CN109505914B - Variable-rigidity variable-damping semi-active suspension - Google Patents
Variable-rigidity variable-damping semi-active suspension Download PDFInfo
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- CN109505914B CN109505914B CN201811590284.9A CN201811590284A CN109505914B CN 109505914 B CN109505914 B CN 109505914B CN 201811590284 A CN201811590284 A CN 201811590284A CN 109505914 B CN109505914 B CN 109505914B
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- 238000013016 damping Methods 0.000 title claims abstract description 65
- 239000000725 suspension Substances 0.000 title claims abstract description 29
- 230000001133 acceleration Effects 0.000 claims description 41
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 description 3
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/005—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper
- F16F13/007—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper the damper being a fluid damper
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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
- B60G17/018—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 use of a specific signal treatment or control method
-
- 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
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
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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
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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
- F16F2224/00—Materials; Material properties
- F16F2224/04—Fluids
- F16F2224/045—Fluids magnetorheological
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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
- F16F2228/00—Functional characteristics, e.g. variability, frequency-dependence
- F16F2228/06—Stiffness
- F16F2228/066—Variable stiffness
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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
- F16F2230/00—Purpose; Design features
- F16F2230/18—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides a variable-rigidity variable-damping semi-active suspension, which comprises a main magneto-rheological damper, an auxiliary magneto-rheological damper, a main spring and an auxiliary spring, wherein the main magneto-rheological damper is connected with the auxiliary magneto-rheological damper; the main magnetic rheological damper and the main spring are connected in parallel, the auxiliary magnetic rheological damper and the auxiliary spring are connected in parallel, the main magnetic rheological damper and the auxiliary magnetic rheological damper are coaxially connected in series, and the main spring and the auxiliary spring are coaxially connected in series.
Description
Technical Field
The invention relates to an automobile part, in particular to a variable-rigidity variable-damping semi-active suspension.
Background
With the development of economy, people have higher and higher requirements on the riding comfort of vehicles, the potential for improving the comfort of the traditional passive suspension is very small, and although the active suspension has better comprehensive performance, the cost and the price are high, and the energy consumption is high. The semi-active suspension is favored because of the simple structure, the low energy consumption and the performance which are greatly superior to the passive suspension.
The magneto-rheological damper is a device for providing motion resistance and consuming motion energy, when the current in the coil is increased, the magnetic field in the throttling hole is enhanced, the resistance of the magneto-rheological fluid flowing through the throttling hole is increased, so that the damping force output by the damper is increased, and conversely, the current is reduced, and the damping force is also reduced. Therefore, the damping force of the damper can be controlled by adjusting the input current.
Most research on semi-active suspensions focuses on the control strategy of semi-active suspensions, and there is no research on semi-active suspensions with variable stiffness and variable damping structures.
Therefore, in order to solve the above technical problems, it is necessary to provide a variable stiffness and variable damping semi-active suspension.
Disclosure of Invention
In view of the above, the present invention provides a variable-stiffness variable-damping semi-active suspension, which can accurately adjust the stiffness and damping force of the semi-active suspension according to an acceleration signal in a vertical direction, so as to provide a good damping effect for an automobile and effectively improve the driving comfort of the automobile.
The invention provides a variable-rigidity variable-damping semi-active suspension, which comprises a main magneto-rheological damper, an auxiliary magneto-rheological damper, a main spring and an auxiliary spring, wherein the main magneto-rheological damper is connected with the auxiliary magneto-rheological damper;
the main magnetic rheological damper and the main spring are connected in parallel, the auxiliary magnetic rheological damper and the auxiliary spring are connected in parallel, the main magnetic rheological damper and the auxiliary magnetic rheological damper are coaxially connected in series, and the main spring and the auxiliary spring are coaxially connected in series.
Further, the damping and stiffness of the suspension is controlled according to the following method:
establishing an equivalent damping and equivalent stiffness model of the suspension, wherein the equivalent damping model is as follows:
the equivalent stiffness model is:
wherein k is1Is the stiffness value, k, of the main spring2Is the stiffness value of the secondary spring, c1Is the damping value of the main magnetic flow damper, c2The damping value of the auxiliary magneto-rheological damper, omega, is the natural frequency of the suspension;
obtaining an expected rigidity value a and an expected damping value b of the vehicle, respectively substituting the expected rigidity value a and the expected damping value b into an equivalent rigidity model and an equivalent damping model, and immediately forming an equation set to obtain a damping value c of the main magnetic rheological damper1And damping value c of secondary magnetorheological damper2；
According to the damping value c1And damping value c2And searching a damping value-current relation comparison table, determining the driving current values of the main magneto-rheological damper and the auxiliary magneto-rheological damper, and providing working current to the main magneto-rheological damper and the auxiliary magneto-rheological damper according to the obtained driving current values.
