CN108068570A - A kind of electronic control air suspension overall height is adjusted and vehicle gesture ambiguity sliding-mode control - Google Patents
A kind of electronic control air suspension overall height is adjusted and vehicle gesture ambiguity sliding-mode control Download PDFInfo
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- CN108068570A CN108068570A CN201710437445.XA CN201710437445A CN108068570A CN 108068570 A CN108068570 A CN 108068570A CN 201710437445 A CN201710437445 A CN 201710437445A CN 108068570 A CN108068570 A CN 108068570A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/15—Fluid spring
- B60G2202/152—Pneumatic spring
-
- 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
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
- B60G2500/202—Height or leveling valve for air-springs
- B60G2500/2021—Arrangement of valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
-
- 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
-
- 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
- B60G2800/914—Height Control System
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention provides a kind of electronic control air suspension overall height adjusting and vehicle gesture ambiguity sliding-mode control, obtains vehicle four corners bodywork height signal respectively by height sensor and gyroscope and reflects the vehicle body pitch angle of vehicle posture and body roll angle signal；By the vehicle body pitch angle and body roll angle signal and it is low-pass filtered after bodywork height signal transmission give vehicle Fuzzy Sliding Model Controller；The controller flows through the Air Mass Flow Signal of four high-speed switch electromagnetic valves according to the difference between coherent signal actual value and desired value and the fuzzy sliding mode tracking control pre-established rule output；The Air Mass Flow Signal is further converted to the duty cycle signals of four high-speed switch electromagnetic valve on off operating modes by PWM pulse modulation technologies；Finally, the on off operating mode of inflation solenoid valve and pressure-releasing electromagnetic valve is determined according to the on-off signal of four high-speed switch electromagnetic valves and the logical relation pre-established.Control method proposed by the present invention not only can effectively realize the well-tuned of electronic control air suspension bodywork height and vehicle posture, while controller adaptive ability is strong, and performance is stablized, and advantage is notable.
Description
Technical field
The present invention relates to a kind of adjustings of electronic control air suspension overall height and vehicle gesture ambiguity sliding-mode control, refer in particular to be to adopt
Electronic control air suspension vehicle overall height regulating system is controlled with fuzzy sliding mode tracking control technology.
Background technology
Electronic control air suspension can realize that the active of suspension system rigidity, damping and bodywork height is adjusted, for improving
Riding comfort, control stability and the fuel economy of vehicle in the process of moving are all of great significance, it has also become vehicle
The research hotspot of engineering circles, wherein, bodywork height adjusting is one of featured function of electronic control air suspension, and system passes through to sky
Gas spring carries out the active control that inflation/deflation realizes bodywork height, and providing important technology for automotive comprehensive performance protects
Barrier.At the same time, for prevent from being unevenly distributed because carload and before and after airsuspension system parameter differences due to cause vehicle body four
Overall height is adjusted asynchronous at angle, and so as to cause vehicle attitude instability phenomenon, the vehicle gesture stability during overall height is adjusted is also outstanding
For key.
However, since electronic control air suspension overall height regulating system generally existing air spring mechanical behavior is non-linear, electromagnetism
Complicated behavioral characteristics, the conventional control methods such as valve stream condition is non-linear and systematic parameter is uncertain are often difficult to obtain order
The control effect of people's satisfaction.Fuzzy sliding mode tracking control is a kind of self adaptive control side for being combined fuzzy logic with sliding formwork control
Method has Heuristic Feature, and structure and computing are simple, by fuzzy control to the complete not dependent and sliding formwork control of model
Robustness is combined together, and the conversion of control targe is dexterously realized according to sliding formwork control principle, before being great in control engineering
The practical control method of scape, the successful application in various engineering fields.
Therefore, for the adjusting of electronic control air suspension overall height and vehicle gesture stability problem, how using sliding formwork control technology
Design system adaptive controller, effectively improves system control performance, has important research significance and engineering value.
The content of the invention
It is an object of the invention to propose that a kind of electronic control air suspension overall height is adjusted and vehicle gesture ambiguity sliding formwork control side
Method solves non-linear and Parameter uncertainties present in electronic control air suspension overall height regulating system by fuzzy sliding mode tracking control technology
Property, to realize that electronic control air suspension overall height adjusts the good control with vehicle posture.
