CN109649106A - A kind of air suspension height control system and control method - Google Patents
A kind of air suspension height control system and control method Download PDFInfo
- Publication number
- CN109649106A CN109649106A CN201811468502.1A CN201811468502A CN109649106A CN 109649106 A CN109649106 A CN 109649106A CN 201811468502 A CN201811468502 A CN 201811468502A CN 109649106 A CN109649106 A CN 109649106A
- Authority
- CN
- China
- Prior art keywords
- height
- air spring
- preset
- adjustment
- difference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B60G17/02—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
Abstract
The invention discloses a kind of air suspension height control system and control method, detection unit is used to detect the current pressure and present level of air spring, records current pressure data and exports present level data；Control unit compares present level with the first preset height, if the difference of present level and the first preset height exceeds preset height difference range, exports height adjustment instruction；Height adjustment unit compares height after obtained adjustment with the second preset height；If being highly greater than the second preset height after adjustment, increases the height of the air spring and record the pressure data of the air spring after height increases；If height is less than the second preset height after adjustment, reduces the height of the air spring and record the pressure data of the air spring after height reduction.It can monitor suspension height in real time and adjust in time, and air spring is remained in the altitude range of constant, to guarantee height of car constant.
Description
Technical field
The present invention relates to Vehicle Engineering technical fields more particularly to a kind of height for vehicle air suspension to control system
System and control method.
Background technique
Suspension is the total of the force transmission connections between the vehicle frame (or monocoque body) of automobile and vehicle bridge (or wheel)
Claim, effect is that the power that transmitting acts between wheel and vehicle frame and power are turned round, and are buffered and be transmitted to vehicle frame or vehicle by uneven road surface
The impact force of body, and shaken caused by reducing thus, to guarantee that automobile smoothly travels.But motor vehicle in zero load and is fully loaded with it
Between load variations will lead to suspension height and change, suspension can because load-carrying difference, cause vehicle terrain clearance continuous
Variation, influence vehicle by distance and traffic safety and riding comfort.Also, in vehicle travel process, suspension displacement and vehicle is acted on
Load on is independent parameter, and load net assessment and load transfer assessment lack data supporting, be unfavorable for vehicle load
The foundation of lotus supervisory sequence.
Summary of the invention
The purpose of the present invention is to provide a kind of air suspension height control system and control methods, with solution or at least
Part solve the problems, such as it is above-mentioned at least one.
To achieve the above object, technical solution proposed by the present invention is as follows:
A kind of air suspension height control system characterized by comprising
Detection unit, the detection unit are used to detect the current pressure and present level of air spring, record current pressure
Strong data simultaneously export present level data；
Control unit, described control unit is for receiving present level data, and by present level and the first preset height
It compares, if the difference of present level and the first preset height exceeds preset height difference range, exports height adjustment instruction；
Height adjustment unit, the height adjustment unit are used for according to the height adjustment instruction computed altitude tune received
Synchronizing is long, and height after obtained adjustment is compared with the second preset height；
If being highly greater than the second preset height after adjustment, increases the height of the air spring and record height increase
The pressure data of the air spring afterwards；If height reduces the height of the air spring less than the second preset height after adjustment
Spend and record the pressure data of the air spring after height reduction.
In vehicle travel process, the current pressure and present level of detection unit real-time monitoring air spring, and with it is pre-
Deposit in a control unit record on last stage the first preset height (if the detection unit be detect for the first time, first
Preset height is preset elemental height) it compares, and judge whether the height of triggering height adjustment unit according to comparison result
Adjustment process.When the height adjusting part part carries out height adjustment, determine that object height difference and target are high according to pid control algorithm
Degree, and the height for the air spring for gradually being adjusted according to certain step-length, and being obtained after adjusting is as outlet parameter, it is right
It further relatively and judges that the height of the air spring obtained after adjusting at this time is compared with the second preset height, this second
Preset height is object height above-mentioned, and when fiducial value has reached within the scope of preset height, shutheight adjusts process, not
When reaching within the scope of preset height, continue height adjustment after adjusting step number+1, until air spring height adjusted and second
Until the difference of preset height enters within the scope of preset height.In this way, the control system of the air suspension height can supervise in real time
Control suspension height simultaneously adjusts in time, air spring is remained in the altitude range of constant, to guarantee
Height of car constant, improves running stability and comfort.Meanwhile in control system record height adjustment process
Each key node on the pressure of air spring ensure that adjustment essence so that pressure difference, difference in height are introduced into control strategy
Degree, and by the current pressure of record air spring, the relationship between current pressure and current load can be obtained, so that suspension
The load generation being displaced and act on vehicle contacts, and provides data supporting for load net assessment and load transfer assessment, with
Conducive to the foundation of car load supervisory sequence.
Further, described control unit judges that the difference of present level and the first preset height exceeds preset height
When poor range, also judge that the difference of present level and the first preset height exceeds the duration of preset height difference range, when this
Duration reaches time threshold, and described control unit exports the height adjustment instruction.
Further, described control unit is also used to: present level being compared with the first preset height, if current high
The difference of degree and the first preset height then judges whether there is height adjustment instruction, if so, described within the scope of preset height difference
Control unit exports height adjustment instruction.
Further, height adjustment unit be used for by pid control algorithm obtain target adjustment difference, adjust step number and
Single adjusting step, and height after output adjustment.
