CN108357318A - A kind of intelligent preview control method for the suspension of emergency management and rescue vehicle - Google Patents
A kind of intelligent preview control method for the suspension of emergency management and rescue vehicle Download PDFInfo
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- CN108357318A CN108357318A CN201810083852.XA CN201810083852A CN108357318A CN 108357318 A CN108357318 A CN 108357318A CN 201810083852 A CN201810083852 A CN 201810083852A CN 108357318 A CN108357318 A CN 108357318A
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- vehicle
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- speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—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
- B60G17/019—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 the type of sensor or the arrangement thereof
Abstract
The invention discloses a kind of intelligent preview control methods for the suspension of emergency management and rescue vehicle.The detecting system includes that speed of vehicle detector, electronic control unit ECU, Chinese herbaceous peony take aim at sensor and acceleration transducer in advance.The method content is：Current vehicle travel speed is measured with speed of vehicle detector；Take aim at the information of road surface in certain distance in front of sensor measurement in advance with Chinese herbaceous peony；The acceleration information of front-wheel is measured with acceleration transducer；The current information measured is transferred to the preprocessing module in electronic control unit ECU, and calculates the velocity node v of active suspension Chinese herbaceous peony preview control permissionmax；Compare current vehicle travel speed and velocity node, electronic control unit ECU selections execute Chinese herbaceous peony and take aim at module or Interaxle" preview module in advance, form last control method；The present invention improves emergency management and rescue vehicle in high speed and control effect and preview control system stability when solving the problems, such as that its complex road surface is run at high speed when running at a low speed.
Description
Technical field
The invention belongs to vehicle hanging control fields, and in particular to a kind of intelligence for the suspension of emergency management and rescue vehicle is taken aim in advance
Control method.
Background technology
Emergency management and rescue vehicle loading capacity is big, travel speed is high, in the process of moving easily by severe road shocks.Therefore,
There is urgent demand to the suspension of superior performance.Current active controllable suspension is commonly used to improve the traveling smooth-going of vehicle
Property and control stability, exploitation performance stablize and widely applicable control method be always active suspension design key ask
Topic.
Because of the acquisition and transmission of signal, the factors such as the calculating of controller and the start process of actuator influence, suspension control
It is inevitably present time delay in system, causes the control for acting on structure to lag behind the requirement of real-time control, finally
Control effect is unsatisfactory and may cause control system unstability.
In recent years, preview control achieves remarkable result in terms of vehicle suspension system real-time control.Vehicle preview control
It is divided into Chinese herbaceous peony to take aim in advance and two kinds of Interaxle" preview.Chinese herbaceous peony takes aim at the special pre- front taken aim at measured by sensor installed with front part of vehicle in advance
The information that road condition is designed as suspension controller.Its control effect is influenced by system response time lag, and taking aim at the time in advance should be big
Take aim at the time shorter deterioration that may cause on control performance in advance when control system Hardware Response Delay time lag, high vehicle speeds, very
To causing the unstable of control system.Interaxle" preview is defeated as the road surface in trailing wheel future using the pavement displacement input signal of front-wheel
Enter signal.Its control system response time lag amount is small, is suitable for higher speed and hangs control requirement when driving, but only control trailing wheel shakes
Emotionally condition is difficult to be effectively improved vehicle ride performance and control stability on severe road surface.
Invention content
It is single to solve existing Active Suspensions preview control mode, emergency management and rescue vehicle is cannot be satisfied in high speed and low speed row
Reach the stability problem of preview control system when requesting for conciliation that certainly complex road surface is run at high speed of good control effect when sailing.
The present invention provides a kind of intelligent preview control method for the suspension of emergency management and rescue vehicle, has Chinese herbaceous peony preview control or between centers pre-
Take aim at control two ways.