To reach above-mentioned purpose, the technical solution adopted in the present invention is：
A kind of electronic control air suspension overall height adjusts and vehicle gesture ambiguity sliding-mode control, includes the following steps：
(1) vehicle four corners bodywork height signal is obtained by height sensor and gyroscope respectively and reflection is whole
The vehicle body pitch angle of vehicle posture and body roll angle signal；
(2) by the vehicle body pitch angle and body roll angle signal and it is low-pass filtered after bodywork height signal transmission
Give vehicle Fuzzy Sliding Model Controller；
(3) the vehicle Fuzzy Sliding Model Controller according to the difference between the signal actual value and desired value received and
The fuzzy sliding mode tracking control rule output pre-established flows through the Air Mass Flow Signal of four high-speed switch electromagnetic valves；
(4) Air Mass Flow Signal is further converted to by four high-speed switches by PWM pulse modulation technologies
The duty cycle signals of solenoid valve on off operating mode；
(5) determine to fill according to the on-off signal of four high-speed switch electromagnetic valves and the logical relation pre-established
The on off operating mode of pneumoelectric magnet valve and pressure-releasing electromagnetic valve.
Preferably, the desired value of the bodywork height is carried by entire car controller according to vehicle running state or driver command
For the vehicle body pitch angle of the reflection vehicle posture is set as zero with vehicle roll angle desired value.
Preferably, the formulation process of the fuzzy sliding mode tracking control rule includes the following steps：
(1) electronic control air suspension vehicle is established based on vehicle system dynamics and variable mass air-charging and air-discharging system thermodynamic argument
Overall height regulating system Nonlinear Mechanism model；
(2) it is global using being carried out based on the State Feedback Approach of differential geometric theory to the mission nonlinear mechanism model
Linearisation；
(3) adjusted and vehicle appearance based on the system linear model and sliding mode control theory design electronic control air suspension overall height
State sliding mode controller；
(4) fuzzy control theory with sliding mode control theory is combined, formulates the adjusting of electronic control air suspension overall height and vehicle
Gesture ambiguity sliding formwork control ratio.
Preferably, the structure form of the electronic control air suspension vehicle overall height regulating system Nonlinear Mechanism model is：
In formula, x is system state variables, including air pressure, vehicle four in air pressure in pipeline, four air springs
The vertical deviation of nonspring carried mass and its change rate, vehicle body pitch angle and its change rate and vehicle roll angle and its variation at angle
Rate；U is system control input variable, is made of the air quality flow for flowing through four high-speed switch electromagnetic valves；Y exports for system
Variable, including vehicle four corners bodywork height and vehicle body pitch angle and vehicle roll angle；α's (x), β (x) and k (x) is specific
Content is arranged according to system dynamics equation and obtained.
Preferably, it is described that Air Mass Flow Signal is converted by four high-speed switch electricity by PWM pulse modulation technologies
The transforming relationship of magnet valve on off operating mode duty cycle signals is：
In formula, vo-i-PWMFor the duty cycle of four high-speed switch electromagnetic valve on off operating modes, qo-i-conIt is drawn for system controller
The air quality flow for flowing through four high-speed switch electromagnetic valves, qo-maxFor high-speed switch electromagnetic valve valve port opening maximum when institute energy
The air quality flow flowed through.
Preferably, it is described to determine that inflation solenoid valve leads to pressure-releasing electromagnetic valve according to four high-speed switch electromagnetic valve on-off signals
The logical relation of disconnected state is：
In formula, δcAnd δdThe on off operating mode of inflation solenoid valve and pressure-releasing electromagnetic valve is represented respectively, when value is 1, represents electromagnetism
Valve is opened, and when value is 0, represents that solenoid valve is closed；AndFour high-speed switch electromagnetic valves are represented respectively
On off operating mode；δc+δd≤ 1 represents that inflation solenoid valve can not be opened simultaneously with pressure-releasing electromagnetic valve.
Preferably, overall height, which is adjusted, includes but is not limited only to realize in the form of electronic control air suspension with vehicle gesture stability,
Can also otherwise, such as automatically controlled hydro pneumatic suspension, this is understood to the claimed range no more than appended right.
