4, a first coil core 3-2 is wound around the coil winding 3-1, a through hole 10 for the rotor to extend and connect to a lifting lug of the piston rod 2;
one end of a lower piston rod 18 is connected with the bottom of the auxiliary piston cylinder 12, the other end of the lower piston rod 18 penetrates through the inner cavity and extends into the outer cavity, the other end of the lower piston rod 18 is communicated with a transmission pair 19, racks 20 are arranged on the two side walls of the transmission pair 19, a gear 21 is arranged in the transmission pair 19, the gear 21 is a gear with half circle of straight teeth, the gear with half circle of straight teeth is meshed with the rack 20 on the single side wall of the transmission pair 19, the lower piston rod 18 and the lower end cover 16 of the inner cavity are sealed by a sealing ring 17, and a lower lifting lug 24 is connected on the lower end cover 6 of the outer cavity of the piston cylinder 9;
a cavity separation plate 13 is arranged in the inner cavity and positioned at the lower side of the main piston 11 and the auxiliary piston cylinder 12, a piston cylinder upper cavity is formed by the space between the upper sides of the main piston 11 and the auxiliary piston cylinder 12 and the upper end cover of the piston cylinder body 9, a piston cylinder lower cavity is formed by the space between the lower sides of the main piston 11 and the auxiliary piston cylinder 12 and the cavity separation plate 13, a compensation cavity is formed by the space between the cavity separation plate 13 and the inner cavity lower end cover 16, a rebound valve 14 for allowing magnetorheological fluid 4 to flow from the compensation cavity to the piston cylinder lower cavity and a compression valve 15 for allowing the magnetorheological fluid 4 to flow from the piston cylinder lower cavity to the compensation cavity are arranged on the cavity separation plate 13, the piston cylinder upper cavity and the compensation cavity are communicated through a first bypass adjusting pipe 5-1 and a second bypass adjusting pipe 5-2 which are symmetrically arranged, magnetic cores 8 are sleeved on the first bypass adjusting pipe 5-1 and the second bypass adjusting pipe 5-2, and magnet exciting coils 7 are wound in the magnetic cores 8;
an actuator controller 22 and a super capacitor bank 23 are arranged in the outer cavity, the linear electromagnetic energy feedback device 3 charges the super capacitor bank 23 through a rectifying circuit 30 and a DC/DC converter 31, the input end of the actuator controller 22 is connected with a road surface irregularity displacement sensor 26 for detecting road surface irregularity displacement in real time, an unsprung mass displacement sensor 27 for detecting unsprung mass displacement in real time, a sprung mass displacement sensor 28 for detecting sprung mass displacement in real time and a piston rod speed sensor 29 for detecting the speed of the upper piston rod 2 or the lower piston rod 18 in real time, and the output end of the actuator controller 22 is connected with a current regulator 32 for regulating the input current of the excitation coil 7.
It should be noted that the piston cylinder 9 is divided into an inner cavity and an outer cavity by the inner cavity lower end cover 16, so that the piston moves up and down in the inner cavity, the outer cavity can be used for the lower piston rod 18 to stretch and retract, and provide a space for the lower piston rod 18 to move, because the upper piston rod 2 and the lower piston rod 18 synchronously move simultaneously when the piston moves, the upper piston rod 2 and the lower piston rod 18 can be used for recovering energy by the up-and-down movement, the moving space of the upper piston rod 2 is limited, the main piston 11 in the inner cavity is set to be a hollow structure so as to save space, so that the linear electromagnetic energy feedback device 3 is convenient to be installed so as to recover electric energy by the movement of the upper piston rod 2, the auxiliary piston cylinder 12 is arranged at the bottom of the main piston 11, firstly, the main piston 11 is sealed so as to prevent the upper piston cylinder and the lower piston cylinder from being communicated, secondly, the moving space is reserved for the main piston 11, if the inner cylinder 12 is too deep and too low, the auxiliary piston cylinder is easily abutted against the coil core 3-1, and prevents the main piston 11 from moving upwards; the upper piston rod 2 sequentially penetrates through the upper end cover of the piston cylinder 9 and the main piston 11 to be connected with the auxiliary piston cylinder 12 so as to push the auxiliary piston cylinder 12 and meanwhile the auxiliary piston cylinder 12 drives the main piston 11 to move, the coil iron core 3-1 in the linear electromagnetic energy feeder 3 is fixed on the upper end cover of the piston cylinder 9 and does not move so as to be in stroke fit with the first magnetic yoke 3-4 and the first permanent magnet 3-3 which are arranged on the outer side of the upper piston rod 2, the upper piston rod 2 moves up and down so that the first magnetic yoke 3-4 and the first permanent magnet 3-3 move up and down and do relative movement with the coil iron core 3-1 wound with the first coil winding group 3-2 so as to generate electric energy, and a rotor through hole 10 for the first permanent magnet 3-3 to stretch is formed in the position, close to the upper piston rod 2, on the upper end cover of the piston cylinder 9, so that the first permanent magnet 3-3 is prevented from being clamped by the upper end cover of the piston cylinder 9 when the upper piston rod 2 extends out of the piston cylinder 9;