Further, if being highly greater than the second preset height after adjustment, the inflation of described control unit output solenoid valve refers to
It enables, to increase the height of the air spring；
If height is less than the second preset height after adjustment, described control unit output solenoid valve, which is deflated, to be instructed, to reduce
The height of the air spring.
Further, the detection unit inflates instruction in described control unit output solenoid valve or solenoid valve deflation refers to
After order, the height of the detection height air spring adjusted, and by the high transmission to described control unit；
The height for the air spring that described control unit obtains after adjusting height is compared with the second preset height
Compared with, if the height for the air spring that height obtains after adjusting and the difference of the second preset height are poor beyond preset height,
A height adjustment unit increase at least successive step step number is to continue to adjust air spring height；If height obtains after adjusting
The height of the air spring and the difference of the second preset height be within the scope of preset height difference, then shutheight adjustment.
Further, if at the height of the air spring and the difference of the second preset height that height obtains after adjusting
In within the scope of preset height difference, described control unit issues out code to solenoid valve, is adjusted with shutheight.
Further, first preset height is the elemental height of the air spring or adjusted in a upper height
Journey height locating when completing.
Further, second preset height is the object height value obtained according to object height difference and present level.
The present invention also provides a kind of air suspension height control method, it is based on control system as described above, including following
Step:
S1: detecting the current pressure and present level of air spring, records current pressure data and exports present level number
According to；
S2: present level is compared with the first preset height, if present level and the difference of the first preset height exceed
Preset height difference range then exports height adjustment instruction and enters step S3；
S3: according to the height adjustment instruction computed altitude adjusting step received, air spring is adjusted according to adjusting step
Height；
S4: height after obtained adjustment is compared with the second preset height；If being highly greater than the second default height after adjustment
Degree, then enter step S5, if height enters step S6 less than the second preset height after adjustment；
S5: increasing the height of the air spring, and records the pressure data of the air spring after height increases；
S6: reducing the height of the air spring, and records the pressure data of the air spring after height reduction.
Further, in step s 2 further include: judge that the difference of present level and the first preset height is high beyond presetting
The duration for spending poor range, reaches time threshold when the duration, then export height adjustment instruction and enter step S3.
Further, in step s 2, if the difference of present level and the first preset height is in preset height difference range
It is interior, then enter step S2 '；
S2 ': judging whether there is height adjustment instruction, if so, export height adjustment instruction and be transferred to step S3, if it is not,
Then return step S1.
Further, in step s3, target adjustment difference, adjustment step number and single tune are obtained by pid control algorithm
Synchronizing is long, to adjust the height of air spring.
Further, in step s 5, increase the height of the air spring by the inflation of control solenoid valve；
In step s 6, it is deflated by control solenoid valve to reduce the height of the air spring.
Further, further comprising the steps of after solenoid valve inflation or solenoid valve are deflated:
S7: the height of the detection height air spring adjusted；
S8: the height of the air spring obtained after height is adjusted compares with the second preset height, if height is adjusted
The height of the air spring obtained after whole and the difference of the second preset height are poor beyond preset height, then enter step S9；
S9: increase an at least successive step step number to continue to adjust air spring height, and return step S4；If height is adjusted
The height of the air spring obtained after whole and the difference of the second preset height are within the scope of preset height difference, then are stopped
Height adjusts.
Further, in step s 9, if the height for the air spring that height obtains after adjusting and the second default height
The difference of degree is within the scope of preset height difference, is adjusted by issuing out code to solenoid valve with shutheight.
Further, first preset height is the elemental height of the air spring or adjusted in a upper height
Journey height locating when completing.
Further, second preset height is the object height value obtained according to object height difference and present level.
Further, further comprising the steps of before step S1:
S0: judging whether solenoid valve is closed, if so, step S1 is transferred to, if it is not, being then transferred to step S5.
The advantages of above additional aspect, will be set forth in part in the description, and will partially become from the following description
Obviously, or through the invention practice is recognized.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of specific embodiment of air suspension height control system provided by the present invention；
Fig. 2 is the structural schematic diagram of air suspension applied by control system shown in Fig. 1；
Fig. 3 is a kind of flow chart of specific embodiment of air suspension height control method provided by the present invention.
Description of symbols:
100- detection unit
200- control unit
300- height adjustment unit
400- solenoid valve
1- vehicle frame 2- wheel stand 3- wheel 4- air spring 5- damper
6- height sensor 7- height sensor connecting rod 8- solenoid valve 9- air accumulator
10- air suspension height control system 11- gas circuit 12- signal line
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
Referring to FIG. 1, Fig. 1 is a kind of specific embodiment of air suspension height control system provided by the present invention
Structural block diagram.