From the above technical solution of the present invention shows that, its advantage is for electronic control air suspension overall height regulating system
Present in non-linear and parameter uncertainty, using fuzzy sliding mode tracking control Technology design system controller, show that overall height is adjusted
Air Mass Flow Signal with flowing through four high-speed switch electromagnetic valves during vehicle gesture stability, then passes through the signal
PWM pulse modulation technologies are converted into the on-off signal of high-speed switch electromagnetic valve, so as to fulfill to the direct of electromagnetic valve switch state
Control effectively increases electronic control air suspension overall height and adjusts and vehicle gesture stability performance.
Description of the drawings
Fig. 1 is electronic control air suspension vehicle overall height regulating system structure diagram；
Fig. 2 is adjusted and vehicle gesture ambiguity sliding formwork control structure diagram for electronic control air suspension overall height；
Fig. 3 is that the electronic control air suspension overall height adjusting under vehicle stationary state is imitated with vehicle gesture ambiguity sliding formwork control performance
True result figure；
Fig. 4 is that the electronic control air suspension overall height adjusting under state of motion of vehicle is imitated with vehicle gesture ambiguity sliding formwork control performance
True result figure.
Air bullet at the left front vehicle body 4- the near front wheels of damper 3- at height sensor 2- the near front wheels at 1- the near front wheels
Air spring solenoid valve 6- pipelines 7- inflates air spring at solenoid valve 8- high-pressure air source 9- left rear wheels at spring 5- the near front wheels
Bodywork height at damper 13- left rear wheels at the left back vehicle body 12- left rear wheels of air spring 11- at solenoid valve 10- left rear wheels
It is empty at the right front of the car 17- off-front wheels of damper 16- at height sensor 15- off-front wheels at sensor 14- off-front wheels
Air spring solenoid valve 19- pressure-releasing electromagnetic valves 20-ECU 21- atmospheric environment 22- control signals at gas spring 18- off-front wheels
Damper at air spring 26- off hind wheels at the right rear 25- off hind wheels of air spring solenoid valve 24- at 23- off hind wheels
Height sensor at 27- off hind wheels
Specific embodiment
The invention will be further described in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, electronic control air suspension vehicle overall height regulating system mainly includes air suspension, off-front wheel at the near front wheel
Locate air suspension, air suspension at left rear wheel, air suspension and related pneumatic element composition at off hind wheel, wherein, the near front wheel
Locating air suspension mainly includes left front vehicle body 3, damper 2 at the near front wheel, air spring 4 at the near front wheel, and vehicle body is high at the near front wheel
Degree is detected by the near front wheel height sensor 1, and air spring solenoid valve 5 is used to adjust air bullet at the near front wheel at the near front wheel
The inflation/deflation of spring 4；Air suspension mainly includes right front of the car 16, damper 15 at off-front wheel, air at off-front wheel at off-front wheel
Spring 17, bodywork height is detected by off-front wheel height sensor 14 at off-front wheel, air spring solenoid valve at off-front wheel
18 are used to adjust the inflation/deflation of air spring 17 at off-front wheel；Air suspension mainly includes left back vehicle body 11, left back at left rear wheel
Damper 12 at wheel, air spring 10 at left rear wheel, bodywork height is supervised by left rear wheel height sensor 13 at left rear wheel
It surveys, air spring solenoid valve 9 is used to adjust the inflation/deflation of air spring 10 at left rear wheel at left rear wheel；Air suspension at off hind wheel
Mainly include right rear 24, damper 26 at off hind wheel, air spring 25 at off hind wheel, after bodywork height is by the right side at off hind wheel
Height sensor 27 detects at wheel, and air spring solenoid valve 23 is used to adjust air spring 25 at off hind wheel at off hind wheel
Inflation/deflation.When bodywork height needs to rise, ECU20 sends control signal 22, and inflation solenoid valve 7 is opened, from high-pressure air source 8
Interior gases at high pressure flow to pipeline 6；When bodywork height needs to reduce, pressure-releasing electromagnetic valve 19 is opened, and gas flows directly into air
Environment 21.
