CN108331878B - Series energy feedback type hybrid active suspension actuator and control method thereof - Google Patents

Series energy feedback type hybrid active suspension actuator and control method thereof Download PDF

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Publication number
CN108331878B
CN108331878B CN201810201050.4A CN201810201050A CN108331878B CN 108331878 B CN108331878 B CN 108331878B CN 201810201050 A CN201810201050 A CN 201810201050A CN 108331878 B CN108331878 B CN 108331878B
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piston
actuator
cylinder barrel
actuator controller
piston rod
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CN108331878A (en
Inventor
寇发荣
魏冬冬
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Xian University of Science and Technology
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Xian University of Science and Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
    • F16F9/535—Magnetorheological [MR] fluid dampers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/3207—Constructional features
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/50—Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/18—Control arrangements

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention discloses a serial energy feedback type hybrid active suspension actuator and a control method thereof, wherein the suspension actuator comprises an actuator body and an actuator control system, the actuator body comprises a valve type magnetorheological damper mechanism and a power transmission mechanism, and the valve type magnetorheological damper mechanism comprises a liquid storage cylinder barrel, a working cylinder barrel, a sealing end cover, a piston rod, a piston, an extension regulating valve, a flow valve, magnetorheological fluid, a compression regulating valve, a compensating valve, a guide seat and an oil seal; the power transmission mechanism comprises a motor mounting seat, a direct current brushless motor, a ball screw nut and a sleeve; the actuator control system includes an actuator controller and an electrical energy storage circuit; the control method comprises the following steps: 1. data acquisition and synchronous transmission; 2. and (5) data analysis processing and control. The invention has novel and reasonable design, convenient realization, better vibration reduction, and capability of generating electric energy consumed in enough energy feedback, convenient use, wide application prospect and convenient popularization and use.

Description

Series energy feedback type hybrid active suspension actuator and control method thereof
Technical Field
The invention belongs to the technical field of vehicle vibration reduction devices, and particularly relates to a series energy feedback type hybrid active suspension actuator and a control method thereof.
Background
Suspension systems are an important component of automobiles, whose primary functions are to carry the vehicle body and dampen the vehicle body vibrations, which determine the ride and handling stability of the vehicle. Most of the existing automobile suspensions are passive suspensions, but the structural parameters of the passive suspensions are fixed and are difficult to adapt to changeable driving road conditions. The active suspension uses the controllable actuator, so that the rigidity and damping of the suspension can be changed in real time according to road conditions to improve the smoothness and the steering stability of the vehicle, but the active suspension consumes certain energy when being applied, and the fuel economy of the vehicle is reduced.
The energy-feedback type active suspension can recover the vibration energy of the suspension while actively controlling the suspension to make up the energy consumed during the active control of the suspension, so the energy-feedback type active suspension can consider the dynamic property and the fuel economy of a vehicle. For example, chinese patent application No. 201310560418.3, a vehicle integrated inertial suspension, integrates suspension systems, but the suspension cannot be actively controlled, and while some suspension vibration energy can be recovered to improve the fuel economy of the vehicle, the dynamics of the vehicle cannot be improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the series energy-feedback type hybrid active suspension actuator which has the advantages of compact structure, small volume, easy installation, better vibration reduction, capability of generating electric energy consumed when enough energy is fed, convenient use, wide application prospect and convenient popularization and use.
In order to solve the technical problems, the invention adopts the following technical scheme: a serial energy feedback type hybrid active suspension actuator and a control method thereof are characterized in that: the hydraulic actuator comprises an actuator body and an actuator control system, wherein the actuator body comprises a valve type magnetorheological damper mechanism and a power transmission mechanism, the valve type magnetorheological damper mechanism comprises a liquid storage cylinder barrel, a working cylinder barrel arranged in the liquid storage cylinder barrel and a sealing end cover connected to the top of the liquid storage cylinder barrel, the bottom of the working cylinder barrel is fixedly connected with the bottom of the liquid storage cylinder barrel, a piston rod with the upper part penetrating out of the sealing end cover upwards is arranged in the working cylinder barrel, the bottom of the piston rod is fixedly connected with a piston, a stretching adjusting valve and a circulating valve are arranged on the piston, and the piston divides the inner cavity of the working cylinder barrel into an upper piston cavity positioned at the upper part of the piston and a lower piston cavity positioned at the lower part of the piston; magnetorheological fluid is arranged in the space between the working cylinder barrel and the liquid storage cylinder barrel, and in the upper cavity of the piston and the lower cavity of the piston; the bottom of the working cylinder barrel is provided with a compression regulating valve and a compensating valve, the top of the working cylinder barrel is provided with a guide seat which is used for sealing the working cylinder barrel, sleeved on the piston rod and used for guiding the up-and-down motion of the piston rod, and an oil seal sleeved on the piston rod is arranged in a space between the guide seat and the sealing end cover; the power transmission mechanism comprises a motor mounting seat and a direct current brushless motor mounted on the motor mounting seat, a ball screw is connected to an output shaft of the direct current brushless motor, a ball screw nut is connected to the ball screw, a sleeve sleeved on the ball screw is fixedly connected to the bottom of the ball screw nut, and the top of the piston rod is connected with the bottom of the sleeve; the top of the motor mounting seat is fixedly connected with an upper lifting lug, and the bottom of the liquid storage cylinder barrel is fixedly connected with a lower lifting lug;
The actuator control system comprises an actuator controller and an electric energy storage circuit, wherein the input end of the actuator controller is connected with a sprung mass speed sensor for detecting the sprung mass speed in real time and a non-sprung mass speed sensor for detecting the non-sprung mass speed in real time, and the electric energy storage circuit comprises a rectifier, a DC-DC boosting module, a super capacitor, a MOS switch triggering driving module and a storage battery pack which are connected in sequence; the output end of the storage battery pack is connected with a first controllable constant current source circuit for supplying power to the direct current brushless motor, a second controllable constant current source circuit for supplying power to the exciting coil in the compression regulating valve and a third controllable constant current source circuit for supplying power to the exciting coil in the extension regulating valve, the direct current brushless motor is connected with the output end of the first controllable constant current source circuit, the exciting coil in the compression regulating valve is connected with the output end of the second controllable constant current source circuit, the exciting coil in the extension regulating valve is connected with the output end of the third controllable constant current source circuit, the first controllable constant current source circuit, the second controllable constant current source circuit and the third controllable constant current source circuit are all connected with the output end of the actuator controller, and the output end of the actuator controller is also connected with a motor driver for driving the direct current brushless motor; the input end of the actuator controller is also connected with a super capacitor voltage sensor for detecting the output voltage of the super capacitor in real time and a rectifier current sensor for detecting the output current of the rectifier in real time, and the MOS switch triggering driving module is connected with the output end of the actuator controller.