In a specific embodiment, air suspension height control system 10 provided by the present invention is applied to air
Suspension, air suspension are that one kind can make vehicle in loading people or cargo with the Active suspension of Active control suspension height
When load-carrying changes, displacement data can be acquired according to suspension, it is high to maintain original setting for adjust automatically solenoid valve inflation/deflation
Degree.Car load data can also be recorded in real time simultaneously, be used as load net assessment and load transfer is assessed, utilize to accurate
The occasion of load also important in inhibiting.It is illustrated in figure 2 a kind of structural schematic diagram of air suspension of motor vehicle, the air is outstanding
Frame is mounted between vehicle frame 1 and wheel stand 2, and wheel 3 is mounted on wheel stand 2, air suspension include air spring 4,
Damper 5, height sensor 6, height sensor connecting rod 7, solenoid valve, air accumulator 9 and air suspension height control system
10, it is connected to by 11 air flue of gas circuit between Each part, is communicated to connect by signal line 12.And air suspension height control
System 10 processed and air accumulator 9 are supplied to the offer data communication control of entire suspension system and air pressure, furthermore in addition to directly supplying
The air accumulator 9 of gas, there are also air compressors (being not drawn into this figure) when for unsaturated vapor, provides tolerance supply.
As shown in Figure 1, the control system includes detection unit 100, control unit 200 and height adjustment unit 300；
Wherein, the detection unit 100 is used to detect the current pressure and present level of air spring 4, and record current pressure data are simultaneously
Export present level data；Its current pressure recorded and present level can be used as the initial pressure of next circulation and first
Begin height, can be used for obtain pressure and load relation sequence and providing data and support.From hardware realization, the detection list
Member 100 can be the combining unit of the components such as height sensor 6, displacement sensor and pressure sensor, each sensor
Frequency acquisition and process cycle are set with system totality real-time and reliability requirement, and height fluctuation error is adjustable to be
Zone of reasonableness value.
Above-mentioned control unit 200 is used to receive present level data, and by present level compared with the first preset height
Compared with if the difference of present level and the first preset height exports height adjustment instruction beyond preset height difference range；At this point,
Elemental height of first preset height by the air spring 4 or the height that stores when a upper height adjustment process is completed
Degree.From hardware realization, which can be single-chip microcontroller, vehicle Master Control Unit ECU etc., it is preferable that the control
Unit 200 (i.e. microprocessor) can be miniature calculating center, microprocessor, MCU etc..
Height adjustment unit 300 is used for according to the height adjustment instruction computed altitude adjusting step received, and will be obtained
Adjustment after height compared with the second preset height, second preset height be obtained according to object height difference and present level
The object height value arrived；If being highly greater than the second preset height after adjustment, increase the height and record of the air spring 4
The pressure data of the air spring 4 after height increases；If height reduces the sky less than the second preset height after adjustment
The height of gas spring 4 and the pressure data for recording the air spring 4 after height reduction.It should be understood that the height adjusts
Unit 300 can be a component part of control unit 200, that is to say, that height adjustment unit 300 can be the one of ECU
A functional module.
In vehicle travel process, the current pressure and present level of 100 real-time monitoring air spring 4 of detection unit, and
Be pre-stored in control unit 200 record on last stage the first preset height (if the detection unit 100 be for the first time
Detection, then the first preset height is preset elemental height) it compares, and judge whether that triggering height is adjusted according to comparison result
The height adjustment of whole unit 300.When the height adjusting part part carries out height adjustment, target is determined according to pid control algorithm
Difference in height and object height, and the height for the air spring 4 for gradually being adjusted according to certain step-length, and being obtained after adjusting
As outlet parameter, it further relatively and is judged, the height of the air spring 4 obtained after adjusting at this time is default with second
Height compares, which is object height above-mentioned, when fiducial value has reached within the scope of preset height, stops
Height adjustment process, not up within the scope of preset height when, adjust and continue height after step number+1 and adjust, until sky adjusted
Until the difference of 4 height of gas spring and the second preset height enters within the scope of preset height.In this way, the air suspension height
Control system can monitor suspension height in real time and adjust in time, and air spring 4 is enabled to remain at constant
In altitude range, to guarantee height of car constant, running stability and comfort are improved.Meanwhile the control system
The pressure of air spring 4 on each key node in system record height adjustment process, so that pressure difference, difference in height are introduced control
In system strategy, Adjustment precision ensure that, and by the current pressure of record air spring 4, current pressure can be obtained and work as front bearing
Relationship between lotus, so that suspension displacement is contacted with the load generation acted on vehicle, it is that load net assessment and load turn
It moves assessment and data supporting is provided, in favor of the foundation of car load supervisory sequence.
When control unit 200 judges the difference of present level and the first preset height beyond preset height difference range,
Also judge that the difference of present level and the first preset height exceeds the duration of preset height difference range, when the duration
Reach time threshold, described control unit 200 exports the height adjustment instruction.In this way, being followed in present level relative to upper one
When ring process or object height fluctuate, also need to judge the fluctuation duration, thus according to height fluctuation and it is lasting when
Between integrated data determine in next step instruct, to avoid judging by accident, improve control precision.
Further, described control unit 200 is also used to: present level being compared with the first preset height, if currently
Highly with the difference of the first preset height within the scope of preset height difference, then height adjustment instruction is judged whether there is, if so, institute
It states control unit 200 and exports height adjustment instruction.When by judging that fluctuation does not occur for discovery present level or fluctuation range is in
When in permissible range, the instruction input for judging whether there is height adjustment is also needed, if there is height adjustment instruction input, together
Sample enters subsequent height adjustment process, so that control system can also realize that passively height is adjusted according to instruction.
