CN108839532B - 一种四角互联空气悬架的互联状态控制方法 - Google Patents

一种四角互联空气悬架的互联状态控制方法 Download PDF

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CN108839532B
CN108839532B CN201810657806.6A CN201810657806A CN108839532B CN 108839532 B CN108839532 B CN 108839532B CN 201810657806 A CN201810657806 A CN 201810657806A CN 108839532 B CN108839532 B CN 108839532B
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ecu
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CN108839532A (zh
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江洪
张潇
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Jiangyin Intellectual Property Operation Co., Ltd
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Jiangsu University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152—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 action on a particular type of suspension unit
    • B60G17/0155—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 action on a particular type of suspension unit pneumatic unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0164—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during accelerating or braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/052—Pneumatic spring characteristics
    • B60G17/0523—Regulating distributors or valves for pneumatic springs
    • B60G17/0528—Pressure regulating or air filling valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/052—Angular rate
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/204—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/40—Steering conditions
    • B60G2400/41—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/20—Stationary vehicle

Abstract

本发明公开车辆空气悬架控制技术中的一种四角互联空气悬架的互联状态控制方法，ECU根据前轴左空气弹簧气压、前轴右空气弹簧气压和车身侧倾角生成前轴横向互联开启信号、根据后轴左空气弹簧气压、后轴右空气弹簧气压和车身侧倾角，生成后轴横向互联信号、根据前轴左空气弹簧气压、后轴左空气弹簧气压和车身俯仰角生成左侧纵向互联信号、根据前轴右空气弹簧气压、后轴右空气弹簧气压和车身俯仰角生成右侧纵向互联信号；根据同轴或同侧空气弹簧气压差和车身侧倾角或俯仰角乘积为判断条件，合理控制四角互联空气悬架互联状态，提高车辆在不良路面下的行驶平顺性，不影响车辆在高速转弯和车辆加减速时的操纵稳定性。