The present invention in order to achieve the above objectives, adopts the following technical scheme that：
A kind of intelligent preview control method for the suspension of emergency management and rescue vehicle, the pre- detecting system for taking aim at method use
Sensor and acceleration transducer are taken aim in advance including speed of vehicle detector, electronic control unit ECU, Chinese herbaceous peony；
The speed of vehicle detector is for measuring emergency management and rescue vehicle current driving speed；
The electronic control unit ECU is used for control mode used by decision road surface ahead, according to speed of vehicle detector detection
The velocity node v that Vehicle Speed v is calculated with preprocessing modulemaxJudge control mode used by road surface ahead；The speed
Spend node vmaxThe maximum Vehicle Speed v namely allowedmax；The electronic control unit ECU includes preprocessing module, and Chinese herbaceous peony is pre-
Take aim at control module and Interaxle" preview control module；Used by the preprocessing module is electronic control unit ECU decision road surface aheads
Control mode provides velocity node, and specific method is according to current vehicle speed v and road surface ahead unevenness ztInformation calculates master
The maximum Vehicle Speed v that dynamic suspension Chinese herbaceous peony preview control allowsmax；The Chinese herbaceous peony takes aim at module according to Chinese herbaceous peony road surface in advance
Information controls vehicle suspension；The Interaxle" preview module controls Rear wheel suspension actuator according to front-wheel status information；
The Chinese herbaceous peony takes aim at sensor for the information of road surface in the certain distance of emergency management and rescue vehicle acquisition front, wherein wrapping in advance
It includes：The road roughness z of vehicle frontt, the preview distance L of vehicle；
The acceleration transducer is believed for measuring vehicle front-wheel acceleration information according to the state of acceleration calculation front-wheel
Breath.
This method content includes the following steps：
Step 1：Current vehicle travel speed v is measured with indoor speed of vehicle detector is driven；It is pre- with the Chinese herbaceous peony of front part of vehicle
The information of road surface in certain distance in front of sensor measurement is taken aim at, the road roughness z of vehicle front is includedtWith vehicle it is pre- take aim at away from
From L；The acceleration information of front-wheel is measured with the acceleration transducer of vehicle front-wheel；
Step 2：By the current vehicle travel speed v measured and road surface ahead unevenness ztInformation is transferred to electronic control unit
Preprocessing module in ECU, and calculate the velocity node v of active suspension Chinese herbaceous peony preview control permissionmax；
Step 3：The Chinese herbaceous peony preview control module information of road surface measured being transferred in electronic control unit ECU；By what is measured
Front-wheel acceleration information is transferred to the Interaxle" preview control module in electronic control unit ECU；
Step 4：Compare current vehicle travel speed v and velocity node vmax, electronic control unit ECU selection executes Chinese herbaceous peony and takes aim in advance
Module or Interaxle" preview module, form last control method；Current vehicle travel speed v is less than velocity node vmaxWhen, it is automatically controlled
Unit ECU executes Chinese herbaceous peony preview control module；The information of road surface for taking aim at sensor measurement in advance according to Chinese herbaceous peony calculates preview control instruction,
And control signal is sent respectively into corresponding Active Suspensions executing agency；Current vehicle travel speed v is more than velocity node vmax
When, electronic control unit ECU executes Interaxle" preview control module；The front-wheel status information calculating measured according to acceleration transducer is taken aim in advance
Control instruction, and control signal is sent respectively into corresponding Active Suspensions executing agency.
The present invention has the advantages that compared with prior art：
(1) Chinese herbaceous peony is executed when Vehicle Speed is less than velocity node and take aim at module in advance, when Vehicle Speed is more than speed
Interaxle" preview module is executed when spending node, the respective advantage of Chinese herbaceous peony preview control and Interaxle" preview control is combined, to make to hang
Extension system obtains good control effect, and switching of the method in low speed, High-speed Control in high speed with when running at a low speed
It is continuous；Emergency management and rescue vehicle is improved in high speed and control effect and solves its complex road surface and runs at high speed when running at a low speed
When preview control system stability the problem of.
(2) suspension control method proposed by the present invention combines Chinese herbaceous peony preview control and Interaxle" preview control.Chinese herbaceous peony is taken aim in advance
Control effect when severe road surface is run at a low speed is preferable, and when running at high speed, effect is bad；Interaxle" preview is controlled in good road surface
Effect is preferable when running at high speed, and on severe road, effect is bad when driving.The velocity node of high low speed boundary by control system most
It is big that time lag is allowed to determine, therefore control method proposed by the present invention can significantly increase suspension control when complex road surface is run at high speed
The stability of system processed reaches good control effect.