Height adjustment unit 300 is used to obtain target adjustment difference, adjustment step number and single tune by pid control algorithm
Synchronizing is long, and height after output adjustment.Before height adjustment process starts, according to the difference of command source, setting into
Mouth parameter different from.Specifically, if command source is to be compared and judged obtaining by the height of air spring 4, then import
In parameter, the present level of air spring 4 needs to record not equal to the height (i.e. the first preset height) prestored under laststate
The current pressure of air spring 4 at this time, object height difference are the difference of the first preset height and present level.It such as instructs and
Source is obtained by height adjustment instruction, then in intake condition, the present level of air spring 4 and the first preset height phase
Equal with record (or initial pressure) on last stage Deng, the current pressure of air spring 4, object height difference is that height adjustment refers to
Enable the difference of the setting object height and present level that carry.
After height adjustment unit 300 adjusts height, detect again the height of air spring 4 adjusted with it is upper
The difference between the second preset height is stated, if the absolute value of the two difference is more than preset height range, then it represents that height after adjustment
Greater than the second preset height, the instruction of 200 output solenoid valve of described control unit inflation at this time, to increase the air spring 4
Highly.If the absolute value of the two difference is no more than preset height range, height is described less than the second preset height after adjustment
200 output solenoid valve of control unit, which is deflated, to be instructed, to reduce the height of the air spring 4.
It should be understood that according to the structure composition of aforementioned air suspension it is found that can be by adjusting the inflation/deflation of solenoid valve
The height of air spring 4 is adjusted, specifically, when needing to increase air spring 4, solenoid valve inflation, when needing to reduce air
When spring 4, solenoid valve is deflated.
Detection unit 100 inflates instruction in 200 output solenoid valve of described control unit or solenoid valve is deflated after instructing, inspection
Survey the height of the height air spring 4 adjusted, and by the high transmission to described control unit 200；The control is single
The height for the air spring 4 that member 200 obtains after adjusting height compares with the second preset height, if after height adjusts
The height of the obtained air spring 4 and the difference of the second preset height are poor beyond preset height, then the height adjustment is single
Member 300 increases an at least successive step step number to continue to adjust 4 height of air spring；If the air that height obtains after adjusting
The difference of the height of spring 4 and the second preset height is within the scope of preset height difference, then shutheight adjusts.If height is adjusted
The height of the air spring 4 obtained after whole and the difference of the second preset height are within the scope of preset height difference, the control
Unit 200 processed issues out code to solenoid valve, is adjusted with shutheight.
In above-mentioned specific embodiment, air suspension height control system 10 provided by the present invention can be by dynamic
State adjustment maintains the bodywork height of motor vehicle, so that bodywork height is in always in appropriate range.The vehicle body of motor vehicle is high
Degree constantly variation, each adjustment process to 4 pressure of air spring and difference in height needed for setting height, and using this pressure as
The initial pressure and required pressure difference adjusted next time adjusts back setting height, obtains the pressure during whole service
With height difference sequence.Meanwhile may make bodywork height to reach the height value in any adjustable extent by the adjustment of eastern item, in reality
In the case of the control sequence for now maintaining bodywork height, changes the difference in height of the setting height in sequence, can obtain different
Object height realizes that any allowed band bodywork height is adjusted.In addition, passing through under multiple nodes to 4 current pressure of air spring
Record, can get carload changing value, according to each 4 pressure sequence of air spring, the also real-time load of available vehicle
Charge values provide data for load dynamic monitoring and support.
In addition to above-mentioned control system, the air suspension height controlling party based on the control system that the present invention also provides a kind of
Method, as shown in figure 3, method includes the following steps:
S1: detecting the current pressure and present level of air spring, records current pressure data and exports present level number
According to；The current pressure and present level recorded in step S1 can be used as the initial pressure and elemental height of next circulation,
It can be used for obtain pressure and load relation sequence and providing data and support.
S2: present level is compared with the first preset height, if present level and the difference of the first preset height exceed
Preset height difference range then exports height adjustment instruction and enters step S3；First preset height is the air spring
Elemental height or the height stored when a upper height adjustment process is completed.
S3: according to the height adjustment instruction computed altitude adjusting step received, air spring is adjusted according to adjusting step
Height；
S4: height after obtained adjustment is compared with the second preset height；If being highly greater than the second default height after adjustment
Degree, then enter step S5, if height enters step S6 less than the second preset height after adjustment；In step s 4, second is pre-
If height is the object height value obtained according to object height difference and present level.
S5: increasing the height of the air spring, and records the pressure data of the air spring after height increases；
S6: reducing the height of the air spring, and records the pressure data of the air spring after height reduction.
In vehicle travel process, the current pressure and present level of real-time monitoring air spring, and with prestore upper one
(if the detection unit is to detect for the first time, the first preset height is preset initial to the first preset height that stage is recorded
It highly) compares, and judges whether the height adjustment of triggering height adjustment unit according to comparison result.The height adjusts
When component carries out height adjustment, object height difference and object height are determined according to pid control algorithm, and according to certain step-length
The height for the air spring for gradually being adjusted, and being obtained after adjusting further compares as outlet parameter, to it and judgement,
For the height of the air spring obtained after adjusting at this time compared with the second preset height, which is target above-mentioned
Highly, when fiducial value has reached within the scope of preset height, shutheight adjust process, not up within the scope of preset height when,
Continuation height adjusts after adjusting step number+1, until the difference of air spring height adjusted and the second preset height enters in advance
If until in altitude range.
