CN108099535A - A kind of vehicle Braking nose dive suppressing method - Google Patents

A kind of vehicle Braking nose dive suppressing method Download PDF

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Publication number
CN108099535A
CN108099535A CN201810068105.9A CN201810068105A CN108099535A CN 108099535 A CN108099535 A CN 108099535A CN 201810068105 A CN201810068105 A CN 201810068105A CN 108099535 A CN108099535 A CN 108099535A
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vehicle
nose dive
vehicle body
vehicle braking
braking nose
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CN201810068105.9A
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CN108099535B (en
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孙维超
张晋华
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0164—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during accelerating or braking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/07—Inhibiting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/06—Power analysis or power optimisation

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Geometry (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Optimization (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Pure & Applied Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

A kind of vehicle Braking nose dive suppressing method, belongs to vehicle field of non-linear control, solves the problems, such as that existing vehicle ride comfort control method can not inhibit vehicle Braking nose dive.During the vehicle Braking nose dive suppressing method is included in vehicle braking, the step of vehicle body pitch dynamics model is established according to vehicle body pitching physical model, according to the step of vehicle body pitch dynamics modelling vehicle Braking nose dive suppressor and by vehicle Braking nose dive suppressor come and meanwhile adjust the preceding Active suspension control input power of vehicle and rear Active suspension control input power, and then the step of inhibit the Braking nose dive of vehicle.The vehicle Braking nose dive suppressor designed by vehicle Braking nose dive suppressing method of the present invention can control the vehicle body pitch angle in vehicle braking process, and then realize the inhibition to vehicle Braking nose dive.Vehicle Braking nose dive suppressing method of the present invention is suitable for the Braking nose dive of vehicle.