(3) stability of control system proposed by the present invention is high, and real-time is good, and control method is simple and practicable, widely applicable, easily
In realization and promote.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the schematic diagram of half active vehicle suspension system；
Fig. 3 is the flow diagram of the method for the present invention；
Fig. 4 is the schematic diagram of a quarter active vehicle suspension system.
Specific implementation mode
The specific implementation mode of the method for the present invention is described further below in conjunction with the accompanying drawings：
To improve emergency management and rescue vehicle in high speed and control effect and solving its complex road surface and run at high speed when running at a low speed
When preview control system stability the problem of.The present invention provides a kind of intelligent preview control side for the suspension of emergency management and rescue vehicle
Method.
The detecting system that the method for the present invention uses, as shown in Figure 1, taking aim at sensor 1 in advance including Chinese herbaceous peony, speed of vehicle detector 2 adds
Velocity sensor 3 and electronic control unit ECU4.Wherein, Chinese herbaceous peony is taken aim at sensor 1 and is installed with rational setting angle and mounting height in advance
Road roughness z in front part of vehicle, acquisition front certain distance Lt；Speed of vehicle detector 2 is mounted in vehicle drive room；Add
Velocity sensor 3 is fixed by welding in Vehicle Active Suspension actuator；Electronic control unit ECU4 is mounted in vehicle drive room,
Including preprocessing module, Chinese herbaceous peony preview control module and Interaxle" preview control module.
The speed of vehicle detector is for measuring emergency management and rescue vehicle current driving speed；
The electronic control unit ECU is used for control mode used by decision road surface ahead, according to the traveling of speed of vehicle detector
The velocity node v that speed v is calculated with preprocessing modulemaxJudge control mode used by road surface ahead；The velocity node
vmaxJust it is allowed maximum Vehicle Speed vmax；The electronic control unit ECU includes：Preprocessing module, Chinese herbaceous peony preview control
Module and Interaxle" preview control module；
The preprocessing module provides velocity node for control mode used by electronic control unit ECU decision road surface aheads,
Specific method is according to current vehicle speed v and road surface ahead unevenness ztInformation calculates active suspension Chinese herbaceous peony preview control
The maximum Vehicle Speed v of permissionmax, i.e. velocity node vmax；
The Chinese herbaceous peony takes aim at module and controls vehicle suspension according to Chinese herbaceous peony information of road surface in advance；
The Interaxle" preview module controls Rear wheel suspension actuator according to front-wheel status information；
The Chinese herbaceous peony takes aim at sensor for the information of road surface in the certain distance of emergency management and rescue vehicle acquisition front, wherein wrapping in advance
It includes：The road roughness z of vehicle fronttWith the preview distance L of vehicle；
The acceleration transducer is believed for measuring vehicle front-wheel acceleration information according to the state of acceleration calculation front-wheel
Breath.
As shown in Figure 2：Typical half active vehicle suspension system model, wherein M indicate half vehicle body quality, I
Indicate that half vehicle vehicle body rotary inertia, θ indicate the pitch angle at vehicle body barycenter, ZMFor barycenter vertical displacement, dfAnd drRespectively vehicle body
Barycenter is to the distance of axle, mfAnd mrThe nonspring carried mass of axle, k are indicated respectivelysfAnd ksrRespectively forward and backward suspension subtracts
Shake the stiffness coefficient of spring, csfAnd csrRespectively forward and backward suspension damped coefficient, ufAnd urRespectively front and rear suspension actuator inputs
Power, ktfAnd ktrThe stiffness coefficient of respectively forward and backward tire.ztTake aim at the road surface ahead unevenness of sensor measurement in advance for Chinese herbaceous peony, L is
Chinese herbaceous peony preview distance.