For electronic control air suspension vehicle overall height regulating system shown in FIG. 1, overall height proposed by the present invention adjusts and vehicle
Gesture ambiguity sliding formwork control structural principle as shown in Fig. 2, obtain vehicle corner respectively by height sensor and gyroscope
Locate bodywork height signal and reflect the vehicle body pitch angle of vehicle posture and body roll angle signal；By the vehicle body pitch angle with
Body roll angle signal and it is low-pass filtered after bodywork height signal transmission give vehicle Fuzzy Sliding Model Controller；The vehicle
Fuzzy Sliding Model Controller is according to the difference between coherent signal actual value and desired value and the fuzzy sliding mode control pre-established
System rule output flows through the Air Mass Flow Signal of four high-speed switch electromagnetic valves；By PWM pulse modulation technologies by the sky
Gas mass flow rate signal is further converted to the duty cycle signals of four high-speed switch electromagnetic valve on off operating modes；Finally, according to institute
The logical relation stated the on-off signal of four high-speed switch electromagnetic valves and pre-established determines inflation solenoid valve and electricity of deflating
The on off operating mode of magnet valve.
The formulation process of the fuzzy sliding mode tracking control rule includes the following steps：
(1) electronic control air suspension vehicle is established based on vehicle system dynamics and variable mass air-charging and air-discharging system thermodynamic argument
Overall height regulating system Nonlinear Mechanism model, the structure of the electronic control air suspension vehicle overall height regulating system Nonlinear Mechanism model
The form of building is：
In formula, x is system state variables, and concrete form is：
Including air pressure in air pressure in pipeline, four air springs, vehicle four corners nonspring carried mass it is vertical
Displacement and its change rate, vehicle body pitch angle and its change rate and vehicle roll angle and its change rate；U becomes for system control input
Amount, is made of the air quality flow for flowing through four high-speed switch electromagnetic valves；Y is system output variables, including vehicle four corners
Bodywork height, i.e. za1-zfr,za2-zfl,za3-zrl,za4-zrr, while also vehicle body pitch angle and vehicle roll angle；α(x),β
(x) and the particular content of k (x) is arranged according to system dynamics equation and obtained.
(2) it is global using being carried out based on the State Feedback Approach of differential geometric theory to built mission nonlinear mechanism model
Linearisation, introduces nonsingular coordinate transform as follows：
In formula,LfH (x) is function h (x) compared with function f
(x) Lie derivatives.State variable of the electronic control air suspension vehicle overall height regulating system under linear space is obtained after conversion is：
In formula,
System overall situation linear model is obtained after conversion.
(3) based on the system overall situation linear model and sliding mode control theory design electronic control air suspension overall height adjust with it is whole
Vehicle posture sliding mode controller, wherein, sliding-mode surface is defined as：
In formula, hdFor target bodywork height, hfr,hfl,hrl,hrr, be respectively vehicle four corners bodywork height, θdWithPoint
Not Wei target roll angle and target pitch angle, cij(i=1,6, j=1,2) it is related positive real constant.
(4) fuzzy control theory with sliding mode control theory is combined, formulates the adjusting of electronic control air suspension overall height and vehicle
Gesture ambiguity sliding formwork control ratio, wherein, the input of fuzzy controller is defined as sliding-mode surface, and fuzzy control output is defined as sliding formwork control
The associated gain factor of device processed, ambiguity solution use gravity model appoach.
By above-mentioned steps, realize that electronic control air suspension overall height adjusts the synthesis with vehicle gesture ambiguity sliding formwork control ratio,
And then the air quality flow that control flows through four high-speed switch electromagnetic valves in the process is obtained, which is continuous variable.Due to height
The valve opening of fast switch electromagnetic valve is not available for continuously adjusting, and can only be selected between " opening " or " closing " two states
It selects, therefore, it is necessary to continuous Air Mass Flow Signal further is converted into four high speeds by PWM pulse modulation technologies to open
The duty cycle signals of powered-down magnet valve on off operating mode, the transforming relationship are：
In formula, vo-i-PWMFor the duty cycle of four high-speed switch electromagnetic valve on off operating modes, qo-i-conIt is drawn for system controller
The air quality flow for flowing through four high-speed switch electromagnetic valves, qo-maxFor high-speed switch electromagnetic valve valve port opening maximum when institute energy
The air quality flow flowed through.
Further, inflation solenoid valve and pressure-releasing electromagnetic valve can be determined according to four high-speed switch electromagnetic valve on-off signals
On off operating mode, relevant logical relation is：
In formula, δcAnd δdThe on off operating mode of inflation solenoid valve and pressure-releasing electromagnetic valve is represented respectively, when value is 1, represents electromagnetism
Valve is opened, and when value is 0, represents that solenoid valve is closed；AndFour high-speed switch electromagnetic valves are represented respectively
On off operating mode；δc+δd≤ 1 represents that inflation solenoid valve can not be opened simultaneously with pressure-releasing electromagnetic valve.