The series energy feedback type hybrid active suspension actuator is characterized in that: the piston rod is characterized in that a shaft shoulder for positioning the piston is arranged on the outer wall of the lower end of the piston rod, the lower end face of the piston is clamped on the shaft shoulder, and a piston fastening nut which is positioned at the top of the piston and used for fastening the piston is connected to the piston rod.
The series energy feedback type hybrid active suspension actuator is characterized in that: the bottom of the working cylinder barrel is fixedly connected with the bottom of the liquid storage cylinder barrel through a stepped shaft, the stepped shaft comprises a first stepped shaft part fixedly connected with the working cylinder barrel and a second stepped shaft part fixedly connected with the liquid storage cylinder barrel, the first stepped shaft part and the second stepped shaft part are both provided with external threads, a threaded hole for being in threaded connection with the first stepped shaft part is formed in the center of the bottom of the working cylinder barrel, and the first stepped shaft part is connected with a working cylinder barrel fastening nut which is positioned at the bottom of the working cylinder barrel and used for fastening the working cylinder barrel; a threaded hole for being in threaded connection with the second stepped shaft part is formed in the center position of the bottom of the liquid storage cylinder barrel, and the second stepped shaft part is connected with a liquid storage cylinder barrel fastening nut which is positioned at the bottom of the liquid storage cylinder barrel and used for fastening the liquid storage cylinder barrel; external threads are arranged on the outer wall of the bottom of the stepped shaft, threaded holes are formed in the top surface of the lower lifting lug, and the lower lifting lug is in threaded connection with the stepped shaft.
The series energy feedback type hybrid active suspension actuator is characterized in that: the ball screw is connected to an output shaft of the DC brushless motor through a connecting nut.
The series energy feedback type hybrid active suspension actuator is characterized in that: the top of piston rod is provided with the external screw thread, telescopic bottom central point department is provided with the screw hole that is used for connecting the piston rod, the top of piston rod is connected in the screw hole and is fastened through piston rod fastening nut.
The series energy feedback type hybrid active suspension actuator is characterized in that: the sealing end cover is in threaded connection with the top of the liquid storage cylinder barrel, the direct current brushless motor is installed on the motor installation seat through a motor fixing bolt, and the sleeve is fixedly connected with the bottom of the ball screw nut through a sleeve fixing bolt.
The invention also discloses a method for controlling the series energy feedback type hybrid active suspension actuator, which has the advantages of simple steps, convenient realization, better vibration reduction and capability of generating electric energy consumed in enough energy feedback, and is characterized by comprising the following steps:
step one, data acquisition and synchronous transmission: the sprung mass speed sensor detects the sprung mass speed in real time and transmits the detected sprung mass speed to the actuator controller, the unsprung mass speed sensor detects the unsprung mass speed in real time and transmits the detected unsprung mass speed to the actuator controller, the actuator controller periodically samples the sprung mass speed signal and the unsprung mass speed signal and records the unsprung mass speed obtained by the ith sampling as the unsprung mass speed The sprung mass velocity obtained by the ith sample is denoted +.>Wherein, the value of i is a non-zero natural number;
step two, data analysis processing and control, the concrete process is:
step 201, actuator controller calculationIs of a size of (2);
step 202, an actuator controller willComparing the calculated result of (2) with 0 in size whenWhen the suspension actuator is judged to be in an active working mode, the actuator controller actively controls the suspension actuator; when->When the suspension actuator is judged to be in a semi-active working mode, the actuator controller performs semi-active control on the suspension actuator;
the specific process of the actuator controller for actively controlling the suspension actuator is as follows:
a1, an actuator controller calculates a formula according to a ceiling control algorithmCalculating to obtain active control force F in ith sampling ti Wherein c sky Controlling a damping coefficient for the canopy;
step A2, the actuator controller is according to the formulaCalculating to obtain input current I of brushless DC motor in ith sampling i Wherein L is the lead of the ball screw, K t Is the moment constant of the DC brushless motor;
a3, controlling the output current of the first controllable constant current source circuit to be I by the actuator controller i Supplying power to the DC brushless motor; the specific working process is as follows: when the suspension actuator is in a compression motion state, the actuator controller drives the direct current brushless motor to rotate anticlockwise through the motor driver, the direct current brushless motor drives the ball screw to rotate anticlockwise, the ball screw nut drives the piston rod to move downwards through the sleeve, the piston rod drives the piston to move downwards, the volume of the lower cavity of the piston is reduced, magnetorheological fluid in the lower cavity of the piston is increased, the circulation valve is fully opened, magnetorheological fluid in the lower cavity of the piston flows into the upper cavity of the piston through the circulation valve, part of volume of the upper cavity of the piston is occupied by the piston rod, part of magnetorheological fluid in the lower cavity of the piston flows into the liquid storage cylinder through the compression regulating valve, and the compression regulating valve has a certain pretightening force to enable the compression regulating valve to have a certain throttling effect to generate damping on the compression motion of the suspension, so that the suspension actuator provides downward active control force and is transmitted to a vehicle body; when the suspension actuator is in an extension motion state, the actuator controller drives the direct current brushless motor to rotate clockwise through the motor driver, the direct current brushless motor drives the ball screw to rotate clockwise, the ball screw nut drives the piston rod to move upwards through the sleeve, the piston rod drives the piston to move upwards, the volume of the upper cavity of the piston is reduced, and the suspension actuator is characterized in that The magnetorheological fluid in the upper cavity of the piston rises, the magnetorheological fluid in the upper cavity of the piston flows into the lower cavity of the piston through the expansion regulating valve, a part of volume of the upper cavity of the piston is occupied by the piston rod, a certain vacuum is formed in the lower cavity of the piston, at the moment, part of the magnetorheological fluid in the liquid storage cylinder flows into the lower cavity of the piston through the compensating valve, and the expansion regulating valve has a certain pretightening force, so that the expansion regulating valve has a certain throttling effect, damping on the expansion motion of the suspension is generated, and at the moment, the suspension actuator provides upward active control force and is transmitted to the vehicle body;
the specific process of semi-actively controlling the suspension actuator by the actuator controller is as follows:
step B1, detecting output current of the rectifier in real time by a rectifier current sensor, transmitting the detected rectifier current to an actuator controller, periodically sampling a rectifier current signal by the actuator controller, and recording the rectifier current obtained by the ith sampling as I zi ；
Step B2, the actuator controller is according to the formulaCalculating to obtain electromagnetic damping force F generated by the brushless DC motor during ith sampling si ；
Step B3, the actuator controller willAnd |F si Magnitude comparison is performed when +.>Not greater than |F si When I, semi-actively control force F bi Is equal to F in size si The actuator controller does not control the second controllable constant current source circuit to supply power for the exciting coil in the compression regulating valve, and does not control the third controllable constant current source circuit to supply power for the exciting coil in the extension regulating valve;