Further, a desired stiffness value a and a desired damping value b of the vehicle are obtained according to the following method:
acquiring an acceleration signal of a vehicle in a vertical direction;
calculating the difference value between the acceleration in the vertical direction of the vehicle and the expected acceleration value and the acceleration change rate;
inputting the difference value of the acceleration and the acceleration expected value into a PLC controller, and obtaining a proportional regulating coefficient, a differential regulating coefficient and an integral regulating coefficient by adopting a fuzzy algorithm;
establishing a calculation model of an expected rigidity value a:
wherein: a is Kd1·+KP1·+Ki1·，Kd1、KP1And Ki1The difference values of the acceleration and the expected acceleration value are respectively input into a PLC controller, and a differential regulation coefficient, a proportional regulation coefficient and an integral regulation coefficient which are obtained through a fuzzy algorithm are the difference values of the acceleration and the expected acceleration value;
inputting the acceleration rate signal into a PLC controller, and obtaining a proportional adjustment coefficient K by adopting a fuzzy algorithmP2Integral adjustment coefficient Ki2And a differential adjustment coefficient Kd2Establishing a calculation model of an expected damping value b:
b＝Kd2·+KP2·+Ki2wherein, the acceleration rate is.
Further, the main magnetic rheological damper and the auxiliary magnetic rheological damper have the same structure.
The invention has the beneficial effects that: according to the invention, the rigidity and the damping force of the semi-active suspension can be accurately adjusted according to the acceleration signal in the vertical direction, so that a good shock absorption effect is achieved for the automobile, and the driving comfort of the automobile is effectively improved.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a control flow chart of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings of the specification:
the invention provides a variable-rigidity variable-damping semi-active suspension, which comprises a main magneto-rheological damper, an auxiliary magneto-rheological damper, a main spring 8 and an auxiliary spring 10, wherein the main magneto-rheological damper is connected with the auxiliary magneto-rheological damper;
the main magnetic rheological damper and the main spring are connected in parallel, the auxiliary magnetic rheological damper and the auxiliary spring are connected in parallel, the main magnetic rheological damper and the auxiliary magnetic rheological damper are coaxially connected in series, and the main spring and the auxiliary spring are coaxially connected in series.
Specifically, the method comprises the following steps: therefore, the main magnetic rheological damper and the auxiliary magnetic rheological damper have the same structure; the connecting rods of the main magnetorheological damper and the auxiliary magnetorheological damper are coaxially connected in series, the two magnetorheological dampers comprise connecting rods (6 and 9), a cylinder body, a nitrogen pressure reducer 1, a wire valve 2, magnetorheological fluid 3, a coil lead 4 and a throttling opening 5, and the connecting rods of the main magnetorheological damper and the auxiliary magnetorheological damper are fixedly connected through a supporting plate 7.
In this embodiment, the damping and stiffness of the suspension is controlled according to the following method:
establishing an equivalent damping and equivalent stiffness model of the suspension, wherein the equivalent damping model is as follows:
the equivalent stiffness model is:
wherein k is1Is the stiffness value, k, of the main spring2Is the stiffness value of the secondary spring, c1Is the damping value of the main magnetic flow damper, c2The damping value of the auxiliary magneto-rheological damper, omega, is the natural frequency of the suspension;
acquiring a desired rigidity value a and a desired damping value b of the vehicle, and comparing the desired rigidity value a and the desired damping value bRespectively substituting the damping value b into the equivalent stiffness model and the equivalent damping model, and obtaining the damping value c of the main magnetic rheological damper by connecting a vertical composition equation set1And damping value c of secondary magnetorheological damper2；
According to the damping value c1And damping value c2And searching a damping value-current relation comparison table, determining the driving current values of the main magneto-rheological damper and the auxiliary magneto-rheological damper, and providing working current to the main magneto-rheological damper and the auxiliary magneto-rheological damper according to the obtained driving current values.