one end of the lower piston rod 18 is connected with the bottom of the auxiliary piston cylinder 12, and the other end of the lower piston rod 18 is communicated with the transmission pair 19, so that the purpose that the lower piston rod 18 is driven by the movement of the auxiliary piston cylinder 12, the transmission pair 19 is further driven to move, and the gear 21 is further driven to rotate, so that the second coil winding 25-3 on the second permanent magnet 25-2 on the rotary electromagnetic energy feeder 25 moves relatively, alternating current is generated on the second coil winding 25-3, the reliability and stability are realized, racks 20 are arranged on the two side walls of the transmission pair 19, the gear 21 is arranged in the transmission pair 19, the gear 21 is a gear with a half circle of straight teeth, the gear with the half circle of straight teeth is meshed with the rack 20 on the single side wall of the transmission pair 19, so that the gear 21 can realize unidirectional rotation when the movement stroke of the rack 20 is large, the gear 21 drives the magnetic yoke steel plate of the rotary electromagnetic energy feeder 25 and the second permanent magnet 25-4 to form unidirectional rotation, thereby improving the power generation, and also weakening the heating problem of the rotary electromagnetic energy feeder 25 and adapting to the bumping of road conditions;
the purpose of arranging a cavity separating plate 13 at the lower sides of the main piston 11 and the auxiliary piston cylinder 12 in the inner cavity is to divide the lower cavity of the piston cylinder into a piston cylinder upper cavity and a piston cylinder lower cavity on the basis that the piston cylinder body 9 is divided into the piston cylinder upper cavity and the piston cylinder lower cavity by the main piston 11 and the auxiliary piston cylinder 12, and further adjust the damping force of the movement of the main piston 11 and the auxiliary piston cylinder 12 by dividing a compensation cavity, wherein a recovery valve 14 and a compression valve 15 are arranged on the cavity separating plate 13 for identifying the flowing direction of the magnetorheological fluid 4, and the recovery valve 14 and the compression valve 15 are not opened simultaneously; the upper cavity of the piston cylinder is communicated with the compensation cavity through a first bypass adjusting pipe 5-1 and a second bypass adjusting pipe 5-2 which are symmetrically arranged so as to balance the flowing speed and the flowing direction of magnetorheological fluid 4, a magnetic conductive iron core 8 is sleeved on the first bypass adjusting pipe 5-1 and the second bypass adjusting pipe 5-2, and an excitation coil 7 is wound in the magnetic conductive iron core 8, so that the damping force of the semi-active suspension actuator of the vehicle is controlled by inputting different current values, and in actual use, the preferable magnetic conductive iron core 8 is made of pure iron;
the outer cavity can be used for stretching the lower piston rod 18 to provide space for movement of the lower piston rod 18, meanwhile, the space except for stretching of the lower piston rod 18 in the outer cavity can be further utilized, the actuator controller 22 and the super capacitor bank 23 are arranged in the outer cavity, the space of a semi-active suspension actuator of a vehicle is saved, the input end of the actuator controller 22 is connected with the road surface unevenness displacement sensor 26, the unsprung mass displacement sensor 27, the sprung mass displacement sensor 28 and the piston rod speed sensor 29 to obtain vehicle parameters, and the ideal semi-active control force of the semi-active suspension actuator is convenient to calculate in the later period, the output end of the actuator controller 22 is connected with the current regulator 32 used for regulating the input current of the magnet exciting coil 7, in actual use, the current regulator 32 can be connected with a vehicle power supply and also can be connected with the super capacitor bank 23, when the electric energy output by the super capacitor bank 23 is utilized, the energy output of the vehicle power supply is saved, the service life of the vehicle power supply is prolonged, and the self-powered mode is realized.