when (when)Greater than |F si When I, semi-actively control force F bi Simultaneously provided by a valve magnetorheological damper mechanism and a DC brushless motor and is +>When the suspension actuator is in a compression motion state, the piston moves downwards, the volume of the lower cavity of the piston is reduced, the magnetorheological fluid pressure in the lower cavity of the piston is increased, the circulation valve is fully opened, the magnetorheological fluid in the lower cavity of the piston flows into the upper cavity of the piston through the circulation valve, and as the upper cavity of the piston occupies a part of the volume by the piston rod, part of the magnetorheological fluid in the lower cavity of the piston flows into the liquid storage cylinder barrel through the compression regulating valve, and the actuator controller is used for controlling the actuator according to a formulaCalculating to obtain input current I of exciting coil in compression regulating valve in ith sampling i ' and controlling the output current of the second controllable constant current source circuit to be I i ' the excitation coil in the compression regulating valve is supplied with power, so that the damping force value output by the suspension actuator meets +. >When the suspension actuator is in a stretching motion state, the piston moves upwards, the volume of the upper cavity of the piston is reduced, the magnetorheological fluid pressure in the upper cavity of the piston is increased, the magnetorheological fluid in the upper cavity of the piston flows into the lower cavity of the piston through the stretching adjusting valve, a part of the volume of the upper cavity of the piston is occupied by the piston rod, a certain vacuum is formed in the lower cavity of the piston, at the moment, part of the magnetorheological fluid in the liquid storage cylinder flows into the lower cavity of the piston through the compensating valve, and the actuator controller is used for controlling the actuator according to the formulaCalculating to obtain input current I of exciting coil in extension regulating valve in ith sampling i And controlling the output current of the third controllable constant current source circuit to be I i "supply power to exciting coil in extension regulating valve to make suspension workThe damping force value of the actuator output satisfies +.>
When the piston moves downwards or upwards, the piston drives the piston rod to move downwards or upwards, the piston rod drives the ball screw nut to move downwards or upwards through the sleeve, the direct current brushless motor rotates anticlockwise or rotates clockwise, the direct current brushless motor works as a generator, the direct current brushless motor generates induction alternating current, the induction alternating current is rectified into stable direct current through the rectifier, and the voltage output by the rectifier is boosted through the DC-DC boosting module and then is temporarily stored in the super capacitor; the actuator controller judges whether the voltage value of the super capacitor reaches a set voltage value according to the voltage value of the super capacitor detected by the super capacitor voltage sensor, and when the voltage value of the super capacitor reaches the set voltage value for starting to charge the storage battery, the actuator controller controls the MOS switch to trigger the driving module to be connected, and the voltage output by the super capacitor triggers the driving module through the MOS switch to charge the storage battery; when the voltage value of the super capacitor is smaller than the set voltage value for stopping charging the storage battery, the actuator controller controls the MOS switch to trigger the driving module to be disconnected, and the super capacitor stops charging the storage battery.
The method is characterized in that: the c sky The value of (2) is 2000 N.s/m.
The method is characterized in that: the K is t The value of (C) is 0.082 N.m/A.
Compared with the prior art, the invention has the following advantages:
1. the serial energy feedback type hybrid active suspension actuator disclosed by the invention has the advantages that the ball screw type suspension actuator and the valve type magnetorheological damper are reasonably integrated by adopting a serial design, the structure is compact, the volume is small, and the installation is easy.
2. When the serial energy feedback type hybrid active suspension actuator is used, the active control mode and the semi-active control mode can be switched, and the suspension vibration reduction effect is obvious.
3. When the serial energy feedback type hybrid active suspension actuator is used, suspension vibration energy recovered in a semi-active mode can be used for active control of the suspension actuator, and self-power supply during control of the suspension actuator can be realized to a certain extent.
4. When the serial energy feedback type hybrid active suspension actuator is used, when the valve type magnetorheological damper mechanism is damaged, the ball screw actuator formed by the direct current brushless motor part can be utilized to realize the active control function; when the direct current brushless motor is damaged, a valve type magneto-rheological shock absorber mechanism can be utilized to realize the semi-active control function; therefore, the suspension actuator has high working reliability and can stably realize a better vibration reduction effect.
5. The serial energy feedback type hybrid active suspension actuator disclosed by the invention has the advantages that the valve type magnetorheological damper mechanism is utilized to realize the semi-active control function, the dead zone phenomenon of the traditional electromagnetic suspension actuator is avoided, and the semi-active control effect is improved.
6. The electric energy storage circuit has reasonable design, reduces the impact of the severely-changed energy feedback voltage on the charging of the storage battery, and can effectively prolong the service life of the storage battery.
7. The control method of the serial energy feedback type hybrid active suspension actuator is simple in steps and convenient to implement.
8. According to the control method of the serial energy feedback type hybrid active suspension actuator, when the actuator controller performs semi-active control on the suspension actuator, the direct current brushless motor is used as an energy feedback device to recover certain vibration energy, a certain electromagnetic damping force is generated, the generated electromagnetic damping force acts on a suspension system and interferes with the semi-active control effect of the suspension, but when the suspension actuator is controlled in a semi-active mode, the direct current brushless motor is used as an energy feedback device to recover certain vibration energyWhen the suspension actuator is required to be semi-actively controlled>Electromagnetic damping force F generated by brushless DC motor si The directions are the same, soBy coordinating electromagnetic damping forces F in semi-active control mode si And->In relation to the electromagnetic damping force F si As a part of the semi-active control force, the invention designs and realizes the coordination control method, which can reduce the interference of electromagnetic damping force on the semi-active control of the suspension on one hand and reduce the input current of the exciting coil in the compression regulating valve or the exciting coil in the extension regulating valve on the other hand, thereby reducing the energy consumption of the semi-active control.
9. The invention has strong practicability and good use effect, meets the current purpose of not only realizing better vibration reduction but also generating enough power consumption when feeding, has wide use prospect and is convenient for popularization and use.
In conclusion, the invention has novel and reasonable design, convenient realization, better vibration reduction, and capability of generating electric energy consumed by enough energy feedback, convenient use, wide application prospect and convenient popularization and use.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic diagram of a series feed hybrid active suspension actuator according to the present invention.
FIG. 2 is a schematic diagram of the electrical connections between the actuator controller and other components of the present invention.
FIG. 3 is a block flow diagram of a method for controlling a series-connected energy-feedback hybrid active suspension actuator according to the present invention.