Specifically, a desired stiffness value a and a desired damping value b of the vehicle are obtained according to the following method:
acquiring an acceleration signal of a vehicle in a vertical direction;
calculating the difference value between the acceleration in the vertical direction of the vehicle and the expected acceleration value and the acceleration change rate; the expected acceleration value is generally 0, but the expected value can be set according to the actual road condition environment, and the closer to 0 the expected acceleration value is, the better the expected acceleration value is;
inputting the difference value of the acceleration and the acceleration expected value into a PLC controller, and obtaining a proportional regulating coefficient, a differential regulating coefficient and an integral regulating coefficient by adopting a fuzzy algorithm;
establishing a calculation model of an expected rigidity value a:
wherein: a is Kd1·+KP1·+Ki1·，Kd1、KP1And Ki1The difference values of the acceleration and the expected acceleration value are respectively input into a PLC controller, and a differential regulation coefficient, a proportional regulation coefficient and an integral regulation coefficient which are obtained through a fuzzy algorithm are the difference values of the acceleration and the expected acceleration value;
inputting the acceleration rate signal into a PLC controller, and obtaining a proportional adjustment coefficient K by adopting a fuzzy algorithmP2Integral adjustment coefficient Ki2And a differential adjustment coefficient Kd2Establishing a calculation model of an expected damping value b:
b＝Kd2·+KP2·+Ki2wherein, the acceleration rate is; wherein, the fuzzy PID algorithm is the prior art, which is not described herein,by the method, the required working currents of the main magnetorheological damper and the auxiliary magnetorheological damper can be accurately determined, so that a good damping effect can be achieved for an automobile, and the driving comfort of the automobile is effectively improved.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (3)
1. A variable stiffness variable damping semi-active suspension characterized by: the magnetic flow damper comprises a main magnetic flow damper, an auxiliary magnetic flow damper, a main spring and an auxiliary spring;
the main magnetic rheological damper is connected with the main spring in parallel, the auxiliary magnetic rheological damper is connected with the auxiliary spring in parallel, the main magnetic rheological damper and the auxiliary magnetic rheological damper are coaxially connected in series, and the main spring and the auxiliary spring are coaxially connected in series;
controlling the damping and stiffness of the suspension according to:
establishing an equivalent damping and equivalent stiffness model of the suspension, wherein the equivalent damping model is as follows:
the equivalent stiffness model is:
wherein k is1Is the stiffness value, k, of the main spring2Is the stiffness value of the secondary spring, c1Is the damping value of the main magnetic flow damper, c2The damping value of the auxiliary magneto-rheological damper, omega, is the natural frequency of the suspension;
acquiring a desired rigidity value a and a desired damping value of a vehicleb, respectively substituting the expected rigidity value a and the expected damping value b into the equivalent rigidity model and the equivalent damping model, and obtaining a damping value c of the main magnetic rheological damper by connecting a set of equations which form a group immediately1And damping value c of secondary magnetorheological damper2；
According to the damping value c1And damping value c2And searching a damping value-current relation comparison table, determining the driving current values of the main magneto-rheological damper and the auxiliary magneto-rheological damper, and providing working current to the main magneto-rheological damper and the auxiliary magneto-rheological damper according to the obtained driving current values.
2. The variable stiffness variable damping semi-active suspension of claim 1 wherein: obtaining a desired stiffness value a and a desired damping value b of the vehicle according to the following method:
acquiring an acceleration signal of a vehicle in a vertical direction;
calculating the difference value between the acceleration in the vertical direction of the vehicle and the expected acceleration value and the acceleration change rate;
inputting the difference value of the acceleration and the acceleration expected value into a PLC controller, and obtaining a proportional regulating coefficient, a differential regulating coefficient and an integral regulating coefficient by adopting a fuzzy algorithm;
establishing a calculation model of an expected rigidity value a:
wherein: a is Kd1·+KP1·+Ki1·，Kd1、KP1And Ki1The difference values of the acceleration and the expected acceleration value are respectively input into a PLC controller, and a differential regulation coefficient, a proportional regulation coefficient and an integral regulation coefficient which are obtained through a fuzzy algorithm are the difference values of the acceleration and the expected acceleration value;
inputting the acceleration rate signal into a PLC controller, and obtaining a proportional adjustment coefficient K by adopting a fuzzy algorithmP2Integral adjustment coefficient Ki2And a differential adjustment coefficient Kd2Establishing a calculation model of an expected damping value b:
b＝Kd2·+KP2·+Ki2wherein, the acceleration rate is.
3. The variable stiffness variable damping semi-active suspension of claim 1 wherein: the main magnetic rheological damper and the auxiliary magnetic rheological damper have the same structure.
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| CN201811590284.9A CN109505914B (en) | 2018-12-25 | 2018-12-25 | Variable-rigidity variable-damping semi-active suspension |
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| CN201811590284.9A CN109505914B (en) | 2018-12-25 | 2018-12-25 | Variable-rigidity variable-damping semi-active suspension |
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| CN109505914B true CN109505914B (en) | 2020-11-03 |
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| CN110939678A (en) * | 2019-12-07 | 2020-03-31 | 佛山市鼎科科技发展有限公司 | Intelligent air damper for front suspension of automobile |
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| DE19717692A1 (en) * | 1997-04-26 | 1998-10-29 | Schenck Ag Carl | Spring mass vibration force coupler |
| DE10236514B4 (en) * | 2002-08-30 | 2007-08-02 | Bundesrepublik Deutschland, vertreten durch das Bundesministerium der Verteidigung, dieses vertreten durch das Bundesamt für Wehrtechnik und Beschaffung | Repositioning, regulated spring-damper systems for large displacements |
| CN103241095B (en) * | 2013-05-31 | 2015-05-13 | 山东理工大学 | Control algorithm of automotive magneto-rheological semi-active suspension system and real-time optimal current |
| CN105172511B (en) * | 2015-07-15 | 2017-09-26 | 西南交通大学 | A kind of shock absorber of automobile suspension control system and method |
| CN105584310A (en) * | 2016-01-07 | 2016-05-18 | 江苏大学 | Variable-rigidity semi-active suspension |
| CN106246796B (en) * | 2016-08-10 | 2017-12-22 | 安徽工程大学 | A kind of automotive suspension self-supplied magnetic current damper device |
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Effective date of registration: 20240122 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Country or region after: China Address before: 402247 No. 1 Fuxing Road, Shuang Fu New District, Jiangjin District, Chongqing. Patentee before: CHONGQING JIAOTONG University Country or region before: China |