To verify that electronic control air suspension overall height proposed by the invention is adjusted and vehicle gesture ambiguity sliding mode control strategy
Validity and reliability carries out dynamic simulation analysis to system control performance, wherein, Fig. 3 is shown under vehicle stationary state
Electronic control air suspension overall height is adjusted show state of motion of vehicle with vehicle gesture ambiguity sliding formwork control Performance Simulation Results, Fig. 4
Under electronic control air suspension overall height adjust with vehicle gesture ambiguity sliding formwork control Performance Simulation Results.It can from simulation result
Go out, the electronic control air suspension overall height proposed is adjusted and vehicle gesture ambiguity sliding mode control strategy can not only realize bodywork height
Effective adjusting, while significantly reduce overall height adjust during vehicle roll angle and vehicle body pitch angle, ensure that vehicle appearance
The stabilization of state.
The above shows that electronic control air suspension bodywork height proposed by the present invention is adjusted and vehicle gesture ambiguity sliding formwork control
System strategy has good control effect, and controller adaptive ability is strong, and performance is stablized, and advantage is notable.
The above-mentioned description to embodiment is understood that for ease of those skilled in the art and using the present invention.
Person skilled in the art obviously can easily make above-described embodiment various modifications, and described herein general
Principle is applied in other embodiment without having to go through creative labor.Therefore, the invention is not restricted to embodiment here, sheets
Field technology personnel announcement according to the present invention, the improvement made for the present invention and modification all should be in the protection models of the present invention
Within enclosing.
Claims (7)
1. a kind of electronic control air suspension overall height is adjusted and vehicle gesture ambiguity sliding-mode control, which is characterized in that including as follows
Step：
Step 1, vehicle four corners bodywork height signal is obtained by height sensor and gyroscope respectively and reflection is whole
The vehicle body pitch angle of vehicle posture and body roll angle signal；
Step 2, by the vehicle body pitch angle and body roll angle signal and it is low-pass filtered after bodywork height signal transmission
Give vehicle Fuzzy Sliding Model Controller；
Step 3, the vehicle Fuzzy Sliding Model Controller according to the actual value of the vehicle body pitch angle and body roll angle signal with
Difference between desired value, the difference between the actual value and desired value of the bodywork height signal and the mould pre-established
Paste sliding formwork control ratio output flows through the Air Mass Flow Signal of four high-speed switch electromagnetic valves；
Step 4, the Air Mass Flow Signal is further converted to by four high-speed switch electricity by PWM pulse modulation technologies
The duty cycle signals of magnet valve on off operating mode；
Step 5, according to the duty cycle signals of four high-speed switch electromagnetic valve on off operating modes and the logic pre-established
Relation determines the on off operating mode of inflation solenoid valve and pressure-releasing electromagnetic valve.
2. electronic control air suspension overall height according to claim 1 is adjusted and vehicle gesture ambiguity sliding-mode control, spy
Sign is that the desired value of the bodywork height is provided by entire car controller according to vehicle running state or driver command, described
The vehicle body pitch angle and vehicle roll angle desired value for reflecting vehicle posture are set as zero.
3. electronic control air suspension overall height according to claim 1 is adjusted and vehicle gesture ambiguity sliding-mode control, spy
Sign is that the formulation process of the fuzzy sliding mode tracking control rule includes the following steps：
Step 1, electronic control air suspension vehicle is established based on vehicle system dynamics and variable mass air-charging and air-discharging system thermodynamic argument
Overall height regulating system Nonlinear Mechanism model；
Step 2, it is global using being carried out based on the State Feedback Approach of differential geometric theory to the mission nonlinear mechanism model
Linearisation；
Step 3, adjusted and vehicle appearance based on the system linear model and sliding mode control theory design electronic control air suspension overall height
State sliding mode controller；
Step 4, fuzzy control theory with sliding mode control theory is combined, formulates electronic control air suspension overall height and adjust and vehicle appearance
Morphotype pastes sliding formwork control ratio.