Reference numerals illustrate:
1-a lower lifting lug; 2-a liquid storage cylinder barrel; 3-a motor driver;
4-a compression regulating valve; 5-an actuator controller; 6-stretching regulating valve;
7-a piston fastening nut; 8-a working cylinder; 9-a piston rod;
10, a guide seat; 11-oil seal; 12, sealing end covers;
13-a sleeve; 14-ball screw; 15-ball screw nut;
16-a connecting nut; 17-a brushless dc motor; 18-upper lifting lugs;
19-a motor mounting seat; 20-sprung mass speed sensor; 21-a motor fixing bolt;
22-sleeve fixing bolts; 23-a piston rod fastening nut; 24-unsprung mass speed sensor;
25-a piston; 26-a flow-through valve; 27-a compensation valve;
28-a working cylinder barrel fastening nut; 29-a stepped shaft; 30-a liquid storage cylinder barrel fastening nut;
31-a valve magnetorheological damper mechanism; 32-a rectifier; 33-rectifier current sensor;
34-a second controllable constant current source circuit; a 35-DC boost module; 36-super capacitor;
a 37-MOS switch trigger driving module; 38-a battery pack; 39-a first controllable constant current source circuit;
40-a third controllable constant current source circuit; 41-super capacitor voltage sensor.
Detailed Description
As shown in fig. 1, the serial energy feedback type hybrid active suspension actuator and the control method thereof comprise an actuator body and an actuator control system, wherein the actuator body comprises a valve type magnetorheological damper mechanism 31 and a power transmission mechanism, the valve type magnetorheological damper mechanism 31 comprises a liquid storage cylinder barrel 2, a working cylinder barrel 8 arranged in the liquid storage cylinder barrel 2 and a sealing end cover 12 connected to the top of the liquid storage cylinder barrel 2, the bottom of the working cylinder barrel 8 is fixedly connected with the bottom of the liquid storage cylinder barrel 2, a piston rod 9 with the upper part penetrating upwards out of the sealing end cover 12 is arranged in the working cylinder barrel 8, a piston 25 is fixedly connected to the bottom of the piston rod 9, an extension regulating valve 6 and a flow valve 26 are arranged on the piston 25, and an inner cavity of the working cylinder barrel 8 is divided into a piston upper cavity positioned at the upper part of the piston 25 and a piston lower cavity positioned at the lower part of the piston 25 by the piston 25; magnetorheological fluid is arranged in the space between the working cylinder 8 and the liquid storage cylinder 2, and in the upper cavity of the piston and the lower cavity of the piston; the bottom of the working cylinder 8 is provided with a compression regulating valve 4 and a compensating valve 27, the top of the working cylinder 8 is provided with a guide seat 10 which is used for sealing the working cylinder 8 and sleeved on a piston rod 9 and is used for guiding the up-and-down movement of the piston rod 9, and an oil seal 11 sleeved on the piston rod 9 is arranged in a space between the guide seat 10 and a sealing end cover 12; the power transmission mechanism comprises a motor mounting seat 19 and a direct current brushless motor 17 mounted on the motor mounting seat 19, a ball screw 14 is connected to an output shaft of the direct current brushless motor 17, a ball screw nut 15 is connected to the ball screw 14, a sleeve 13 sleeved on the ball screw 14 is fixedly connected to the bottom of the ball screw nut 15, and the top of the piston rod 9 is connected with the bottom of the sleeve 13; the top of the motor mounting seat 19 is fixedly connected with an upper lifting lug 18, and the bottom of the liquid storage cylinder barrel 2 is fixedly connected with a lower lifting lug 1;
In specific implementation, the upper lifting lug 18 is welded on the top of the motor mounting seat 19;
referring to fig. 2, the actuator control system includes an actuator controller 5, and an electric energy storage circuit, wherein an input end of the actuator controller 5 is connected with a sprung mass speed sensor 20 for detecting a sprung mass speed in real time and a non-sprung mass speed sensor 24 for detecting a non-sprung mass speed in real time, and the electric energy storage circuit includes a rectifier 32, a DC-DC boost module 35, a super capacitor 36, a MOS switch trigger driving module 37 and a storage battery 38 which are sequentially connected; the output end of the storage battery pack 38 is connected with a first controllable constant current source circuit 39 for supplying power to the direct current brushless motor 17, a second controllable constant current source circuit 34 for supplying power to the exciting coil in the compression regulating valve 4 and a third controllable constant current source circuit 40 for supplying power to the exciting coil in the extension regulating valve 6, the direct current brushless motor 17 is connected with the output end of the first controllable constant current source circuit 39, the exciting coil in the compression regulating valve 4 is connected with the output end of the second controllable constant current source circuit 34, the exciting coil in the extension regulating valve 6 is connected with the output end of the third controllable constant current source circuit 40, the first controllable constant current source circuit 39, the second controllable constant current source circuit 34 and the third controllable constant current source circuit 40 are all connected with the output end of the actuator controller 5, and the output end of the actuator controller 5 is also connected with a motor driver 3 for driving the direct current brushless motor 17; the input end of the actuator controller 5 is also connected with a super capacitor voltage sensor 41 for detecting the output voltage of the super capacitor 36 in real time and a rectifier current sensor 33 for detecting the output current of the rectifier 32 in real time, and the MOS switch triggering driving module 37 is connected with the output end of the actuator controller 5.
In this embodiment, as shown in fig. 1, a shoulder for positioning the piston 25 is disposed on the outer wall of the lower end of the piston rod 9, the lower end surface of the piston 25 is clamped on the shoulder, and the piston rod 9 is connected with a piston fastening nut 7 that is located at the top of the piston 25 and is used for fastening the piston 25.
In this embodiment, as shown in fig. 1, the bottom of the working cylinder 8 is fixedly connected with the bottom of the liquid storage cylinder 2 through a stepped shaft 29, the stepped shaft 29 includes a first stepped shaft portion fixedly connected with the working cylinder 8 and a second stepped shaft portion fixedly connected with the liquid storage cylinder 2, the first stepped shaft portion and the second stepped shaft portion are both provided with external threads, a threaded hole for threaded connection with the first stepped shaft portion is provided at the bottom center position of the working cylinder 8, and the first stepped shaft portion is connected with a working cylinder fastening nut 28 located at the bottom of the working cylinder 8 and used for fastening the working cylinder 8; a threaded hole for being in threaded connection with the second stepped shaft part is formed in the center position of the bottom of the liquid storage cylinder barrel 2, and the second stepped shaft part is connected with a liquid storage cylinder barrel fastening nut 30 which is positioned at the bottom of the liquid storage cylinder barrel 2 and used for fastening the liquid storage cylinder barrel 2; external threads are arranged on the outer wall of the bottom of the stepped shaft 29, threaded holes are arranged on the top surface of the lower lifting lug 1, and the lower lifting lug 1 is in threaded connection with the stepped shaft 29.