In this embodiment, the rotating electromagnetic energy feeder 25 is further included, the rotating electromagnetic energy feeder 25 charges the super capacitor bank 23 through the rectifying circuit 30 and the DC/DC converter 31, the rotating electromagnetic energy feeder 25 includes a rotating electromagnetic energy feeder housing 25-1, a second coil winding mounting plate 25-5 fixed on an inner wall of the rotating electromagnetic energy feeder housing 25-1 and having a hollow structure, and a first yoke steel plate 25-2 and a second yoke steel plate 25-3 coaxially disposed in the rotating electromagnetic energy feeder housing 25-1, second permanent magnets 25-4 are disposed on inner sides of the first yoke steel plate 25-2 and the second yoke steel plate 25-3, a connecting shaft of the first yoke steel plate 25-2 and the second yoke steel plate 25-3 penetrates through the rotating electromagnetic energy feeder housing 25-1 to be in transmission connection with a central shaft of the gear 21, the second coil winding mounting plate 25-5 is located between the first yoke steel plate 25-2 and the second yoke steel plate 25-3 and penetrates through the connecting shaft, the second coil winding mounting plate 25-5 is a circular plate, and a plurality of coils 25-6 are uniformly disposed on the second coil winding mounting plate 25-5 along a circumferential direction.
In this embodiment, the upper lifting lug 1 is in threaded connection with the top end of the upper piston rod 2, and the lower lifting lug 24 is welded on the lower end cover 6 of the outer cavity of the piston cylinder 9.
In this embodiment, the central axis of the upper piston rod 2 and the central axis of the lower piston rod 18 are located on the same straight line, the mutually-communicated threading holes are sequentially formed in the upper piston rod 2, the auxiliary piston cylinder 12 and the lower piston rod 18, the threading holes in the upper piston rod 2, the threading holes in the auxiliary piston cylinder 12 and the threading holes in the lower piston rod 18 form a connecting line channel, and a current connecting line output by the linear electromagnetic energy feeder 3 is connected with the rectifying circuit 30 through the connecting line channel.
It should be noted that the upper piston rod 2, the auxiliary piston cylinder 12 and the lower piston rod 18 are sequentially provided with mutually communicated threading holes for facilitating leading out of electric energy of the linear electromagnetic energy feeder 3 and the rotary electromagnetic energy feeder 25, and the threading holes are formed at the connecting positions of the auxiliary piston cylinder 12, the upper piston rod 2 and the lower piston rod 18 for facilitating the penetration of the connecting line of the first coil winding 3-2 and utilizing the limited space in the piston cylinder 9.
In this embodiment, the cross sections of the first bypass adjusting pipe 5-1 and the second bypass adjusting pipe 5-2 are both circular rings, and the pipe diameters of the first bypass adjusting pipe 5-1 and the second bypass adjusting pipe 5-2 are both equal.
A method of controlling a semi-active suspension actuator of a bypass-type energy regenerative vehicle as shown in fig. 6, comprising the steps of:
step one, data acquisition: the road surface unevenness displacement sensor 26 detects the road surface unevenness displacement in real time, the unsprung mass displacement sensor 27 detects the unsprung mass displacement in real time, the sprung mass displacement sensor 28 detects the sprung mass displacement in real time, the piston rod speed sensor 29 detects the speed of the upper piston rod 2 or the lower piston rod 18 in real time, and the actuator controller 22 periodically samples the road surface unevenness displacement, the unsprung mass displacement, the sprung mass displacement and the speed of the upper piston rod 2 or the lower piston rod 18 respectively;
step two, obtaining ideal semi-active control force U of the semi-active suspension actuator i : the actuator controller 22 calls an LQG optimal control module to analyze and process the sampled signal to obtain an ideal semi-active control force U of the semi-active suspension actuator during the ith sampling i I is a positive integer greater than 1;
in the second step, the actuator controller 22 calls the LQG optimal control module to analyze and process the sampled signal to obtain the ideal semi-active control force U of the suspension actuator i The specific process comprises the following steps:
step 201, the actuator controller 22 carries out the following steps according to the vehicle single-wheel spring load mass m s Vehicle single-wheel unsprung mass m u Suspension spring stiffness k s Tire rigidity k t Inherent damping coefficient c of vehicle suspension system s Ideal semi-active control force U of the semi-active suspension actuator at the ith sampling i Unsprung mass displacement x 1 And sprung mass displacement x 2 (ii) a The method is based on the principle that the displacement z of the road surface unevenness is used as input excitation and Newton's law of motion is utilized to establish
The differential equation of the vehicle running vibration is:
step 202, the actuator controller 22 establishes a vehicle vibration state equation as:
step 203, the actuator controller 22 selects the vehicle body vibration speed
Wheel vibration speed
Dynamic deflection (x) of suspension 2 -x 1 ) Dynamic deformation of tire (x) 1 -z) is a state variable, resulting in
Then, the specific forms of the system matrix A, the control matrix B and the disturbance input matrix G are obtained:
step 204, the actuator controller 22 selects the vertical acceleration of the vehicle body
Dynamic deflection (x) of suspension 2 -x 1 ) Dynamic deformation of tire (x) 1 -z) as an output variable, obtaining
The output matrix C and the transfer matrix D are then of the form:
in step 205, the actuator controller 22 outputs the equation Y = CX + DU i Substituting into formula
In the method, the quadratic performance index is obtained as follows:
and has:
Q＝C T qC,N＝C T qD,R＝r+D T qD; wherein t is time, q 1 Is a vehicle body acceleration weighting coefficient; q. q.s 2 Weighting coefficient of suspension dynamic deflection; q. q.s 3 Weighting coefficients of dynamic deformation of the tire; r is an energy consumption weighting coefficient; q is a semi-positive definite symmetric weighting matrix of the state variable; n is a weighting matrix of the relevance of the two variables; r is a positive definite symmetric weighting matrix of a control variable; the selection of each weighting factor in the optimally controlled performance index is preferably as follows in this embodiment: q. q.s 1 ＝1.2×10 5 ,q 2 ＝1.65×10 8 ,q 3 ＝9.5×10 9 ,r＝1；
Step 206, the actuator controller 22 uses the LQR function provided in Matlab to obtain the optimal control feedback gain matrix K at the time of the ith sampling according to the system matrix a and the control matrix B determined in step 203 and the weighting matrices Q, N, and R determined in step 205 i ；
Step 207, the actuator controller 22 calculates the formula
Calculating to obtain the suspension dynamic deflection (x) during the ith sampling 2 -x 1 ) i According to the formula
Calculating to obtain the sprung mass velocity at the ith sampling
According to the formula
Calculating to obtain the tire dynamic displacement (x) at the ith sampling 1 -z) i According to the formula
Calculating the unsprung mass velocity at the ith sampling
Wherein the content of the first and second substances,
for the sprung mass displacement obtained for the ith sample,
the sprung mass displacement obtained for the i-1 st sample,
for the unsprung mass displacement obtained for the ith sample,
unsprung mass displacement, z, obtained for sample i-1 i The displacement of the road surface unevenness obtained by the ith sampling is obtained, and t is time;
in step 208, the actuator controller 22 determines the suspension dynamic deflection (x) at the i-th sampling according to the determination in step 207 2 -x 1 ) i Spring loaded mass velocity
Dynamic displacement (x) of tyre 1 -z) i And unsprung mass velocity
According to the formula
Obtaining the state variable X at the ith sampling i ；
Step 209, the actuator controller 22 determines the optimal control feedback matrix K at the ith sampling time according to the determination result in step 206 i And the state variable X at the i-th sampling determined in step 208 i According to the formula
Calculating to obtain ideal semi-active control force U during ith sampling i 。
Step three, according to a Bingham model formula
Calculating the yield strength tau of the magnetorheological fluid 4 y Wherein eta is the zero field viscosity of the magnetorheological fluid 4, l is the length of the excitation coil 7 arranged along the length direction of the second bypass adjusting pipe 5-2, D is the inner diameter of the piston cylinder 9, D is the diameter of the upper piston rod 2 or the lower piston rod 18, h is the inner diameter of the first bypass adjusting pipe 5-1 or the second bypass adjusting pipe 5-2, and V' is the flow velocity of the magnetorheological fluid 4 in the first bypass adjusting pipe 5-1 and the second bypass adjusting pipe 5-2 and
v is the movement speed of the upper piston rod 2 or the lower piston rod 18 acquired by the piston rod speed sensor 29, A is the cross-sectional area of the main piston 11, A p The inner circle area of the cross section of the first bypass adjusting pipe 5-1 or the second bypass adjusting pipe 5-2 is shown, sgn (-) is a direction function, the cross sections of the first bypass adjusting pipe 5-1 and the second bypass adjusting pipe 5-2 are both circular rings, and the pipe diameters of the first bypass adjusting pipe 5-1 and the second bypass adjusting pipe 5-2 are equal;