Description

一种四角互联空气悬架的互联状态控制方法
技术领域
本发明涉及车辆的空气悬架控制技术，具体涉及一种四角互联空气悬架的互联状态控制方法。
背景技术
空气悬架具有优良的隔振特性及高度可调的特点，在车辆领域的应用日益广泛。互联空气悬架是传统空气悬架的一种衍生结构，它将传统空气悬架中相邻两空气弹簧用气动管路连接起来。互联悬架根据管路连接方式的不同可分为：横向互联、纵向互联和四角互联等形式。横向互联是将同一车轴上左右空气弹簧相连，纵向互联是将同侧前后空气弹簧相连，四角互联是将同轴或同侧相邻的空气弹簧相连，在互联管路上设有电磁阀。
互联空气悬架都是以降低车辆操纵稳定性以提升行驶平顺性。四角互联管路开启，会降低车辆的抗侧倾特性和抗俯仰特性。当车辆转弯或加减速时，其操纵稳定性会降低。因此需依赖合理的控制策略控制互联状态的开启与关闭，开关相应电磁阀，切换空气悬架互联模式，缓和操纵稳定性与行驶平顺性的矛盾。
关于互联空气悬架的控制方法较多，但较多地集中在横向互联空气悬架的控制或互联和阻尼联合控制。中国专利公开号为CN104786772A的文献中提出了互联式空气悬架控制装置、控制系统及其方法，它的硬件包括空气悬架系统、空气弹簧减振器、互联式空气悬架控制系统，该控制方法根据车辆行驶速度、油门踏板行程、制动踏板行程、方向盘转角等信息，判断车辆的起步、制动、直线行驶、转弯等工况，并决策出悬架的互联模式，但该控制系统将空气弹簧和减振器组合在了一起，不适用在常见的空气弹簧和减振器分离的空气悬架系统，且该互联的纵向互联管路仅限于空气弹簧和减振器之间的互联，空气弹簧间的互联仅有横向互联。中国专利公开号为CN105857007A的文献中提出了一种复合式互联空气悬架及其互联模式控制方法，该复合式互联空气悬架由四个空气弹簧，两条横向互联管路，两条纵向互联管路，两条对角互联管路和设置在管路中间的互联电磁阀组成，互联控制方法根据转向盘转角、车速和加速度绝对值跟设置的相应阈值作比较，判断当前互联模式，然而，该控制方法未考虑到这种车辆上下坡和直线行驶在有一定坡度路面的情况，因此，当车辆直线上坡行驶时，如果转向盘转角、车速和加速度绝对值均在设置的阈值范围内，四角互联将开启，当车辆上坡时，由于轴荷的转移，后轴轴荷增大，前轴载荷减小，当互联开启，后轴空气弹簧气压升高，后轴空气弹簧空气流向前轴，前后空气弹簧气压趋于相同，车辆抗仰头力矩减小，增大了车辆的仰头；同理，当车辆在下坡时，互联将加剧车辆的点头；类似的，根据该控制方法，当车辆在有一定坡度的路面直线行驶时，如果转向盘转角、车速和加速度绝对值在设置的阈值范围内，四角互联状态开启，将加剧车身的侧倾，且该阈值设置对控制效果影响较大，如果人为设置阈值参数会达不到预期效果，如果采用寻优方法获取参数则会耗费较多的时间和滞后，且该阈值参数的可移植性较差。
发明内容
本发明的目的是针对上述车辆互联空气悬架的互联状态控制技术的不足，提出一种面向常见的互联空气悬架车身姿态稳定的四角互联空气悬架的互联状态控制方法，控制所得互联状态既能满足车辆在直线行驶、转弯和加减速工况下的互联控制要求，又能满足车辆直线行驶在有一定坡度的路面和上下坡工况的互联控制要求，较大程度上缓和车辆转弯工况和加减速工况的操纵稳定性和行驶平顺性的矛盾。
本发明一种四角互联空气悬架的互联状态控制方法采用的技术方案是：ECU根据前轴左空气弹簧气压Pfl、前轴右空气弹簧气压Pfr和车身侧倾角θ生成前轴横向互联开启信号、根据后轴左空气弹簧气压Prl、后轴右空气弹簧气压Prr和车身侧倾角θ，生成后轴横向互联信号、根据前轴左空气弹簧气压Pfl、后轴左空气弹簧气压Prl和车身俯仰角
Figure BDA0001705962120000025
生成左侧纵向互联信号、根据前轴右空气弹簧气压Pfr、后轴右空气弹簧气压Prr和车身俯仰角
Figure BDA0001705962120000026
生成右侧纵向互联信号。
当(Pfl-Pfr)θ>0，ECU生成前轴横向互联开启信号，当(Pfl-Pfr)θ≤0，ECU生成前轴横向互联关闭信号；当(Prl-Prr)θ>0，ECU生成后轴横向互联开启信号，当(Prl-Prr)θ≤0，ECU生成后轴横向互联关闭信号；当
Figure BDA0001705962120000021
ECU生成左侧纵向互联开启信号，当
Figure BDA0001705962120000022
ECU生成左侧纵向互联关闭信号；当
Figure BDA0001705962120000023
ECU生成右侧纵向互联开启信号，当
Figure BDA0001705962120000024
ECU生成右侧纵向互联关闭信号。
进一步地，在车辆行车过程中，采用四个气压传感器qi分别采集前轴左、前轴右、后轴左、后轴右空气弹簧气压Pfl、Pfr、Prl、Prr信息，采用陀螺仪采集车身侧倾角速度信息和俯仰角速度信息，四个气压传感器qi和陀螺仪通过信号传输线将这些信息实时发送至ECU。
更进一步地，ECU将车身侧倾角速度信息和俯仰角速度信息分别积分计算，得到车身侧倾角θ和车身俯仰角
Figure BDA0001705962120000031
本发明采用上述技术方案后的有益效果为：本发明所需参数为悬架各空气弹簧的气压和车身侧倾角、俯仰角，根据同轴或同侧空气弹簧气压差和车身侧倾角或俯仰角乘积为判断条件，通过合理控制四角互联空气悬架互联状态，一方面可提高车辆在不良路面下的行驶平顺性，另一方面不影响车辆在高速转弯和车辆加减速时的操纵稳定性，从而缓和了四角互联空气悬架行驶平顺性与操纵稳定性的矛盾。且本发明控制方法所需控制公式无须设置阈值参数，可移植性较强。为四角互联空气悬架在车辆中的应用提供参考。
附图说明
下面结合附图和具体实施方式对本发明作进一步详细说明：
图1为四角互联空气悬架的互联状态控制系统的结构框图；
图2为基于图1所示的控制系统，本发明所述的一种四角互联空气悬架的互联状态控制方法的流程图。
具体实施方式
如图1所示，四角互联空气悬架的互联状态控制系统由电源系统、四个气压传感器qi，陀螺仪、ECU、四个互联状态控制驱动模块和四个互联电磁阀fi组成，其中，i＝1，2，3，4。