In this embodiment, as shown in fig. 1, the ball screw 14 is connected to an output shaft of a brushless dc motor 17 via a coupling nut 16.
In this embodiment, as shown in fig. 1, the top of the piston rod 9 is provided with an external thread, a threaded hole for connecting the piston rod 9 is provided at the bottom center position of the sleeve 13, and the top of the piston rod 9 is connected in the threaded hole and fastened by a piston rod fastening nut 23.
In this embodiment, as shown in fig. 1, the seal end cap 12 is screwed on the top of the liquid storage cylinder 2, the brushless dc motor 17 is mounted on the motor mounting seat 19 through the motor fixing bolt 21, and the sleeve 13 is fixedly connected to the bottom of the ball screw nut 15 through the sleeve fixing bolt 22.
As shown in fig. 3, the control method of the serial energy feedback type hybrid active suspension actuator of the invention comprises the following steps:
step one, data acquisition and synchronous transmission: the sprung mass speed sensor 20 detects the sprung mass speed in real time and transmits the detected sprung mass speed to the actuator controller 5, the unsprung mass speed sensor 24 detects the unsprung mass speed in real time and transmits the detected unsprung mass speed to the actuator controller 5, the actuator controller 5 periodically samples the sprung mass speed signal and the unsprung mass speed signal and records the unsprung mass speed obtained by the ith sample as The sprung mass velocity obtained by the ith sample is denoted +.>Wherein, the value of i is a non-zero natural number;
step two, data analysis processing and control, the concrete process is:
step 201, calculation by actuator controller 5Is of a size of (2);
step 202, the actuator controller 5 willComparing the calculated result of (2) with 0 in size whenWhen the suspension actuator is judged to be in an active working mode, the actuator controller 5 actively controls the suspension actuator; when->When the suspension actuator is judged to be in a semi-active working mode, the actuator controller 5 performs semi-active control on the suspension actuator;
the specific process of the actuator controller 5 for actively controlling the suspension actuator is as follows:
a1, an actuator controller 5 calculates a formula according to a ceiling control algorithmCalculating to obtain active control force F in ith sampling ti Wherein c sky Controlling a damping coefficient for the canopy;
in this embodiment, the c sky The value of (2) is 2000 N.s/m.
Step A2, the actuator controller 5 is according to the formulaCalculating to obtain input current I of brushless DC motor 17 in ith sampling i Where L is the lead (in m) of the ball screw 14, K t A torque constant (in n·m/a) for the dc brushless motor 17;
In this embodiment, the K t The value of (C) is 0.082 N.m/A.
Step A3, the actuator controller 5 controls the output current of the first controllable constant current source circuit 39 to be I i Supplying power to the brushless DC motor 17; the specific working process is as follows: when the suspension actuator is in a compression motion state, the actuator controller 5 drives the brushless DC motor 17 to rotate anticlockwise through the motor driver 3, the brushless DC motor 17 drives the ball screw 14 to rotate anticlockwise, the ball screw nut 15 drives the piston rod 9 to move downwards through the sleeve 13, and the piston rod 9 is provided withThe movable piston 25 moves downwards, the volume of the lower cavity of the piston is reduced, the magnetorheological fluid pressure in the lower cavity of the piston is increased, the circulation valve 26 is fully opened, the magnetorheological fluid in the lower cavity of the piston flows into the upper cavity of the piston through the circulation valve 26, part of the volume of the upper cavity of the piston is occupied by the piston rod 9, part of the magnetorheological fluid in the lower cavity of the piston flows into the liquid storage cylinder barrel 2 through the compression regulating valve 4, and the compression regulating valve 4 has a certain pretightening force due to the compression regulating valve 4, so that the compression regulating valve 4 has a certain throttling effect to generate damping on the compression movement of the suspension, and the suspension actuator provides downward active control force and is transmitted to a vehicle body; when the suspension actuator is in an extension motion state, the actuator controller 5 drives the direct current brushless motor 17 to rotate clockwise through the motor driver 3, the direct current brushless motor 17 drives the ball screw 14 to rotate clockwise, the ball screw nut 15 drives the piston rod 9 to move upwards through the sleeve 13, the piston rod 9 drives the piston 25 to move upwards, the volume of an upper cavity of the piston is reduced, magnetorheological fluid in the upper cavity of the piston is increased, magnetorheological fluid in the upper cavity of the piston flows into a lower cavity of the piston through the extension regulating valve 6, a part of the volume of the upper cavity of the piston is occupied by the piston rod 9, a certain vacuum is formed in the lower cavity of the piston, at the moment, part of magnetorheological fluid in the liquid storage cylinder 2 flows into the lower cavity of the piston through the compensating valve 27, and the extension regulating valve 6 has a certain pretightening force, so that the extension regulating valve 6 has a certain throttling effect to generate damping to the extension motion of the suspension, and the suspension actuator provides an upward active control force and is transmitted to a vehicle body;
In the process of actively controlling the suspension actuator by the actuator controller 5, the actuator controller 5 does not control the second controllable constant current source circuit 31 to supply power to the exciting coil in the compression regulating valve 4, and does not control the third controllable constant current source circuit 40 to supply power to the exciting coil in the extension regulating valve 6.
The specific process of semi-actively controlling the suspension actuator by the actuator controller 5 is as follows:
step B1, the rectifier current sensor 33 detects the output current of the rectifier 32 in real time, and transmits the detected rectifier current to the actuator controller 5, and the actuator controller 5 electrically detects the rectifierPeriodically sampling the flow signal, and recording the rectifier current obtained by the ith sampling as I zi ；
Step B2, the actuator controller 5 is according to the formulaElectromagnetic damping force F generated by the brushless DC motor 17 during the ith sampling is calculated si ；
In this embodiment, the K t The value of (C) is 0.082 N.m/A.
Step B3, the actuator controller 5 willAnd |F si Magnitude comparison is performed when +.>Not greater than |F si When I, semi-actively control force F bi Is equal to F in size si The actuator controller 5 does not control the second controllable constant current source circuit 31 to supply power to the exciting coil in the compression regulating valve 4, and does not control the third controllable constant current source circuit 40 to supply power to the exciting coil in the extension regulating valve 6;
In this embodiment, the c sky The value of (2) is 2000 N.s/m.