In this way, the control method of the air suspension height can monitor suspension height in real time and adjust in time, so that air
Spring can remain in the altitude range of constant, to guarantee height of car constant, it is flat to improve operation
Stability and comfort.Meanwhile the control method records the pressure of air spring on each key node in height adjustment process,
To which pressure difference, difference in height to be introduced into control strategy, Adjustment precision ensure that, and pass through the current pressure of record air spring
The relationship between current pressure and current load can be obtained in power, so that suspension displacement generates connection with the load acted on vehicle
System provides data supporting for load net assessment and load transfer assessment, in favor of the foundation of car load supervisory sequence.
It may also include that the difference for judging present level and the first preset height beyond preset height difference model in step s 2
The duration enclosed reaches time threshold when the duration, then exports height adjustment instruction and enter step S3.Current
When height is fluctuated relative to a upper cyclic process or object height, also need to judge the fluctuation duration, thus according to
The integrated data of height fluctuation and duration are determined and are instructed in next step, to avoid judging by accident, improve control precision.
In step s 2, if the difference of present level and the first preset height is within the scope of preset height difference, enter step
Rapid S2 '；
S2 ': judging whether there is height adjustment instruction, if so, export height adjustment instruction and be transferred to step S3, if it is not,
Then return step S1.
Accordingly, when fluctuation or fluctuation range do not occur in permissible range by judgement discovery present level,
The instruction input for judging whether there is height adjustment is also needed to likewise enter subsequent height adjustment if there is height adjustment instruction input
Process, to realize that passively height adjusts according to instruction.
In above-mentioned steps S3, target adjustment difference, adjustment step number and single adjustment step are obtained by pid control algorithm
It is long, to adjust the height of air spring.Before height adjustment process starts, according to the difference of command source, setting into
Mouth parameter different from.Specifically, if command source is to be compared and judged obtaining by the height of air spring, then import
In parameter, the present level of air spring need to record this not equal to the height (i.e. the first preset height) prestored under laststate
When air spring current pressure, object height difference be the first preset height and present level difference.As command source is
It is obtained by height adjustment instruction, then in intake condition, the present level of air spring is equal with the first preset height, empty
The current pressure of gas spring is equal with record (or initial pressure) on last stage, and object height difference is the carrying of height adjustment instruction
Setting object height and present level difference.
Further, it is preferable to the adjusting of air spring height be realized by adjusting the charge and discharge of solenoid valve, in step S5
In, increase the height of the air spring by the inflation of control solenoid valve；In step S6, deflated by control solenoid valve
To reduce the height of the air spring.After height adjustment unit adjusts height, air bullet adjusted is detected again
Difference between the height of spring and above-mentioned second preset height, if the absolute value of the two difference is more than preset height range, table
Highly it is greater than the second preset height after showing adjustment, the instruction of described control unit output solenoid valve inflation at this time, to increase the sky
The height of gas spring.If the absolute value of the two difference is no more than preset height range, height is default less than second after adjustment
Highly, described control unit output solenoid valve, which is deflated, instructs, to reduce the height of the air spring.
It should be understood that according to the structure composition of aforementioned air suspension it is found that can be by adjusting the inflation/deflation of solenoid valve
The height of air spring is adjusted, specifically, when needing to increase air spring, solenoid valve inflation, when needing to reduce air bullet
When spring, solenoid valve is deflated.
Further, further comprising the steps of after solenoid valve inflation or solenoid valve are deflated:
S7: the height of the detection height air spring adjusted；
S8: the height of the air spring obtained after height is adjusted compares with the second preset height, if height is adjusted
The height of the air spring obtained after whole and the difference of the second preset height are poor beyond preset height, then enter step S9；
S9: increase an at least successive step step number to continue to adjust air spring height, and return step S4；If height is adjusted
The height of the air spring obtained after whole and the difference of the second preset height are within the scope of preset height difference, then are stopped
Height adjusts.In step s 9, if the difference of the height for the air spring that height obtains after adjusting and the second preset height
Within the scope of preset height difference, adjusted by issuing out code to solenoid valve with shutheight.
After the completion of solenoid valve inflation or solenoid valve are deflated, the height of the detection height air spring adjusted, and
By the high transmission to described control unit；The height for the air spring that described control unit obtains after adjusting height
Compared with the second preset height, if the difference of the height for the air spring that height obtains after adjusting and the second preset height
Value is poor beyond preset height, then a height adjustment unit increase at least successive step step number is to continue to adjust air spring height
Degree；If the height of the air spring and the difference of the second preset height that height obtains after adjusting are in preset height difference model
In enclosing, then shutheight adjusts.If the height for the air spring that height obtains after adjusting and the difference of the second preset height
Within the scope of preset height difference, described control unit issues out code to solenoid valve, is adjusted with shutheight.
That is, the control method include two cyclic processes, one be closed loop partial circulating process, i.e., height
Whether within a preset range after the completion of adjustment, difference between present level and object height is detected again, if then terminating small
Circulation, into next sequence of systemic circulation；If it is not, then return altitude set-up procedure, is carried out down with increasing the form once adjusted
Primary partial circulating process.The other is the systemic circulation process of closed loop, i.e., before the execution of entire method flow, first judgement is electric
Whether magnet valve is closed, if it is not, solenoid valve aeration step and subsequent partial circulating are directly entered, if so, judging and referring to by height
After enabling judgment step, then it is advanced into solenoid valve inflation/deflation step and subsequent partial circulating.