电源系统通过电源线分别对气四个压传感器qi、陀螺仪、ECU和四个互联状态控制驱动模块供电。
四个气压传感器qi分别安装在靠近车辆四个空气弹簧的横梁表面，分别用于采集前轴左、前轴右、后轴左、后轴右空气弹簧气压Pfl、Pfr、Prl、Prr信息。四个气压传感器qi的输出端通过信号传输线连接至ECU的输入端，通过传输线将空气弹簧气压Pfl、Pfr、Prl、Prr信息发送给ECU。
陀螺仪安装于车身质心处，用于采集车身侧倾角速度信息和俯仰角速度信息，陀螺仪的输出端通过信号传输线连接ECU的输入端，将车身侧倾角速度信息和俯仰角速度信息发送给ECU。
ECU内部集成了互联状态控制算法，ECU接收各空气弹簧气压Pfl、Pfr、Prl、Prr信息和车身侧倾角速度信息、俯仰角速度信息，并将车身侧倾角速度信息和俯仰角速度信息分别积分计算，得到了车身侧倾角θ和车身俯仰角
Figure BDA0001705962120000032
ECU以互联状态控制信号为输出。ECU的信号输出线分别连接四个互联状态控制驱动模块，分别向对应的四个互联状态控制驱动模块输出高电平信号或低电平信号。
四个互联状态控制驱动模块的输出端通过信号线分别连接对应的四个互联电磁阀fi，四个互联电磁阀fi分别位于连接空气弹簧的互联管路之间。四个互联状态控制驱动模块接收来自ECU的高电平信号或低电平信号，若互联状态控制驱动模块接收的高电平信号，则给对应的互联电磁阀通电，令其开启；若互联状态控制驱动模块接收的是低电平信号，则给对应的互联电磁阀断电，令其关闭。
再参见图2，本发明所述的一种四角互联空气悬架的互联状态控制方法具体如下：
步骤一：车辆在行车过程中进行行驶工况信息采集。四个气压传感器qi分别采集前轴左、前轴右、后轴左、后轴右空气弹簧气压Pfl、Pfr、Prl、Prr信息，陀螺仪采集车身侧倾角速度信息和俯仰角速度信息，四个气压传感器qi和陀螺仪通过信号传输线将这些信息实时发送至ECU。
步骤二：ECU接收前左、前右、后左、后右空气弹簧气压Pfl、Pfr、Prl、Prr信息和车身侧倾角速度信息、俯仰角速度信息后，将车身侧倾角速度信息和俯仰角速度信息分别积分计算，得到车身侧倾角θ和车身俯仰角
Figure BDA0001705962120000041
步骤三：ECU根据互联状态控制算法，判断当前工况下各互联管路最佳互联状态。
ECU根据前轴左空气弹簧气压Pfl、前轴右空气弹簧气压Pfr和车身侧倾角θ生成前轴横向互联开启信号。当(Pfl-Pfr)θ>0，ECU生成前轴横向互联开启信号；当(Pfl-Pfr)θ≤0，ECU生成前轴横向互联关闭信号。即当前轴空气弹簧提供的侧倾力矩方向与车身侧倾方向相同，互联开启可减小空气弹簧的侧倾力矩，不加剧车身的侧倾；当前轴空气弹簧提供的侧倾力矩方向与车身侧倾方向相反，关闭互联可增大空气弹簧抗侧倾力矩，抑制车身的侧倾。
ECU根据后轴左空气弹簧气压Prl、后轴右空气弹簧气压Prr和车身侧倾角θ，生成后轴横向互联信号。当(Prl-Prr)θ>0，ECU生成后轴横向互联开启信号；当(Prl-Prr)θ≤0，ECU生成后轴横向互联关闭信号。原理与前轴互联控制方法相似。
ECU根据前轴左空气弹簧气压Pfl、后轴左空气弹簧气压Prl和车身俯仰角
Figure BDA0001705962120000042
生成左侧纵向互联信号。当
Figure BDA0001705962120000043
ECU生成左侧纵向互联开启信号；当
Figure BDA0001705962120000044
ECU生成左侧纵向互联关闭信号。原理与前轴互联控制方法相似。
ECU根据前轴右空气弹簧气压Pfr、后轴右空气弹簧气压Prr和车身俯仰角
Figure BDA0001705962120000051
生成右侧纵向互联信号。当
Figure BDA0001705962120000052
ECU生成右侧纵向互联开启信号；当
Figure BDA0001705962120000053
ECU生成右侧纵向互联关闭信号。原理与前轴互联控制方法相似。
步骤四：ECU向各互联状态控制模块发送控制信息，若ECU判断结果为“互联”，ECU向对应互联状态驱动模块输出高电平信号；若判断结果为“非互联”，ECU向对应互联状态驱动模块输出低电平信号。
当ECU生成前轴横向互联开启信号时，则向前轴横向互联管路互联状态控制驱动模块发送高电平信号；当ECU生成前轴横向互联关闭信号时，则向前轴横向互联管路互联状态控制驱动模块发送低电平信号。
当ECU生成后轴横向互联开启信号，则向后轴横向互联管路互联状态控制驱动模块发送高电平信号；当ECU生成后轴横向互联关闭信号，则向后轴横向互联管路互联状态控制驱动模块发送低电平信号。
当ECU生成左侧纵向互联开启信号，则向左侧纵向互联管路互联状态控制驱动模块发送高电平信号；当ECU生成左侧纵向互联关闭信号，则向左侧纵向互联管路互联状态控制驱动模块发送低电平信号。
当ECU生成右侧纵向互联开启信号，则向右侧纵向互联管路互联状态控制驱动模块发送高电平信号；ECU生成右侧纵向互联关闭信号，则向右侧纵向互联管路互联状态控制驱动模块发送低电平信号。
步骤五：互联电磁阀执行互联状态控制。
当前轴横向互联管路互联状态控制驱动模块接收高电平信号，则向电磁阀f1供电，前轴横向互联开启；前轴横向互联管路互联状态控制驱动模块接收低电平信号，则不向电磁阀f1供电，前轴横向互联关闭。
当后轴横向互联管路互联状态控制驱动模块接收高电平信号，则向电磁阀f2供电，后轴横向互联开启；后轴横向互联管路互联状态控制驱动模块接收低电平信号，则不向电磁阀f2供电，后轴横向互联关闭。
当左侧纵向互联管路互联状态控制驱动模块接收高电平信号，则向电磁阀f3供电，左侧纵向互联开启；当左侧纵向互联管路互联状态控制驱动模块接收低电平信号，则不向电磁阀f3供电，左侧纵向互联关闭。
当右侧纵向互联管路互联状态控制驱动模块接收高电平信号，则向电磁阀f4供电，右侧纵向互联开启；当右侧纵向互联管路互联状态控制驱动模块接收低电平信号，则不向电磁阀f4供电，右侧纵向互联关闭。