Description

A kind of vehicle Braking nose dive suppressing method
Technical field
The present invention relates to a kind of control method for vehicle, belong to vehicle field of non-linear control.
Background technology
In braking process, different degrees of phenomenon of nodding, and the serious journey of the phenomenon can inevitably occur for vehicle Degree is aggravated with the increase of vehicle braking deceleration, this seriously reduces the ride comfort of vehicle, and then influences occupant's It experiences by bus.
The main contents of existing vehicle ride comfort control method are：A quarter Suspension Model is first established, further according to four points One of Suspension Model design a quarter suspension controller, finally by a quarter suspension controller control vehicle suspension system System to reduce the vertical acceleration of vehicle body, and then promotes the ride comfort of vehicle.However, this method can not but inhibit the system of vehicle It is dynamic to nod.
The content of the invention
The present invention is to solve the problems, such as that existing vehicle ride comfort control method can not inhibit vehicle Braking nose dive, it is proposed that A kind of vehicle Braking nose dive suppressing method.
Vehicle Braking nose dive suppressing method of the present invention includes：
Step 1: during vehicle is braked, vehicle body pitch dynamics model is established according to vehicle body pitching physical model；
Step 2: according to vehicle body pitch dynamics modelling vehicle Braking nose dive suppressor；
Step 3: the preceding Active suspension control input power of vehicle is adjusted with after by vehicle Braking nose dive suppressor simultaneously Active suspension control input power, and then inhibit the Braking nose dive of vehicle.
It is further that vehicle body pitch dynamics model is：
In formula group (1), msFor body quality, zsFor vehicle body vertical deviation, ksfFor preceding Active suspension rigidity, a is vehicle body Barycenter to front axle distance,For vehicle body pitch angle, zwfFor front vehicle wheel vertical deviation, ksrFor rear Active suspension rigidity, b is vehicle body Barycenter is to the distance of rear axle, zwrFor rear wheel vertical deviation, csfIt is damped for preceding Active suspension, csrIt is damped for rear Active suspension, uf For preceding Active suspension control input power, urFor rear Active suspension control input power；
I be vehicle body pitch rotation inertia, axFor vehicle braking deceleration, hgFor vehicle body height of center of mass；
mwfFor preceding nonspring carried mass, kwfFor front-wheel rigidity, cwfIt is damped for front-wheel, zrfIt is vertically inputted for road surface at front-wheel；
mwrFor rear nonspring carried mass, kwrFor trailing wheel rigidity, cwrIt is damped for trailing wheel, zrrIt is vertically inputted for road surface at trailing wheel.
It is further that the design process of vehicle Braking nose dive suppressor is：
It takesThen have：
In formula (2), V1For liapunov function, kzFor the first control parameter, kz>0；
Order：
In formula (3), k1For the second control parameter, k1>0；
Had according to formula (2) and formula (3)：
It takesThen have：
In formula (4), V2For liapunov function,For the 3rd control parameter,
Order：
In formula (5), k2For the 4th control parameter, k2>0；
Had according to formula (4) and formula (5)：
ByNegative definite is obtained as t → ∞,T is the time；
And then it obtains：zs→ 0,
And then it learns：By the system of the enough zero dy namics subsystems of the 3rd subformula of formula group (1) and the 4th subformula Matrix meets Louth-Hurwitz stability criterion；
Then the control law of preceding Active suspension is：
The control law of Active suspension is afterwards：
Vehicle body pitch dynamics mould of the vehicle Braking nose dive suppressing method of the present invention in vehicle braking process Type design vehicle Braking nose dive suppressor.Vehicle Braking nose dive suppressor is defeated by the preceding Active suspension control for adjusting vehicle simultaneously Enter power and rear Active suspension control input power, to control the vehicle body pitch angle in vehicle braking process, and then realization pair The inhibition of vehicle Braking nose dive.Compared with existing vehicle ride comfort control method, vehicle Braking nose dive suppression of the present invention Method processed while improving vehicle ride comfort, can more effectively inhibit vehicle body system by reducing the vertical acceleration of vehicle body It is dynamic to nod.
Description of the drawings
Hereinafter will based on embodiment and refer to the attached drawing come to vehicle Braking nose dive suppressing method of the present invention into Row more detailed description, wherein：
Fig. 1 is the FB(flow block) of the vehicle Braking nose dive suppressing method described in embodiment；
Fig. 2 is the vehicle body pitching physical model figure in the vehicle braking process that embodiment refers to；
Fig. 3 is that embodiment the presence or absence of refers to that the vehicle body pitch angle under the effect of vehicle Braking nose dive suppressor changes over time Graph；
Fig. 4 is that embodiment the presence or absence of refers to that the vehicle body vertical deviation under the effect of vehicle Braking nose dive suppressor changes over time Graph；
Fig. 5 is that the vehicle body that refers to of embodiment is nodded control law time history plot.
Specific embodiment
Vehicle Braking nose dive suppressing method of the present invention is further illustrated below in conjunction with attached drawing.
Embodiment：The present embodiment is explained in detail with reference to Fig. 1~Fig. 5.
As shown in Figure 1, the vehicle Braking nose dive suppressing method described in the present embodiment includes：
Step 1: during vehicle is braked, vehicle body pitch dynamics model is established according to vehicle body pitching physical model；
Step 2: according to vehicle body pitch dynamics modelling vehicle Braking nose dive suppressor；
Step 3: the preceding Active suspension control input power of vehicle is adjusted with after by vehicle Braking nose dive suppressor simultaneously Active suspension control input power, and then inhibit the Braking nose dive of vehicle.