setting the downward flowing direction of the magnetorheological fluid 4 in the first bypass adjusting pipe 5-1 and the second bypass adjusting pipe 5-2 as positive, wherein the upper piston rod 2 moves upwards at the moment, and the specific working process of the semi-active suspension actuator is as follows: when a vehicle runs on an uneven road surface, the vehicle body vibrates to drive the upper lifting lug 1 and the lower lifting lug 24 to move relatively, the upper lifting lug 1 drives the upper piston rod 2 to move, the upper piston rod 2 drives the auxiliary piston cylinder 12 and the main piston 11 to move so as to drive the lower piston rod 18 to move together, at the moment, the volume of magnetorheological fluid 4 in upper and lower cavities of a piston cylinder body 9 is changed, when the upper piston rod 2 moves upwards, sgn (V') is positive, the volume of the upper cavity of the piston cylinder is reduced, the pressure of the magnetorheological fluid 4 in the upper cavity of the piston cylinder is increased, at the moment, the magnetorheological fluid 4 in the upper cavity of the piston cylinder flows into a compensation cavity through a first bypass adjusting pipe 5-1 and a second bypass adjusting pipe 5-2, a compression valve 15 is closed, a recovery valve 14 is opened, the magnetorheological fluid 4 flows into the lower cavity of the piston cylinder through the recovery valve 14, the upper piston rod 2 drives a first magnetic yoke 3-4 and a first permanent magnet 3-3 to move upwards, the first magnetic yoke 3 and the first permanent magnet 3-3 and the second permanent magnet 3-3 and a coil winding coil 3 and a coil winding group to generate a linear motion, so as to drive a linear power generation coil 21 to generate a linear power generation coil 21, so as to drive a second coil 21-19, so as to generate a linear power generation coil 21 to drive a linear power generation coil 21, and a linear coil 21 to generate a linear power generation coil 21, and a linear power generation coil 21 to drive a second coil 21 to generate a linear power generation coil 18 to drive a linear power generation coil 21, and a linear power generation coil 21 to generate a linear power generation coil 21, and a linear power generation coil 21 to drive a second coil 21 to drive a linear power generation coil 21 to drive a second coil 21, then the vibration energy is converted by the DC/DC converter 31 and then is charged to the super capacitor bank 23, so that the continuous recovery of the vibration energy is realized;
when the upper piston rod 2 moves downwards, sgn (V') is negative, the volume of a lower cavity of the piston cylinder is reduced, the pressure of magnetorheological fluid 4 in the lower cavity of the piston cylinder is increased, the recovery valve 14 is closed, the compression valve 15 is opened, the magnetorheological fluid 4 flows into the compensation cavity through the compression valve 15, and then flows into an upper cavity of the piston cylinder through the first bypass adjusting tube 5-1 and the second bypass adjusting tube 5-2, the upper piston rod 2 drives the first magnetic yoke 3-4 and the first permanent magnet 3-3 to move downwards, so that the first magnetic yoke 3-4 and the first permanent magnet 3-3 and the coil iron core 3-1 and the first coil winding 3-2 generate relative motion, and thus the power generation work of the linear electromagnetic energy feeder 3 is realized, meanwhile, the lower piston rod 18 moves downwards, the transmission pair 19 is driven to move downwards, a rack 20 meshed with a gear 21 in the transmission pair 19 drives the gear 21 to rotate, the gear 21 drives the second magnetic yoke 25-1 and the second permanent magnet 25-2 to rotate, so that the gear 21 and the alternating current coil winding 25-2 generate relative motion, so that the power generation work of the DC coil winding 3 and the DC coil winding 3-3 are converted into a super coil winding unit 30, and a capacitor converter 23 and a super capacitor unit 23 which can generate electricity and convert electricity to generate electricity;
step four, according to the formula
Calculating the current I of the exciting coil, providing the current I to the exciting coil 7, and realizing the semi-active control of the actuator controller 22, wherein N is the number of turns of the exciting coil 7, R is the magnetic resistance of the exciting coil 7, phi is the magnetic flux of the exciting coil 7, and phi = H mu 0 A p H is the magnetic field strength and H 2 ∝τ y ，μ 0 The relative permeability of the magnetically permeable core 8.