Claims (5)

1.一种四角互联空气悬架的互联状态控制方法，其特征是：ECU根据前轴左空气弹簧气压Pfl、前轴右空气弹簧气压Pfr和车身侧倾角θ生成前轴横向互联开启信号、根据后轴左空气弹簧气压Prl、后轴右空气弹簧气压Prr和车身侧倾角θ，生成后轴横向互联信号、根据前轴左空气弹簧气压Pfl、后轴左空气弹簧气压Prl和车身俯仰角
Figure FDA0002841898480000011
生成左侧纵向互联信号、根据前轴右空气弹簧气压Pfr、后轴右空气弹簧气压Prr和车身俯仰角
Figure FDA0002841898480000012
生成右侧纵向互联信号；
当(Pfl-Pfr)θ>0，ECU生成前轴横向互联开启信号，当(Pfl-Pfr)θ≤0，ECU生成前轴横向互联关闭信号；
当(Prl-Prr)θ>0，ECU生成后轴横向互联开启信号，当(Prl-Prr)θ≤0，ECU生成后轴横向互联关闭信号；
当
Figure FDA0002841898480000013
ECU生成左侧纵向互联开启信号，当
Figure FDA0002841898480000014
ECU生成左侧纵向互联关闭信号；
当
Figure FDA0002841898480000015
ECU生成右侧纵向互联开启信号，当
Figure FDA0002841898480000016
ECU生成右侧纵向互联关闭信号。
2.根据权利要求1所述的一种四角互联空气悬架的互联状态控制方法，其特征是：在车辆行车过程中，采用四个气压传感器qi分别采集前轴左、前轴右、后轴左、后轴右空气弹簧气压Pfl、Pfr、Prl、Prr信息，采用陀螺仪采集车身侧倾角速度信息和俯仰角速度信息，四个气压传感器qi和陀螺仪通过信号传输线将这些信息实时发送至ECU。
3.根据权利要求2所述的一种四角互联空气悬架的互联状态控制方法，其特征是：ECU将车身侧倾角速度信息和俯仰角速度信息分别积分计算，得到车身侧倾角θ和车身俯仰角
Figure FDA0002841898480000017
4.根据权利要求1所述的一种四角互联空气悬架的互联状态控制方法，其特征是：当ECU生成开启信号时，向对应的互联状态控制驱动模块发送高电平信号，当ECU生成关闭信号时，向对应的互联状态控制驱动模块发送低电平信号。
5.根据权利要求4所述的一种四角互联空气悬架的互联状态控制方法，其特征是：当互联状态控制驱动模块接收高电平信号时，则向对应的电磁阀供电，开启该电磁阀；当互联状态控制驱动模块接收低电平信号时，则不向对应的电磁阀供电，关闭该电磁阀。
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