Fig. 2 is the vehicle body pitching physical model figure in vehicle braking process, and the present embodiment passes through vehicle body pitching physical model Obtain such as under body pitch dynamics model：
In formula group (1), msFor body quality, zsFor vehicle body vertical deviation, ksfFor preceding Active suspension rigidity, a is barycenter To the distance of front axle,For vehicle body pitch angle, zwfFor front vehicle wheel vertical deviation, ksrFor rear Active suspension rigidity, b is vehicle body barycenter To the distance of rear axle, zwrFor rear wheel vertical deviation, csfIt is damped for preceding Active suspension, csrIt is damped for rear Active suspension, ufTo be preceding Active suspension control input power, urFor rear Active suspension control input power；
I be vehicle body pitch rotation inertia, axFor vehicle braking deceleration, hgFor vehicle body height of center of mass；
mwfFor preceding nonspring carried mass, kwfFor front-wheel rigidity, cwfIt is damped for front-wheel, zrfFor vertical road surface input at front-wheel；
mwrFor rear nonspring carried mass, kwrFor trailing wheel rigidity, cwrIt is damped for trailing wheel, zrrFor vertical road surface input at trailing wheel.
The design process of the vehicle Braking nose dive suppressor of the present embodiment is：
It takesThen have：
In formula (2), V1For liapunov function, kzFor the first control parameter, kz>0；
Order：
In formula (3), k1For the second control parameter, k1>0；
Had according to formula (2) and formula (3)：
It takesThen have：
In formula (4), V2For liapunov function,For the 3rd control parameter,
Order：
In formula (5), k2For the 4th control parameter, k2>0；
Had according to formula (4) and formula (5)：
ByNegative definite is obtained as t → ∞,T is the time；
And then it obtains：
And then it learns：By the system of the enough zero dy namics subsystems of the 3rd subformula of formula group (1) and the 4th subformula Matrix meets Louth-Hurwitz stability criterion；
Then the control law of preceding Active suspension is：
The control law of Active suspension is afterwards：
The present embodiment is according to design requirement and the expected simulation run of combination of vehicle Braking nose dive suppressor as a result, design The control parameter of simulation run relevant parameter and vehicle Braking nose dive suppressor, and pass through and adjust vehicle Braking nose dive suppressor Control parameter, vehicle Braking nose dive suppressor is made to meet design requirement, i.e., in vehicle braking process, vehicle Braking nose dive suppression Device processed can inhibit the Braking nose dive of vehicle by controlling vehicle body pitch angle.
The simulation run relevant parameter of design and the control parameter of vehicle Braking nose dive suppressor are as follows：
Body quality ms=555kg, preceding nonspring carried mass mwf=30kg, rear nonspring carried mass mwr=30kg, preceding active are hanged Frame rigidity ksf=28000N/m, rear Active suspension rigidity ksr=28000N/m, preceding Active suspension damp csf=4000Ns/m, after Active suspension damps csr=4000Ns/m, vehicle body height of center of mass hg=0.45m, the distance a=1.04m of vehicle body barycenter to front axle, Vehicle body barycenter is to the distance b=1.56m of rear axle, vehicle body pitch rotation inertia I=671.55kgm2, front-wheel rigidity kwf= 232000N/m, trailing wheel rigidity kwr=232000N/m, front-wheel damping cwf=1000Ns/m, trailing wheel damping cwr=1000Ns/m.
The selection of control parameter：kz=2000,k1=100, k2=100.
In simulation process, vehicle is braked with the braking deceleration of 0.5g on level road, vehicle body vertical deviation and vehicle Body pitch angle is initialized as：zs(0)=0.01m,Other initialization of variable are 0, and then verify vehicle braking point The inhibition of head suppressor.
Fig. 3 is the vehicle body pitch angle time history plot whetheing there is under the effect of vehicle Braking nose dive suppressor.Wherein, Solid line is the vehicle body pitch angle versus time curve under the effect of vehicle Braking nose dive suppressor, and dotted line is no vehicle braking point Vehicle body pitch angle versus time curve under head suppressor effect.As can be seen from FIG. 3：In vehicle Braking nose dive suppressor Under effect, vehicle body pitch angle rapidly converges to 0 at any time, can effectively ensure the ride comfort of vehicle.
Fig. 4 is the vehicle body vertical deviation time history plot whetheing there is under the effect of vehicle Braking nose dive suppressor.Its In, solid line is the vehicle body vertical deviation versus time curve under the effect of vehicle Braking nose dive suppressor, and dotted line is no vehicle Vehicle body vertical deviation versus time curve under the effect of Braking nose dive suppressor.As can be seen from FIG. 4：In vehicle Braking nose dive Under the action of suppressor, vehicle body vertical deviation rapidly converges to 0 at any time, can effectively ensure the ride comfort of vehicle.
Fig. 5 nods control law time history plot for vehicle body.Wherein, solid line is preceding Active suspension control input power Versus time curve, dotted line are rear Active suspension control input power versus time curve.As can be seen from FIG. 5：It is set The response speed of the vehicle Braking nose dive suppressor of meter is very fast.
Although the present invention is described herein with reference to specific embodiment, it should be understood that, these realities Apply the example that example is only principles and applications.It should therefore be understood that exemplary embodiment can be permitted More modifications, and can be designed that other arrangements, spirit without departing from the present invention as defined in the appended claims and Scope.It it should be understood that can be by being different from the described mode of original claim come with reference to different appurtenances It is required that and feature described herein.It will also be appreciated that it can be used at it with reference to the described feature of separate embodiments In his embodiment.