It is further comprising the steps of before step S1:
S0: judging whether solenoid valve is closed, if so, step S1 is transferred to, if it is not, being then transferred to step S5.
Below taking above-mentioned embodiment as an example, the calculating process of load is estimated in summary using air spring:
Since nonspring carried mass is basically unchanged, but spring carried mass can change with manned and loading difference, because
This, the detection for spring carried mass, it is necessary to estimate load using air spring model.At a certain moment, in air spring
Available gas pressure is pe, and initial position gas pressure intensity is pe0, available according to the dynamic equation of heat:
Formula 1:
Again because diaphragm type air spring equivalent area approximation is constant, then V0=Aeh0 and V=Ae h, then has
Formula 2:
According to the load of single air spring, so that it may obtain the load of all air springs, i.e. the spring of vehicle carries
Lotus.According to formula 2 it is recognised that the pressure Pe (k) and the pressure Pe (k-1) at previous stable state moment at any k moment, relationship are as follows:
Formula 3:
Wherein, in formula 1-3: Pa is surrounding standard atmospheric pressure；
Pe is the effective pressure of air spring；
Pe(0)For the initial effective pressure of air spring；
γ is air polytropic exponent, value 1.3-1.38；
V is air spring volume；
V0For initial air spring volume；
H is air spring height (mean value)；
h0For initial air spring heights；
Δ x is air spring height difference (mean value)；
Δx0For initial air spring heights difference；
Ae is air spring effective area.
Because car load changes, polytropic process occurs for gas in the process that inflation/deflation does not occur, air spring,
When current level value (mean value) hk-1 becomes height value (mean value) hk, detect | hk-hk-1 | > ε and maintain a period of time when,
Then think that load changes, and causes air spring height to change, obtains new k moment stable state pressure values Pe using formula 3
(k).Start height adjustment, ECU controls solenoid valve charge and discharge according to height difference, by control algolithm (such as PID control)
Gas, adjusting height to last moment height, and pressure stablizes Pe (k) at this moment.
If obtaining new setting height instruction, solenoid valve inflation/deflation can also be controlled to new setting height hset,
And record present level hk.ECU acquires displacement data from displacement sensor and present level compares, and height change occurs
When, it calculates target, pressure and adjustment displacement height is poor, solenoid valve inflation/deflation is controlled according to control algolithm, and then it is high to adjust suspension
Object height is spent, continues to repeat height detection, until system is closed.
After the starting of electronic control air suspension system, there are initial air spring pressure and height, detect the shape of solenoid valve
State, the variation if it is the then air spring internal gas of closing are a closed polytropic processes.Persistently detect air spring
Whether highly (collection period is such as Ts=20ms, then Th=200ms average data are as this height), compare with upper one
Adjustment height is consistent (all thinking that height is unchanged within the scope of altitude information fluctuating error ε), if being more than fluctuating error, and continues
Certain time interval T (can be designed as T=(5~10) Th) here, then determines that height is changed, entry altitude adjusts stream
Journey.Otherwise it is unchanged to be considered as height, and then detects the presence of height adjustment instruction, highly remains unchanged, continues to test if without if
Height change；If there is height adjustment instruction, entry altitude regulation flow process.
After entry altitude regulation flow process, determine that the pressure of target gas spring and object height are poor, according to adjusting algorithm
(such as PID adjusts algorithm), setting step-length carries out the adjusting of solenoid valve inflation/deflation, and feeds back detection air spring height and target
The gap of height when adjusting the outlet finished still and be present level and object height within the scope of fluctuating error, exits height
Regulation flow process closes solenoid valve, the stable state pressure values Pe (k) recorded at this time, present level hk.Then, k=k+1 is enabled, is entered
Next cycle detection stage.
In the description of the present invention, it is to be understood that, term " on ", "lower", "left", "right", "inner", "outside" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, rather than the device of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
It is not considered as limiting the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relatively important
Property or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed
Or implicit includes one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more, remove
It is non-separately to have clearly specific restriction.
In the present invention unless specifically defined or limited otherwise, the terms such as term " installation ", " connected ", " connection " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or is integral etc..For the general of this field
For logical technical staff, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (19)
1. a kind of air suspension height control system characterized by comprising
Detection unit, the detection unit are used to detect the current pressure and present level of air spring, record current pressure number
According to and export present level data；
Control unit, described control unit are used to receive present level data, and by present level compared with the first preset height
Compared with if the difference of present level and the first preset height exports height adjustment instruction beyond preset height difference range；
Height adjustment unit, the height adjustment unit are used for according to the height adjustment instruction computed altitude adjustment step received
It is long, and height after obtained adjustment is compared with the second preset height；
If being highly greater than the second preset height after adjustment, increases the height of the air spring and record described after height increases
The pressure data of air spring；If height reduces the height and note of the air spring less than the second preset height after adjustment
The pressure data of the air spring after record height reduces.