When (when)Greater than |F si When I, semi-actively control force F bi Simultaneously provided and +_ by a valve magnetorheological damper mechanism 31 and a brushless DC motor 17>When the suspension actuator is in a compression motion state, the piston 25 moves downwards, the volume of the lower cavity of the piston is reduced, the magnetorheological fluid pressure in the lower cavity of the piston is increased, the circulation valve 26 is fully opened, the magnetorheological fluid in the lower cavity of the piston flows into the upper cavity of the piston through the circulation valve 26, and part of the volume of the upper cavity of the piston is occupied by the piston rod 9, so that part of the inner cavity of the lower cavity of the pistonMagnetorheological fluid flows into the liquid storage cylinder barrel 2 through the compression regulating valve 4, and the actuator controller 5 is in accordance with the formula +.>Calculating to obtain input current I of exciting coil in compression regulating valve 4 at the ith sampling i ' and controls the output current of the second controllable constant current source circuit 31 to be I i ' the exciting coil in the compression regulating valve 4 is supplied with power, so that the damping force value output by the suspension actuator meets +.>When the suspension actuator is in a stretching motion state, the piston 25 moves upwards, the volume of the upper cavity of the piston is reduced, the magnetorheological fluid pressure in the upper cavity of the piston is increased, the magnetorheological fluid in the upper cavity of the piston flows into the lower cavity of the piston through the stretching adjusting valve 6, a part of the volume of the upper cavity of the piston is occupied by the piston rod 9, a certain vacuum is formed in the lower cavity of the piston, at the moment, part of the magnetorheological fluid in the liquid storage cylinder 2 flows into the lower cavity of the piston through the compensating valve 27, and the actuator controller 5 is used for controlling the actuator according to a formula Calculating to obtain input current I of exciting coil in extension regulating valve 6 at the ith sampling i And controls the output current of the third controllable constant current source circuit 40 to be I i Supply power to the exciting coil in the extension regulating valve 6 to make the damping force value output by the suspension actuator meet +.>
When the piston 25 moves downwards or upwards, the piston 25 drives the piston rod 9 to move downwards or upwards, the piston rod 9 drives the ball screw nut 15 to move downwards or upwards through the sleeve 13, the direct current brushless motor 17 rotates anticlockwise or rotates clockwise, the direct current brushless motor 17 works as a generator, the direct current brushless motor 17 generates induction alternating current, the induction alternating current is rectified into stable direct current through the rectifier 32, and the voltage output by the rectifier 32 is boosted to 15V through the DC-DC boosting module 35 and then is temporarily stored in the super capacitor 36; the actuator controller 5 judges whether the voltage value of the super capacitor 36 reaches a set voltage value of 15V according to the voltage value of the super capacitor 36 detected by the super capacitor voltage sensor 41, and when the voltage value of the super capacitor 36 reaches the set voltage value of 15V for starting to charge the storage battery 38, the actuator controller 5 controls the MOS switch trigger driving module 37 to be connected, and the voltage output by the super capacitor 36 charges the storage battery 38 after passing through the MOS switch trigger driving module 37; when the voltage value of the super capacitor 36 is smaller than the set voltage value 13V for stopping charging the battery pack 38, the actuator controller 5 controls the MOS switch to trigger the driving module 37 to be turned off, and the super capacitor 36 stops charging the battery pack 38.
In the working process of semi-actively controlling the suspension actuator by the actuator controller 5, the actuator controller 5 can adjust the input current of the exciting coil in the compression regulating valve 4 or the exciting coil in the extension regulating valve 6 in real time, so that the magnetic field with variable strength generated by the exciting coil in the compression regulating valve 4 or the exciting coil in the extension regulating valve 6 acts on magnetorheological fluid flowing through the compression regulating valve 4 or the extension regulating valve 6, the characteristics of the magnetorheological fluid are changed, the damping force generated by the magnetorheological fluid is adjusted in real time, and the damping force generated by the suspension actuator is adjusted in real time, thereby meeting the requirement of semi-actively controlling.
When the actuator controller performs semi-active control on the suspension actuator, the direct current brushless motor is used as an energy feedback device to recover certain vibration energy and generate certain electromagnetic damping force, and the generated electromagnetic damping force can act on the suspension system and interfere with the semi-active control effect of the suspension, but whenWhen the suspension actuator is required to be semi-actively controlled>Electromagnetic damping force F generated by brushless DC motor si In the same direction, so that the electromagnetic damping force F can be coordinated in the semi-active control mode si And->In relation to the electromagnetic damping force F si As a part of the semi-active control force, the invention designs and realizes the coordination control method, which can reduce the interference of electromagnetic damping force on the semi-active control of the suspension on one hand and reduce the input current of the exciting coil in the compression regulating valve or the exciting coil in the extension regulating valve on the other hand, thereby reducing the energy consumption of the semi-active control.
When the serial energy feedback type hybrid active suspension actuator is used, when the valve type magnetorheological damper mechanism is damaged, the ball screw actuator formed by the direct current brushless motor part can be utilized to realize the active control function; when the direct current brushless motor is damaged, a valve type magneto-rheological shock absorber mechanism can be utilized to realize the semi-active control function; therefore, the suspension actuator has high working reliability and can stably realize a better vibration reduction effect.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any simple modification, variation and equivalent structural changes made to the above embodiment according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.