The metrical information that the method for the present invention takes aim at sensor using speed of vehicle detector and Chinese herbaceous peony in advance is built about control system
Displacement and velocity feedback gain matrix, and further according to Nyquist stability criterions, calculating control system allows most
Large dead time tmax, so that it is determined that the velocity node v in electronic control unit ECUmax.The road roughness z that will be measuredtInformation is transferred to electricity
Control the Chinese herbaceous peony preview control module in unit ECU；The between centers front-wheel acceleration information of measurement being transferred in electronic control unit ECU
Preview control module.Compare current vehicle travel speed v and velocity node vmax, electronic control unit ECU selection executes Chinese herbaceous peony and takes aim at mould in advance
Block or Interaxle" preview module, form last control method.Flow diagram as shown in Figure 3, the method for the present invention it is detailed in
Hold as follows:
Step 1：Current vehicle travel speed v is measured with indoor speed of vehicle detector is driven；It is pre- with the Chinese herbaceous peony of front part of vehicle
The information of road surface in certain distance in front of sensor measurement is taken aim at, the road roughness z of vehicle front is includedtWith vehicle it is pre- take aim at away from
From L；The acceleration information of front-wheel is measured with the acceleration transducer of vehicle front-wheel；
Step 2：By the current vehicle travel speed v measured and road surface ahead unevenness ztInformation is transferred to electronic control unit
Preprocessing module in ECU, and calculate the velocity node v of active suspension Chinese herbaceous peony preview control permissionmax；
By control system characteristic, the maximum time lag amount that vehicle allows can be calculated by a quarter vehicle suspension system.
As shown in figure 4, establishing a quarter active vehicle suspension system kinetics equation：
Wherein, mbFor spring carried mass, mwFor nonspring carried mass, csFor shock absorber damping, ksFor spring rate, ktFor wheel
Tire rigidity, xbFor vehicle body vertical displacement, xwFor tire vertical displacement, y is the unevenness function on road surface, ufFor the control of actuator
Power.
Modal coordinate transformation is implemented to above formula kinetics equation, is enabled
X (t)=α D (t) (3)
Wherein, α=[α1,α2] it is second order formation matrix, D (t) is 2x1 ranks modal coordinate vector.
Equation (3) is substituted into equation (1), (2) and is arranged through appropriate, obtains decoupling equation：
Wherein ζiAnd ωiIt is the frequency and damped coefficient of the i-th rank mode, u respectivelyi(t) be the i-th rank mode control force.
Wherein G1And G2Respectively displacement and velocity feedback gain matrix, by the current vehicle travel speed measured in step 1
V and road surface ahead unevenness ztIt is calculated.
Write equation (4) as state equation：
zi(t)=Aizi(t)+Biui(t) (6)
Take object function：
Wherein
Control force can be acquired with LQR control principles：
Wherein：And meet Riccati matrix equations：
According to Nyquist stability criterions, the maximum time lag t of control system permissiondiMeet：
It is obtained through suitably arranging operation：
The maximum allowable time lag t of time lag modal control systemmaxFor each maximum allowable time lag t of control modedi(i=1's, 2)
Minimum value：
tmax=Min { td1 td2}。
To ensure that control effect and its system stability, the maximum that Chinese herbaceous peony preview control time t should be greater than control system permit
Perhaps time lag tmax, i.e. t ＞ tmax。
The preview distance that Chinese herbaceous peony takes aim at sensor in advance is L, then has the maximum Vehicle Speed that Chinese herbaceous peony preview control allows
vmax, i.e.,
The maximum Vehicle Speed v that Chinese herbaceous peony preview control is allowedmaxIt is defined as velocity node.
Step 3：The Chinese herbaceous peony preview control module information of road surface measured being transferred in electronic control unit ECU；By what is measured
Front-wheel acceleration information is transferred to the Interaxle" preview control module in electronic control unit ECU；
Step 4：Compare current vehicle travel speed v and velocity node vmax, electronic control unit ECU selection executes Chinese herbaceous peony and takes aim in advance
Module or Interaxle" preview module, form last control method.
V when current vehicle travel speed v is less than velocity nodemax, electronic control unit ECU execution Chinese herbaceous peony preview control modules.
Taken aim in advance according to Chinese herbaceous peony sensor measurement information of road surface calculate preview control instruction, and will control signal send respectively to
In corresponding Active Suspensions executing agency.
Classical Chinese herbaceous peony preview control control system when running at a low speed is with good stability.But it is running at high speed
When control the effect is unsatisfactory, thereby increases and it is possible to cause control system unstability.
V when current vehicle travel speed v is more than velocity nodemax, electronic control unit ECU execution Interaxle" preview control modules.