4. electronic control air suspension overall height according to claim 3 is adjusted and vehicle gesture ambiguity sliding-mode control, spy
Sign is that the structure form of the electronic control air suspension vehicle overall height regulating system Nonlinear Mechanism model is：
In formula, x is system state variables, including air pressure, vehicle four corners in air pressure in pipeline, four air springs
The vertical deviation and its change rate of nonspring carried mass, vehicle body pitch angle and its change rate and vehicle roll angle and its change rate；u
For system control input variable, it is made of the air quality flow for flowing through four high-speed switch electromagnetic valves；Y becomes for system output
Amount, including vehicle four corners bodywork height and vehicle body pitch angle and vehicle roll angle；α's (x), β (x) and k (x) is specific interior
Hold and arrange and obtain according to system dynamics equation.
5. electronic control air suspension overall height according to claim 1 is adjusted and vehicle gesture ambiguity sliding-mode control, spy
Sign is, described that Air Mass Flow Signal is converted into four high-speed switch electromagnetic valve break-makes by PWM pulse modulation technologies
The transforming relationship of state duty cycle signals is：
In formula, vo-i-PWMFor the duty cycle of four high-speed switch electromagnetic valve on off operating modes, qo-i-conThe stream drawn for system controller
Air quality flow through four high-speed switch electromagnetic valves, qo-maxFor that can be flowed through during high-speed switch electromagnetic valve valve port opening maximum
Air quality flow.
6. electronic control air suspension overall height according to claim 1 is adjusted and vehicle gesture ambiguity sliding-mode control, spy
Sign is, described to determine inflation solenoid valve and pressure-releasing electromagnetic valve on off operating mode according to four high-speed switch electromagnetic valve on-off signals
Logical relation is：
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In formula, δcAnd δdThe on off operating mode of inflation solenoid valve and pressure-releasing electromagnetic valve is represented respectively, when value is 1, represents that solenoid valve is beaten
It opens, when value is 0, represents that solenoid valve is closed；AndThe break-make of four high-speed switch electromagnetic valves is represented respectively
State；δc+δd≤ 1 represents that inflation solenoid valve can not be opened simultaneously with pressure-releasing electromagnetic valve.
7. electronic control air suspension overall height according to claim 1 is adjusted and vehicle gesture ambiguity sliding-mode control, spy
Sign is that the overall height, which is adjusted, to be included but be not limited only to realize or with electricity in the form of electronic control air suspension with vehicle gesture stability
The form for controlling hydro pneumatic suspension is realized.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928199A (en) * | 2018-07-20 | 2018-12-04 | 太原科技大学 | A kind of overturning-preventing and attitude regulating mechanism of imitative kangaroo leg Double Diamond suspension |
| CN109353178A (en) * | 2018-08-08 | 2019-02-19 | 江苏大学 | A kind of electronic control air suspension vehicle attitude control system and method |
| CN109484123A (en) * | 2018-09-07 | 2019-03-19 | 陕西中航气弹簧有限责任公司 | A kind of bodywork height regulating system and method |
| CN109835133A (en) * | 2019-03-08 | 2019-06-04 | 驭达工业装备（苏州）有限公司 | The intelligent suspension system altitude regulating system determined based on body gesture |
| CN111660749A (en) * | 2020-06-29 | 2020-09-15 | 厦门金龙联合汽车工业有限公司 | Method for controlling height of air suspension vehicle body |
| CN111976409A (en) * | 2019-05-23 | 2020-11-24 | 广州汽车集团股份有限公司 | Control method, system and computer readable medium for vehicle comfort and operation stability |
| WO2020239440A1 (en) * | 2019-05-27 | 2020-12-03 | Wabco Gmbh | Electronically open-loop or closed-loop controlled air spring system, air spring system and method for height regulation of a vehicle |