Claims (8)

1. The control method of the serial energy-feedback type hybrid active suspension actuator comprises an actuator body and an actuator control system, wherein the actuator body comprises a valve type magnetorheological damper mechanism (31) and a power transmission mechanism, the valve type magnetorheological damper mechanism (31) comprises a liquid storage cylinder barrel (2), a working cylinder barrel (8) arranged in the liquid storage cylinder barrel (2) and a sealing end cover (12) connected to the top of the liquid storage cylinder barrel (2), the bottom of the working cylinder barrel (8) is fixedly connected with the bottom of the liquid storage cylinder barrel (2), a piston rod (9) with the upper part penetrating out of the sealing end cover (12) upwards is arranged in the working cylinder barrel (8), a piston (25) is fixedly connected to the bottom of the piston rod (9), a stretching adjusting valve (6) and a circulating valve (26) are arranged on the piston (25), and an inner cavity of the working cylinder barrel (8) is divided into a piston upper cavity positioned at the upper part of the piston (25) and a piston lower cavity positioned at the lower part of the piston (25); magnetorheological fluid is arranged in the space between the working cylinder barrel (8) and the liquid storage cylinder barrel (2) and in the upper cavity of the piston and the lower cavity of the piston; the hydraulic oil cylinder is characterized in that a compression regulating valve (4) and a compensating valve (27) are arranged at the bottom of the working cylinder barrel (8), a guide seat (10) used for sealing the working cylinder barrel (8) and sleeved on a piston rod (9) and used for guiding the up-and-down motion of the piston rod (9) is arranged at the top of the working cylinder barrel (8), and an oil seal (11) sleeved on the piston rod (9) is arranged in a space between the guide seat (10) and a sealing end cover (12); the power transmission mechanism comprises a motor mounting seat (19) and a direct current brushless motor (17) mounted on the motor mounting seat (19), a ball screw (14) is connected to an output shaft of the direct current brushless motor (17), a ball screw nut (15) is connected to the ball screw (14), a sleeve (13) sleeved on the ball screw (14) is fixedly connected to the bottom of the ball screw nut (15), and the top of the piston rod (9) is connected with the bottom of the sleeve (13); the top of the motor mounting seat (19) is fixedly connected with an upper lifting lug (18), and the bottom of the liquid storage cylinder barrel (2) is fixedly connected with a lower lifting lug (1);
The actuator control system comprises an actuator controller (5) and an electric energy storage circuit, wherein the input end of the actuator controller (5) is connected with a sprung mass speed sensor (20) for detecting the sprung mass speed in real time and a non-sprung mass speed sensor (24) for detecting the non-sprung mass speed in real time, and the electric energy storage circuit comprises a rectifier (32), a DC-DC boosting module (35), a super capacitor (36), a MOS switch triggering driving module (37) and a storage battery pack (38) which are connected in sequence; the output end of the storage battery pack (38) is connected with a first controllable constant current source circuit (39) for supplying power to the direct current brushless motor (17), a second controllable constant current source circuit (34) for supplying power to the exciting coil in the compression regulating valve (4) and a third controllable constant current source circuit (40) for supplying power to the exciting coil in the extension regulating valve (6), the direct current brushless motor (17) is connected with the output end of the first controllable constant current source circuit (39), the exciting coil in the compression regulating valve (4) is connected with the output end of the second controllable constant current source circuit (34), the exciting coil in the extension regulating valve (6) is connected with the output end of the third controllable constant current source circuit (40), the first controllable constant current source circuit (39), the second controllable constant current source circuit (34) and the third controllable constant current source circuit (40) are all connected with the output end of the actuator controller (5), and the output end of the actuator controller (5) is also connected with a motor driver (3) for driving the direct current brushless motor (17); the input end of the actuator controller (5) is also connected with a super capacitor voltage sensor (41) for detecting the output voltage of the super capacitor (36) in real time and a rectifier current sensor (33) for detecting the output current of the rectifier (32) in real time, and the MOS switch triggering driving module (37) is connected with the output end of the actuator controller (5); characterized in that the method comprises the following steps:
Step one, data acquisition and synchronous transmission: the sprung mass speed sensor (20) detects the sprung mass speed in real time and transmits the detected sprung mass speed to the actuator controller (5), the unsprung mass speed sensor (24) detects the unsprung mass speed in real time and transmits the detected unsprung mass speed to the actuator controller (5), the actuator controller (5) periodically samples the sprung mass speed signal and the unsprung mass speed signal and records the unsprung mass speed obtained by the ith sampling asThe sprung mass velocity obtained by the ith sample is denoted +.>Wherein, the value of i is a non-zero natural number;
step two, data analysis processing and control, the concrete process is:
step 201, actuator controller (5) calculatesIs of a size of (2);
step 202, the actuator controller (5) willComparing the calculated result of (2) with 0 in size whenWhen the suspension actuator is judged to be in an active working mode, the actuator controller (5) actively controls the suspension actuator; when->When the suspension actuator is judged to be in a semi-active working mode, the actuator controller (5) performs semi-active control on the suspension actuator;
The specific process of the actuator controller (5) for actively controlling the suspension actuator is as follows:
a1, an actuator controller (5) calculates a formula according to a ceiling control algorithmCalculating to obtain active control force F in ith sampling ti Wherein c sky Controlling a damping coefficient for the canopy;
step A2, an actuator controller (5) is used for controlling the actuator according to a formulaCalculating to obtain the input current I of the brushless DC motor (17) during the ith sampling i Wherein L is the lead of the ball screw (14), K t Is a torque constant of the DC brushless motor (17);
a3, an actuator controller (5) controls the output current of the first controllable constant current source circuit (39) to be I i Supplying power to the brushless DC motor (17); the specific working process is as follows: when the suspension actuator is in a compression motion state, the actuator controller (5) drives the direct current brushless motor (17) to rotate anticlockwise through the motor driver (3), the direct current brushless motor (17) drives the ball screw (14) to rotate anticlockwise, and the ball screw nut (15) drives the piston through the sleeve (13)The rod (9) moves downwards, the piston rod (9) drives the piston (25) to move downwards, the volume of a lower cavity of the piston is reduced, the magnetorheological fluid pressure in the lower cavity of the piston is increased, the circulation valve (26) is fully opened, the magnetorheological fluid in the lower cavity of the piston flows into an upper cavity of the piston through the circulation valve (26), part of the volume of the upper cavity of the piston is occupied by the piston rod (9), part of the magnetorheological fluid in the lower cavity of the piston flows into the liquid storage cylinder (2) through the compression regulating valve (4), and the compression regulating valve (4) has a certain pretightening force, so that the compression regulating valve (4) has a certain throttling effect to generate damping on the compression motion of the suspension, and the suspension actuator provides downward active control force and is transmitted to a vehicle body; when the suspension actuator is in an extension motion state, the actuator controller (5) drives the direct current brushless motor (17) to rotate clockwise through the motor driver (3), the direct current brushless motor (17) drives the ball screw (14) to rotate clockwise, the ball screw nut (15) drives the piston rod (9) to move upwards through the sleeve (13), the piston rod (9) drives the piston (25) to move upwards, the volume of an upper cavity of the piston is reduced, magnetorheological fluid in the upper cavity of the piston is increased, the magnetorheological fluid in the upper cavity of the piston flows into a lower cavity of the piston through the extension regulating valve (6), a part of the volume of the upper cavity of the piston is occupied by the piston rod (9), a certain vacuum is formed in the lower cavity of the piston, and part of the magnetorheological fluid in the liquid storage cylinder (2) flows into the lower cavity of the piston through the compensating valve (27) at the moment, and the extension regulating valve (6) has a certain pretightening force, so that the extension regulating valve (6) has a certain throttling effect, and active control on the extension motion of the suspension is generated, and the upward active control force is provided for the suspension is transmitted to a vehicle body;