2. air suspension height control system according to claim 1, which is characterized in that
When described control unit judges that the difference of present level and the first preset height exceeds preset height difference range, also judge
The difference of present level and the first preset height exceeds the duration of preset height difference range, reaches the time when the duration
Threshold value, described control unit export the height adjustment instruction.
3. air suspension height control system according to claim 1, which is characterized in that described control unit is also used to:
Present level is compared with the first preset height, if the difference of present level and the first preset height is in preset height difference range
It is interior, then height adjustment instruction is judged whether there is, if so, described control unit exports height adjustment instruction.
4. air suspension height control system according to claim 2, which is characterized in that
Height adjustment unit is used to obtain target adjustment difference, adjustment step number and single adjusting step by pid control algorithm, and
Height after output adjustment.
5. air suspension height control system according to claim 4, which is characterized in that if being highly greater than second after adjustment
Preset height, then described control unit output solenoid valve inflation instruction, to increase the height of the air spring；
If height is less than the second preset height after adjustment, described control unit output solenoid valve, which is deflated, to be instructed, described in reducing
The height of air spring.
6. air suspension height control system according to claim 5, which is characterized in that the detection unit is in the control
Unit output solenoid valve inflation instruction processed or solenoid valve are deflated after instruction, the height of the detection height air spring adjusted
Degree, and by the high transmission to described control unit；
The height for the air spring that described control unit obtains after adjusting height compares with the second preset height, if high
The height of the air spring obtained after degree adjustment and the difference of the second preset height are poor beyond preset height, then the height
An adjustment unit increase at least successive step step number is to continue to adjust air spring height；If the air that height obtains after adjusting
The difference of the height of spring and the second preset height is within the scope of preset height difference, then shutheight adjusts.
7. air suspension height control system according to claim 6, which is characterized in that if the institute that height obtains after adjusting
The difference of the height and the second preset height of stating air spring is within the scope of preset height difference, and described control unit is to solenoid valve
Out code is issued, is adjusted with shutheight.
8. air suspension height control system according to claim 1-7, which is characterized in that described first is default
Elemental height or when a upper height adjustment process complete locating height of the height for the air spring.
9. air suspension height control system according to claim 1-7, which is characterized in that described second is default
Height is the object height value obtained according to object height difference and present level.
10. a kind of air suspension height control method, based on such as the described in any item control systems of claim 1-9, feature
It is, comprising the following steps:
S1: detecting the current pressure and present level of air spring, records current pressure data and exports present level data；
S2: present level is compared with the first preset height, if the difference of present level and the first preset height is beyond default
Difference in height range then exports height adjustment instruction and enters step S3；
S3: according to the height adjustment instruction computed altitude adjusting step received, according to the height of adjusting step adjustment air spring
Degree；
S4: height after obtained adjustment is compared with the second preset height；If being highly greater than the second preset height after adjustment,
S5 is entered step, if height enters step S6 less than the second preset height after adjustment；
S5: increasing the height of the air spring, and records the pressure data of the air spring after height increases；
S6: reducing the height of the air spring, and records the pressure data of the air spring after height reduction.
11. air suspension height control method according to claim 10, which is characterized in that
In step s 2 further include: judge that present level and the difference of the first preset height continue beyond preset height difference range
Time reaches time threshold when the duration, then exports height adjustment instruction and enter step S3.
12. air suspension height control method according to claim 11, which is characterized in that
In step s 2, if the difference of present level and the first preset height enters step within the scope of preset height difference
S2'；
S2 ': judging whether there is height adjustment instruction, if so, exporting height adjustment instruction and being transferred to step S3, if it is not, then returning
Return step S1.
13. air suspension height control method according to claim 12, which is characterized in that
In step s3, target adjustment difference, adjustment step number and single adjusting step are obtained by pid control algorithm, with adjustment
The height of air spring.
14. air suspension height control method according to claim 13, which is characterized in that
In step s 5, increase the height of the air spring by the inflation of control solenoid valve；
In step s 6, it is deflated by control solenoid valve to reduce the height of the air spring.
15. air suspension height control method according to claim 14, which is characterized in that solenoid valve inflation or solenoid valve
It is further comprising the steps of after deflation:
S7: the height of the detection height air spring adjusted；
S8: the height of the air spring obtained after height is adjusted compares with the second preset height, if after height adjusts
The height of the obtained air spring and the difference of the second preset height are poor beyond preset height, then enter step S9；
S9: increase an at least successive step step number to continue to adjust air spring height, and return step S4；If height obtains after adjusting
The height of the air spring arrived and the difference of the second preset height are within the scope of preset height difference, then shutheight tune
It is whole.
16. air suspension height control method according to claim 15, which is characterized in that in step s 9, if height
The height of the air spring obtained after adjustment and the difference of the second preset height are within the scope of preset height difference, pass through to
Solenoid valve is issued out code and is adjusted with shutheight.
17. the described in any item air suspension height control methods of 0-16 according to claim 1, which is characterized in that described first
Elemental height or when a upper height adjustment process complete locating height of the preset height for the air spring.
18. the described in any item air suspension height control methods of 0-16 according to claim 1, which is characterized in that described second
Preset height is the object height value obtained according to object height difference and present level.