When the semi-active suspension actuator is used, the actuator controller is adopted to obtain the ideal semi-active control force of the semi-active suspension actuator according to the parameters of the vehicle semi-active suspension actuator and the vehicle body, so that the yield strength of the magnetorheological fluid is further obtained, the current input to the magnet exciting coil is obtained, the damping force output by the semi-active suspension actuator is adjusted to be in the optimal state, and the semi-active control of the actuator controller is realized.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical essence of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (3)
1. A bypass type energy feedback type semi-active suspension actuator of a vehicle is characterized in that: the electromagnetic energy feedback device comprises a piston cylinder body (9) and an inner cavity lower end cover (16) which is arranged in the piston cylinder body (9) and divides the piston cylinder body (9) into an inner cavity and an outer cavity, a main piston (11) with a hollow structure and an auxiliary piston cylinder (12) which is arranged at the bottom of the main piston (11) and is used for sealing the main piston (11) are arranged in the inner cavity, an upper piston rod (2) sequentially penetrates through an upper end cover of the piston cylinder body (9) and the main piston (11) to be connected with the auxiliary piston cylinder (12), a linear electromagnetic energy feedback device (3) is arranged in a space, which is positioned outside the upper piston rod (2) and is located in the hollow structure of the main piston (11), the linear electromagnetic energy feedback device (3) comprises a rotor and a coil iron core (3-1) which is positioned outside the rotor and fixed on the upper end cover of the piston cylinder body (9), the rotor comprises a first magnetic yoke (3-4) fixed on the outer side of the upper piston rod (2) and a first permanent magnet (3-3) fixed on the outer side of the first magnetic yoke (3-4), a winding of the coil iron core (3-1) is wound with a first coil iron core (3-2), and a through hole (10) is formed at the position, which is close to the upper end cover of the piston rod (9), and is connected with the piston rod (2);
one end of a lower piston rod (18) is connected with the bottom of an auxiliary piston cylinder (12), the other end of the lower piston rod (18) penetrates through the inner cavity and extends into the outer cavity, the other end of the lower piston rod (18) is communicated with a transmission pair (19), racks (20) are arranged on two side walls of the transmission pair (19), a gear (21) is arranged in the transmission pair (19), the gear (21) is a gear with a half-circle straight tooth and is meshed with the rack (20) on one side wall of the transmission pair (19), the lower piston rod (18) and the lower end cover (16) of the inner cavity are sealed by a sealing ring (17), and a lower lifting lug (24) is connected to the lower end cover (6) of the outer cavity of the piston cylinder body (9);
a cavity separating plate (13) is arranged on the lower side of a main piston (11) and an auxiliary piston cylinder (12) in the inner cavity, a piston cylinder upper cavity is formed by the space between the upper sides of the main piston (11) and the auxiliary piston cylinder (12) and the upper end cover of a piston cylinder body (9), a piston cylinder lower cavity is formed by the space between the lower sides of the main piston (11) and the auxiliary piston cylinder (12) and the cavity separating plate (13), a compensation cavity is formed by the space between the cavity separating plate (13) and an inner cavity lower end cover (16), a restoring valve (14) for magnetorheological fluid (4) to flow to the piston cylinder lower cavity from the compensation cavity and a compression valve (15) for magnetorheological fluid (4) to flow to the compensation cavity from the piston cylinder lower cavity are arranged on the cavity separating plate (13), a first bypass adjusting pipe (5-1) and a second bypass adjusting pipe (5-2) which are symmetrically arranged are communicated with each other through a first bypass adjusting pipe (5-1) and the second bypass adjusting pipe (5-2), a magnetic core (8) is sleeved on the first bypass adjusting pipe (5-1) and a second bypass adjusting pipe (5-2), and a magnetic core (8) is arranged in the inner core (7);
an actuator controller (22) and a super capacitor bank (23) are arranged in the outer cavity, the linear electromagnetic energy feedback device (3) charges the super capacitor bank (23) through a rectifying circuit (30) and a DC/DC converter (31), the input end of the actuator controller (22) is connected with a road surface irregularity displacement sensor (26) for detecting road surface irregularity displacement in real time, an unsprung mass displacement sensor (27) for detecting unsprung mass displacement in real time, a sprung mass displacement sensor (28) for detecting sprung mass displacement in real time and a piston rod speed sensor (29) for detecting the speed of the upper piston rod (2) or the lower piston rod (18) in real time, and the output end of the actuator controller (22) is connected with an electric current regulator (32) for regulating the input current of the excitation coil (7);
the rotating electromagnetic energy feedback device (25) charges the super-capacitor bank (23) through the rectifying circuit (30) and the DC/DC converter (31), the rotating electromagnetic energy feedback device (25) comprises a rotating electromagnetic energy feedback device shell (25-1), a second coil winding mounting plate (25-5) which is fixed on the inner wall of the rotating electromagnetic energy feedback device shell (25-1) and is of a hollow structure, a first yoke steel plate (25-2) and a second yoke steel plate (25-3) which are coaxially arranged in the rotating electromagnetic energy feedback device shell (25-1), second permanent magnets (25-4) are arranged on the inner sides of the first yoke steel plate (25-2) and the second yoke steel plate (25-3), the first yoke steel plate (25-2) and the second yoke steel plate (25-3) penetrate through the rotating electromagnetic energy feedback device shell (25-1) to be in transmission connection with a central shaft of the gear (21), the second coil winding mounting plate (25-5) is located between the first yoke steel plate (25-2) and the second yoke steel plate (25-3) and penetrates through the second yoke steel plate (25-1) to be uniformly connected with the second coil winding mounting plate (25-5) along the circumferential direction, and a plurality of connecting shafts are uniformly arranged on the second coil winding mounting plate (25-5) along the connecting shaft;
the upper lifting lug (1) is in threaded connection with the top end of the upper piston rod (2), and the lower lifting lug (24) is welded on the lower end cover (6) of the outer cavity of the piston cylinder body (9);
the middle axis of the upper piston rod (2) and the middle axis of the lower piston rod (18) are located on the same straight line, mutually communicated threading holes are sequentially formed in the upper piston rod (2), the auxiliary piston cylinder (12) and the lower piston rod (18), a connecting line channel is formed by the threading holes in the upper piston rod (2), the threading holes in the auxiliary piston cylinder (12) and the threading holes in the lower piston rod (18), and a current connecting line output by the linear electromagnetic energy feedback device (3) is connected with the rectifying circuit (30) through the connecting line channel.