Claims (3)

1. a kind of vehicle Braking nose dive suppressing method, which is characterized in that the vehicle Braking nose dive suppressing method includes：
Step 1: during vehicle is braked, vehicle body pitch dynamics model is established according to vehicle body pitching physical model；
Step 2: according to vehicle body pitch dynamics modelling vehicle Braking nose dive suppressor；
Step 3: the preceding Active suspension control input power of vehicle and rear active are adjusted by vehicle Braking nose dive suppressor simultaneously Suspension control input power, and then inhibit the Braking nose dive of vehicle.
2. vehicle Braking nose dive suppressing method as described in claim 1, which is characterized in that vehicle body pitch dynamics model is：
In formula group (1), msFor body quality, zsFor vehicle body vertical deviation, ksfFor preceding Active suspension rigidity, a arrives for vehicle body barycenter The distance of front axle,For vehicle body pitch angle, zwfFor front vehicle wheel vertical deviation, ksrFor rear Active suspension rigidity, b arrives for vehicle body barycenter The distance of rear axle, zwrFor rear wheel vertical deviation, csfIt is damped for preceding Active suspension, csrIt is damped for rear Active suspension, ufFor preceding master Dynamic Suspension control input power, urFor rear Active suspension control input power；
I be vehicle body pitch rotation inertia, axFor vehicle braking deceleration, hgFor vehicle body height of center of mass；
mwfFor preceding nonspring carried mass, kwfFor front-wheel rigidity, cwfIt is damped for front-wheel, zrfFor vertical road surface input at front-wheel；
mwrFor rear nonspring carried mass, kwrFor trailing wheel rigidity, cwrIt is damped for trailing wheel, zrrFor vertical road surface input at trailing wheel.
3. vehicle Braking nose dive suppressing method as claimed in claim 2, which is characterized in that vehicle Braking nose dive suppressor is set Meter process is：
It takesThen have：
In formula (2), V1For liapunov function, kzFor the first control parameter, kz>0；
Order：
In formula (3), k1For the second control parameter, k1>0；
Had according to formula (2) and formula (3)：
It takesThen have：
In formula (4), V2For liapunov function,For the 3rd control parameter,
Order：
In formula (5), k2For the 4th control parameter, k2>0；
Had according to formula (4) and formula (5)：
ByNegative definite is obtained as t → ∞,T is the time；
And then it obtains：zs→ 0,
And then it learns：By the sytem matrix of the enough zero dy namics subsystems of the 3rd subformula of formula group (1) and the 4th subformula Meet Louth-Hurwitz stability criterion；
Then the control law of preceding Active suspension is：
The control law of Active suspension is afterwards：
CN201810068105.9A 2018-01-24 2018-01-24 A kind of vehicle braking is nodded suppressing method Active CN108099535B (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110329030A (en) * 2019-05-10 2019-10-15 爱驰汽车有限公司 Active suspension control method, system, equipment and storage medium
CN110422025A (en) * 2019-07-05 2019-11-08 浙江吉利汽车研究院有限公司 A kind of double yoke suspensions, double yoke suspension automatic regulating systems and method
CN110758436A (en) * 2019-10-31 2020-02-07 青岛理工大学 Active control system for side rolling dynamic behavior of high-speed train
CN112172440A (en) * 2020-10-19 2021-01-05 合肥工业大学 Active control device for resisting front pitching of car during braking
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
CN113459753A (en) * 2020-03-31 2021-10-01 北京新能源汽车股份有限公司 Active suspension control method, control device and system for pre-judgment braking and vehicle
WO2021244513A1 (en) * 2020-06-04 2021-12-09 广州汽车集团股份有限公司 Anti-dive control method and apparatus for automobile, and related device
AT525592A1 (en) * 2021-11-09 2023-05-15 Avl List Gmbh Method for creating a virtual prototype of a vehicle

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110329030A (en) * 2019-05-10 2019-10-15 爱驰汽车有限公司 Active suspension control method, system, equipment and storage medium
CN110422025A (en) * 2019-07-05 2019-11-08 浙江吉利汽车研究院有限公司 A kind of double yoke suspensions, double yoke suspension automatic regulating systems and method
CN110758436A (en) * 2019-10-31 2020-02-07 青岛理工大学 Active control system for side rolling dynamic behavior of high-speed train
US10953898B1 (en) 2019-10-31 2021-03-23 Qingdao university of technology Active control system for rolling behaviors of high-speed trains
CN113459753A (en) * 2020-03-31 2021-10-01 北京新能源汽车股份有限公司 Active suspension control method, control device and system for pre-judgment braking and vehicle
WO2021244513A1 (en) * 2020-06-04 2021-12-09 广州汽车集团股份有限公司 Anti-dive control method and apparatus for automobile, and related device
CN112172440A (en) * 2020-10-19 2021-01-05 合肥工业大学 Active control device for resisting front pitching of car during braking
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
AT525592A1 (en) * 2021-11-09 2023-05-15 Avl List Gmbh Method for creating a virtual prototype of a vehicle

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