The specific process of semi-actively controlling the suspension actuator by the actuator controller (5) is as follows:
step B1, a rectifier current sensor (33) detects the output current of the rectifier (32) in real time, the detected rectifier current is transmitted to an actuator controller (5), the actuator controller (5) periodically samples a rectifier current signal, and the rectifier current obtained by the ith sampling is recorded as I zi ；
Step B2, an actuator controller (5) is used for controlling the actuator according to the formulaCalculating to obtain electromagnetic damping force F generated by the brushless DC motor (17) during the ith sampling si ；
Step B3, the actuator controller (5) willAnd |F si Magnitude comparison is performed when +.>Not greater than |F si When I, semi-actively control force F bi Is equal to F in size si The actuator controller (5) does not control the second controllable constant current source circuit (31) to supply power to the exciting coil in the compression regulating valve (4), and does not control the third controllable constant current source circuit (40) to supply power to the exciting coil in the extension regulating valve (6);
when (when)Greater than |F si When I, semi-actively control force F bi Is provided by a valve type magneto-rheological shock absorber mechanism (31) and a DC brushless motor (17) simultaneously and is +>When the suspension actuator is in a compression motion state, the piston (25) moves downwards, the volume of the lower cavity of the piston is reduced, the magnetorheological fluid pressure in the lower cavity of the piston is increased, the circulation valve (26) is fully opened, the magnetorheological fluid in the lower cavity of the piston flows into the upper cavity of the piston through the circulation valve (26), and as the upper cavity of the piston is occupied by the piston rod (9) for a part of the volume, part of the magnetorheological fluid in the lower cavity of the piston flows into the liquid storage cylinder (2) through the compression regulating valve (4), and the actuator controller (5) flows into the liquid storage cylinder (2) according to the formula >Calculating to obtain the input current I of the exciting coil in the compression regulating valve (4) during the ith sampling i ' and controlling the output current of the second controllable constant current source circuit (31) to be I i ' the excitation coil in the compression regulating valve (4) is supplied with power, so that the damping force value output by the suspension actuator meets +.>When the suspension actuator is in a stretching motion state, the piston (25) moves upwards, the volume of the upper cavity of the piston is reduced, the magnetorheological fluid pressure in the upper cavity of the piston is increased, the magnetorheological fluid in the upper cavity of the piston flows into the lower cavity of the piston through the stretching adjusting valve (6), and a part of the volume of the upper cavity of the piston is occupied by the piston rod (9), the lower cavity of the piston can form a certain vacuum, at the moment, part of the magnetorheological fluid in the liquid storage cylinder (2) flows into the lower cavity of the piston through the compensating valve (27), and the actuator controller (5) flows into the lower cavity of the piston according to the formula>Calculating to obtain the input current I of the exciting coil in the extension regulating valve (6) at the ith sampling i And controls the output current of the third controllable constant current source circuit (40) to be I i Supply power to the exciting coil in the extension regulating valve (6) to make the damping force value output by the suspension actuator meet +.>
When the piston (25) moves downwards or upwards, the piston (25) drives the piston rod (9) to move downwards or upwards, the piston rod (9) drives the ball screw nut (15) to move downwards or upwards through the sleeve (13), the direct current brushless motor (17) rotates anticlockwise or rotates clockwise, the direct current brushless motor (17) works as a generator, the direct current brushless motor (17) generates induction alternating current, the induction alternating current is rectified into stable direct current through the rectifier (32), and the voltage output by the rectifier (32) is temporarily stored in the super capacitor (36) after being boosted by the DC-DC boosting module (35); the actuator controller (5) judges whether the voltage value of the super capacitor (36) reaches a set voltage value according to the voltage value of the super capacitor (36) detected by the super capacitor voltage sensor (41), and when the voltage value of the super capacitor (36) reaches the set voltage value for starting to charge the storage battery (38), the actuator controller (5) controls the MOS switch trigger driving module (37) to be connected, and the voltage output by the super capacitor (36) charges the storage battery (38) after passing through the MOS switch trigger driving module (37); when the voltage value of the super capacitor (36) is smaller than the set voltage value for stopping charging the storage battery (38), the actuator controller (5) controls the MOS switch to trigger the driving module (37) to be disconnected, and the super capacitor (36) stops charging the storage battery (38).
2. The control method of the series energy feedback type hybrid active suspension actuator according to claim 1, characterized in that: the piston rod is characterized in that a shaft shoulder for positioning the piston (25) is arranged on the outer wall of the lower end of the piston rod (9), the lower end face of the piston (25) is clamped on the shaft shoulder, and the piston rod (9) is connected with a piston fastening nut (7) which is positioned at the top of the piston (25) and used for fastening the piston (25).
3. The control method of the series energy feedback type hybrid active suspension actuator according to claim 1, characterized in that: the bottom of the working cylinder barrel (8) is fixedly connected with the bottom of the liquid storage cylinder barrel (2) through a stepped shaft (29), the stepped shaft (29) comprises a first stepped shaft part fixedly connected with the working cylinder barrel (8) and a second stepped shaft part fixedly connected with the liquid storage cylinder barrel (2), the first stepped shaft part and the second stepped shaft part are both provided with external threads, a threaded hole for being in threaded connection with the first stepped shaft part is formed in the center of the bottom of the working cylinder barrel (8), and the first stepped shaft part is connected with a working cylinder barrel fastening nut (28) which is positioned at the bottom of the working cylinder barrel (8) and used for fastening the working cylinder barrel (8); a threaded hole for being in threaded connection with the second step shaft part is formed in the bottom center position of the liquid storage cylinder barrel (2), and the second step shaft part is connected with a liquid storage cylinder barrel fastening nut (30) which is positioned at the bottom of the liquid storage cylinder barrel (2) and used for fastening the liquid storage cylinder barrel (2); external threads are arranged on the outer wall of the bottom of the stepped shaft (29), threaded holes are formed in the top surface of the lower lifting lug (1), and the lower lifting lug (1) is connected to the stepped shaft (29) in a threaded mode.
4. The control method of the series energy feedback type hybrid active suspension actuator according to claim 1, characterized in that: the ball screw (14) is connected to an output shaft of a DC brushless motor (17) through a connecting nut (16).
5. The control method of the series energy feedback type hybrid active suspension actuator according to claim 1, characterized in that: the top of piston rod (9) is provided with the external screw thread, the bottom central point department of sleeve (13) is provided with the screw hole that is used for connecting piston rod (9), the top of piston rod (9) is connected in the screw hole and is fastened through piston rod fastening nut (23).
6. The control method of the series energy feedback type hybrid active suspension actuator according to claim 1, characterized in that: the sealing end cover (12) is in threaded connection with the top of the liquid storage cylinder barrel (2), the direct current brushless motor (17) is installed on the motor installation seat (19) through the motor fixing bolt (21), and the sleeve (13) is fixedly connected with the bottom of the ball screw nut (15) through the sleeve fixing bolt (22).
7. The control method of the series energy feedback type hybrid active suspension actuator according to claim 1, characterized in that: the c sky The value of (2) is 2000 N.s/m.
8. The control method of the series energy feedback type hybrid active suspension actuator according to claim 1, characterized in that: the K is t The value of (C) is 0.082 N.m/A.
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