2. A bypass-type regenerative vehicle semi-active suspension actuator as defined in claim 1 wherein: the cross sections of the first bypass adjusting pipe (5-1) and the second bypass adjusting pipe (5-2) are both circular rings, and the pipe diameters of the first bypass adjusting pipe (5-1) and the second bypass adjusting pipe (5-2) are equal.
3. A method of controlling a semi-active suspension actuator of a bypass-type regenerative vehicle as defined in claim 1, wherein: the method comprises the following steps:
step one, data acquisition: the system comprises a road surface unevenness displacement sensor (26) for detecting the road surface unevenness displacement in real time, an unsprung mass displacement sensor (27) for detecting the unsprung mass displacement in real time, a sprung mass displacement sensor (28) for detecting the sprung mass displacement in real time, a piston rod speed sensor (29) for detecting the speed of an upper piston rod (2) or a lower piston rod (18) in real time, and an actuator controller (22) for periodically sampling the road surface unevenness displacement, the unsprung mass displacement, the sprung mass displacement and the speed of the upper piston rod (2) or the lower piston rod (18) respectively;
step two, obtaining ideal semi-active control force U of semi-active suspension actuator i : the actuator controller (22) calls an LQG optimal control module to analyze and process the sampled signal to obtain an ideal semi-active control force U of the semi-active suspension actuator during the ith sampling i I is a positive integer greater than 1;
step three, according to a Bingham model formula
Calculating the yield strength tau of the magnetorheological fluid (4) y Wherein eta is the zero field viscosity of the magnetorheological fluid (4), l is the length of the magnet exciting coil (7) arranged along the length direction of the second bypass adjusting pipe (5-2), D is the inner diameter of the piston cylinder body (9), D is the diameter of the upper piston rod (2) or the lower piston rod (18), h is the inner diameter of the first bypass adjusting pipe (5-1) or the second bypass adjusting pipe (5-2), and V' is the magnetic field in the first bypass adjusting pipe (5-1) and the second bypass adjusting pipe (5-2)Flow rate of the rheological fluid (4) and
v is the movement speed of the upper piston rod (2) or the lower piston rod (18) acquired by the piston rod speed sensor (29), A is the cross-sectional area of the main piston (11), and A is p The cross section of the first bypass adjusting pipe (5-1) or the second bypass adjusting pipe (5-2) is the inner circle area, sgn (·) is a direction function, the cross sections of the first bypass adjusting pipe (5-1) and the second bypass adjusting pipe (5-2) are both circular rings, and the pipe diameters of the first bypass adjusting pipe (5-1) and the second bypass adjusting pipe (5-2) are equal;
the magnetorheological fluid (4) in the first bypass adjusting pipe (5-1) and the second bypass adjusting pipe (5-2) flows from top to bottom in the positive direction, at the moment, the upper piston rod (2) moves upwards, and the specific working process of the semi-active suspension actuator is as follows: when a vehicle runs on an uneven road surface, the vehicle body vibrates to drive the upper lifting lug (1) and the lower lifting lug (24) to move relatively, the upper lifting lug (1) drives the upper piston rod (2) to move, the upper piston rod (2) drives the auxiliary piston cylinder (12) and the main piston (11) to move so as to drive the lower piston rod (18) to move together, at the moment, the volumes of magnetorheological fluids (4) in the upper cavity and the lower cavity of the piston cylinder body (9) change, when the upper piston rod (2) moves upwards, sgn (V') is positive, the volume of the upper cavity of the piston cylinder is reduced, the pressure of the magnetorheological fluid (4) in the upper cavity of the piston cylinder is increased, at the moment, the magnetorheological fluid (4) in the upper cavity of the piston cylinder flows into the compensation cavity through the first bypass adjusting pipe (5-1) and the second bypass adjusting pipe (5-2), the compression valve (15) is closed, the rebound valve (14) is opened, the magnetorheological fluid (4) flows