Preview control instruction is calculated according to the front-wheel status information that acceleration transducer measures, and control signal is sent respectively
Into corresponding Active Suspensions executing agency.
The control gains of classical Interaxle" preview control system are much smaller than Chinese herbaceous peony preview control system, therefore are suitable for higher vehicle
Fast driving requirements, but trailing wheel Vibration Condition is only controlled, it is difficult to be effectively improved vehicle ride performance and manipulate steady on severe road surface
It is qualitative.
Claims (1)
1. a kind of intelligent preview control method for the suspension of emergency management and rescue vehicle, the pre- detecting system packet for taking aim at method use
It includes speed of vehicle detector, electronic control unit ECU, Chinese herbaceous peony and takes aim at sensor and acceleration transducer in advance；
The speed of vehicle detector is for measuring emergency management and rescue vehicle current driving speed；
The electronic control unit ECU is used for control mode used by decision road surface ahead, the vehicle detected according to speed of vehicle detector
The velocity node v that travel speed v is calculated with preprocessing modulemaxJudge control mode used by road surface ahead；The speed section
Point vmaxThe maximum Vehicle Speed v namely allowedmax；The electronic control unit ECU includes preprocessing module, and Chinese herbaceous peony takes aim at control in advance
Molding block and Interaxle" preview control module；The preprocessing module is control used by electronic control unit ECU decisions road surface ahead
Mode provides velocity node, and specific method is according to current vehicle speed v and road surface ahead unevenness ztInformation calculates actively outstanding
The maximum Vehicle Speed v that extension system Chinese herbaceous peony preview control allowsmax；The Chinese herbaceous peony takes aim at module according to Chinese herbaceous peony information of road surface in advance
Control vehicle suspension；The Interaxle" preview module controls Rear wheel suspension actuator according to front-wheel status information；
The Chinese herbaceous peony takes aim at the information of road surface that sensor is used in the certain distance of emergency management and rescue vehicle acquisition front in advance, including：
The road roughness z of vehicle frontt, the preview distance L of vehicle；
The acceleration transducer is for measuring vehicle front-wheel acceleration information, according to the status information of acceleration calculation front-wheel.
It is characterized in that：This method content includes the following steps：
Step 1：Current vehicle travel speed v is measured with indoor speed of vehicle detector is driven；Biography is taken aim in advance with the Chinese herbaceous peony of front part of vehicle
Sensor measures the information of road surface in the certain distance of front, includes the road roughness z of vehicle fronttWith the preview distance L of vehicle；
The acceleration information of front-wheel is measured with the acceleration transducer of vehicle front-wheel；
Step 2：By the current vehicle travel speed v measured and road surface ahead unevenness ztInformation is transferred in electronic control unit ECU
Preprocessing module, and calculate the velocity node v of active suspension Chinese herbaceous peony preview control permissionmax；
Step 3：The Chinese herbaceous peony preview control module information of road surface measured being transferred in electronic control unit ECU；The front-wheel that will be measured
Acceleration information is transferred to the Interaxle" preview control module in electronic control unit ECU；
Step 4：Compare current vehicle travel speed v and velocity node vmax, electronic control unit ECU selection executes Chinese herbaceous peony and takes aim at module in advance
Or Interaxle" preview module, form last control method；Current vehicle travel speed v is less than velocity node vmaxWhen, electronic control unit
ECU executes Chinese herbaceous peony preview control module；The information of road surface for taking aim at sensor measurement in advance according to Chinese herbaceous peony calculates preview control instruction, and will
Control signal is sent respectively into corresponding Active Suspensions executing agency；Current vehicle travel speed v is more than velocity node vmaxWhen,
Electronic control unit ECU executes Interaxle" preview control module；The front-wheel status information calculating measured according to acceleration transducer takes aim at control in advance
System instruction, and control signal is sent respectively into corresponding Active Suspensions executing agency.
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| CN113183709A (en) * | 2021-06-04 | 2021-07-30 | 合肥工业大学 | Automobile electric control suspension pre-aiming control method |
| CN113352831A (en) * | 2020-03-04 | 2021-09-07 | 丰田自动车株式会社 | Preview damping control device for vehicle and method for controlling preview damping of vehicle |
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| CN108357318B (en) | 2021-05-28 |
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