| CN112124028A (en) * | 2020-09-21 | 2020-12-25 | 华南理工大学 | Electric control air suspension system, control method and system thereof and electric control unit |
| CN112572084A (en) * | 2019-09-30 | 2021-03-30 | 比亚迪股份有限公司 | Vehicle and control method and device thereof |
| WO2021083620A1 (en) * | 2019-10-28 | 2021-05-06 | Wabco Europe Bvba | Air suspension system for a vehicle |
| CN112976979A (en) * | 2021-04-12 | 2021-06-18 | 石河子大学 | Air suspension control method and device of high-ground-clearance spraying machine |
| CN113063610A (en) * | 2021-05-12 | 2021-07-02 | 中国第一汽车股份有限公司 | Control method of air suspension |
| CN113276615A (en) * | 2021-06-28 | 2021-08-20 | 贵阳职业技术学院 | Vehicle ACC system attitude control method and system based on electric control air suspension |
| CN113696689A (en) * | 2021-09-01 | 2021-11-26 | 江苏大学扬州(江都)新能源汽车产业研究所 | Rigidity multistage adjustable air suspension and control method thereof |
| CN114211927A (en) * | 2022-01-20 | 2022-03-22 | 同济大学 | Electromagnetic valve control method, device and equipment based on air suspension and storage medium |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928199A (en) * | 2018-07-20 | 2018-12-04 | 太原科技大学 | A kind of overturning-preventing and attitude regulating mechanism of imitative kangaroo leg Double Diamond suspension |
| CN109353178A (en) * | 2018-08-08 | 2019-02-19 | 江苏大学 | A kind of electronic control air suspension vehicle attitude control system and method |
| CN109484123A (en) * | 2018-09-07 | 2019-03-19 | 陕西中航气弹簧有限责任公司 | A kind of bodywork height regulating system and method |
| CN109835133A (en) * | 2019-03-08 | 2019-06-04 | 驭达工业装备（苏州）有限公司 | The intelligent suspension system altitude regulating system determined based on body gesture |
| CN111976409A (en) * | 2019-05-23 | 2020-11-24 | 广州汽车集团股份有限公司 | Control method, system and computer readable medium for vehicle comfort and operation stability |
| WO2020239440A1 (en) * | 2019-05-27 | 2020-12-03 | Wabco Gmbh | Electronically open-loop or closed-loop controlled air spring system, air spring system and method for height regulation of a vehicle |
| CN112572084B (en) * | 2019-09-30 | 2022-04-15 | 比亚迪股份有限公司 | Vehicle and control method and device thereof |
| CN112572084A (en) * | 2019-09-30 | 2021-03-30 | 比亚迪股份有限公司 | Vehicle and control method and device thereof |
| WO2021083620A1 (en) * | 2019-10-28 | 2021-05-06 | Wabco Europe Bvba | Air suspension system for a vehicle |
| CN114555394A (en) * | 2019-10-28 | 2022-05-27 | 采埃孚商用车系统欧洲有限公司 | Air spring system for vehicle |
| CN111660749A (en) * | 2020-06-29 | 2020-09-15 | 厦门金龙联合汽车工业有限公司 | Method for controlling height of air suspension vehicle body |
| CN111660749B (en) * | 2020-06-29 | 2021-08-03 | 厦门金龙联合汽车工业有限公司 | Method for controlling height of air suspension vehicle body |
| CN112124028A (en) * | 2020-09-21 | 2020-12-25 | 华南理工大学 | Electric control air suspension system, control method and system thereof and electric control unit |
| CN112124028B (en) * | 2020-09-21 | 2022-07-12 | 华南理工大学 | Electric control air suspension system, control method and system thereof and electric control unit |
| CN112976979A (en) * | 2021-04-12 | 2021-06-18 | 石河子大学 | Air suspension control method and device of high-ground-clearance spraying machine |
| CN113063610A (en) * | 2021-05-12 | 2021-07-02 | 中国第一汽车股份有限公司 | Control method of air suspension |
| CN113063610B (en) * | 2021-05-12 | 2022-10-28 | 中国第一汽车股份有限公司 | Control method of air suspension |
| CN113276615A (en) * | 2021-06-28 | 2021-08-20 | 贵阳职业技术学院 | Vehicle ACC system attitude control method and system based on electric control air suspension |
| CN113696689A (en) * | 2021-09-01 | 2021-11-26 | 江苏大学扬州(江都)新能源汽车产业研究所 | Rigidity multistage adjustable air suspension and control method thereof |
| CN114211927A (en) * | 2022-01-20 | 2022-03-22 | 同济大学 | Electromagnetic valve control method, device and equipment based on air suspension and storage medium |
| CN114211927B (en) * | 2022-01-20 | 2024-01-30 | 同济大学 | Electromagnetic valve control method, device, equipment and storage medium based on air suspension |
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