into the lower cavity through the rebound valve (14), the upper piston rod (2) drives the first magnetic yoke (3-4) and the first magnetic yoke (3-3) and the first magnetic coil (3-3) to move linearly and the first electromagnetic coil (3-3) and the first coil can move linearly and the first coil to generate electricity generating magnet coil, the lower piston rod (18) moves upwards to drive the transmission pair (19) to move upwards, so that a rack (20) which is meshed with the gear (21) in the transmission pair (19) drives the gear (21) to rotate, the gear (21) drives the second magnetic yoke (25-1) and the second permanent magnet (25-2) to rotate, and therefore the gear and the second coil winding (18-3) move relatively, the power generation work of the rotating electromagnetic energy feeder (25) is also realized, the first coil winding (3-2) and the second coil winding (18-3) convert the generated electric energy into direct current through the rectifying circuit (30), and then the direct current is converted by the DC/DC converter (31) to charge the super capacitor group (23), and the continuous recovery of vibration energy is realized;
when the upper piston rod (2) moves downwards, sgn (V') is negative, the volume of a lower cavity of the piston cylinder is reduced, the pressure of magnetorheological fluid (4) in the lower cavity of the piston cylinder is increased, the recovery valve (14) is closed, the compression valve (15) is opened, the magnetorheological fluid (4) flows into the compensation cavity through the compression valve (15) and then flows into an upper cavity of the piston cylinder through the first bypass adjusting pipe (5-1) and the second bypass adjusting pipe (5-2), the upper piston rod (2) drives the first magnet yoke (3-4) and the first permanent magnet (3-3) to move downwards, so that the first magnet yoke (3-4) and the first permanent magnet (3-3) generate relative motion with the coil iron core (3-1) and the first coil winding group (3-2), therefore, the power generation work of the linear electromagnetic energy feedback device (3) is realized, meanwhile, the lower piston rod (18) moves downwards to drive the transmission pair (19) to move downwards, so that the rack (20) meshed with the gear (21) in the transmission pair (19) drives the gear (21) to rotate, the gear (21) drives the second magnetic yoke (25-1) and the second permanent magnet (25-2) to rotate, and thus the gear and the second coil winding (18-3) form relative motion, the power generation work of the rotary electromagnetic energy feedback device (25) is realized, and the first coil winding (3-2) and the second coil winding (18-3) are in winding (3-2) and (18-3) ) The generated electric energy is converted into direct current by a rectifying circuit (30), and then is converted by a DC/DC converter (31) to charge a super capacitor bank (23), so that the recovery of vibration energy is realized;
step four, according to the formula
Calculating the current I of the exciting coil, providing the current I to the exciting coil (7), and realizing the semi-active control of the actuator controller (22), wherein N is the number of turns of the exciting coil (7), R is the magnetic resistance of the exciting coil (7), phi is the magnetic flux of the exciting coil (7) and phi = H mu 0 A p H is the magnetic field strength and H 2 ∝τ y ，μ 0 Is a magnetic conductive iron core (8)) Relative permeability of (2).
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| CN109835134B (en) * | 2019-04-02 | 2020-07-21 | 西安科技大学 | Anti-settling composite energy-feedback type suspension actuator of electric automobile and control method thereof |
| CN110154668B (en) * | 2019-05-17 | 2022-12-23 | 西安科技大学 | Integrated energy feedback type active suspension actuator and control method thereof |
| CN111219437B (en) * | 2020-01-20 | 2021-07-20 | 同济大学 | Magnetorheological particle damper capable of recycling energy |
| CN112145607A (en) * | 2020-10-09 | 2020-12-29 | 重庆理工大学 | Subway floating plate vibration isolator based on magnetic control damping |
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| US7232016B2 (en) * | 2003-12-08 | 2007-06-19 | General Motors Corporation | Fluid damper having continuously variable damping response |
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