19. the described in any item air suspension height control methods of 0-16 according to claim 1, which is characterized in that in step S1
It is before further comprising the steps of:
S0: judging whether solenoid valve is closed, if so, step S1 is transferred to, if it is not, being then transferred to step S5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811468502.1A CN109649106A (en) | 2018-12-03 | 2018-12-03 | A kind of air suspension height control system and control method |
| PCT/CN2019/104639 WO2020114027A1 (en) | 2018-12-03 | 2019-09-06 | Air suspension height control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811468502.1A CN109649106A (en) | 2018-12-03 | 2018-12-03 | A kind of air suspension height control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109649106A true CN109649106A (en) | 2019-04-19 |
Family
ID=66112625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811468502.1A Pending CN109649106A (en) | 2018-12-03 | 2018-12-03 | A kind of air suspension height control system and control method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109649106A (en) |
| WO (1) | WO2020114027A1 (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110836782A (en) * | 2019-10-12 | 2020-02-25 | 中国第一汽车股份有限公司 | Manufacturing method of air suspension for vehicle |
| WO2020114027A1 (en) * | 2018-12-03 | 2020-06-11 | 珠海格力电器股份有限公司 | Air suspension height control system and control method |
| CN111497549A (en) * | 2020-05-19 | 2020-08-07 | 珠海格力电器股份有限公司 | Method and device for adjusting air suspension height, storage medium and processor |
| CN111660749A (en) * | 2020-06-29 | 2020-09-15 | 厦门金龙联合汽车工业有限公司 | Method for controlling height of air suspension vehicle body |
| CN112188170A (en) * | 2020-09-30 | 2021-01-05 | 重庆市海普软件产业有限公司 | Outdoor intelligent digital holder control system and method |
| CN112172436A (en) * | 2020-10-12 | 2021-01-05 | 中车株洲电力机车有限公司 | Air spring height adjusting system and method for medium-low speed maglev train |
| CN112455175A (en) * | 2020-11-27 | 2021-03-09 | 珠海格力电器股份有限公司 | Method, device and system for controlling height of vehicle suspension |
| CN112903318A (en) * | 2021-01-27 | 2021-06-04 | 珠海格力电器股份有限公司 | Method, device and system for controlling height of vehicle suspension |
| CN113252369A (en) * | 2021-06-24 | 2021-08-13 | 中国第一汽车股份有限公司 | Method for determining road parameters suitable for air suspension test |
| CN114110079A (en) * | 2021-11-08 | 2022-03-01 | 湖南弘辉科技有限公司 | Marine airbag vibration isolation control system and method |
| CN114211927A (en) * | 2022-01-20 | 2022-03-22 | 同济大学 | Electromagnetic valve control method, device and equipment based on air suspension and storage medium |
| CN115817092A (en) * | 2023-01-03 | 2023-03-21 | 重庆长安汽车股份有限公司 | Air supply control method, device and equipment for air suspension and storage medium |
| CN115817092B (en) * | 2023-01-03 | 2024-05-10 | 重庆长安汽车股份有限公司 | Air suspension air supply control method, device, equipment and storage medium |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11278036A (en) * | 1998-03-30 | 1999-10-12 | Toyota Motor Corp | Car height adjustment device |
| JP2003170721A (en) * | 2001-12-05 | 2003-06-17 | Aisin Seiki Co Ltd | Vehicle height adjusting device |
| JP4052043B2 (en) * | 2002-07-08 | 2008-02-27 | トヨタ自動車株式会社 | Automatic vehicle height adjustment device |
| CN101284488A (en) * | 2007-04-12 | 2008-10-15 | 哈尔德克斯制动器公司 | Electronic height control system for a vehicle with multiple input signals |
| CN102029870A (en) * | 2009-10-02 | 2011-04-27 | 巴克斯代尔公司 | Hybrid leveling system |
| CN203681193U (en) * | 2013-12-09 | 2014-07-02 | 深圳市德平国瀚汽车电子科技有限公司 | AHC (active height control) system and vehicle |
| CN104015581A (en) * | 2014-05-20 | 2014-09-03 | 江苏大学 | Method for adjusting and controlling vehicle height of electrical control air suspension |
| CN104960396A (en) * | 2015-07-08 | 2015-10-07 | 吉林大学 | Whole-vehicle height control method based on electric-control air hanging bracket adopting layered structure |
| CN105946497A (en) * | 2016-07-11 | 2016-09-21 | 安庆新景技电子科技有限公司 | Complete vehicle posture control method |
| CN106143041A (en) * | 2015-04-17 | 2016-11-23 | 金华理工泰科汽车研究所有限公司 | A kind of Vehicular air suspension control system and control method thereof |
| CN106143039A (en) * | 2016-08-23 | 2016-11-23 | 河北嘉德工程技术有限公司 | A kind of control method of air suspension overall height regulation |
| CN106427452A (en) * | 2016-11-09 | 2017-02-22 | 辽宁工业大学 | Load disturbance delaying and aerating and de-aerating coordination control method for electronic control pneumatic suspension |
| CN107187289A (en) * | 2017-06-08 | 2017-09-22 | 衢州龙鼎汽车零部件制造有限公司 | A kind of pneumatic type bodywork height regulating system |
| CN107215164A (en) * | 2016-03-22 | 2017-09-29 | 丰田自动车株式会社 | Car height controlling system |
| KR20170119965A (en) * | 2016-04-20 | 2017-10-30 | 주식회사 디에어 | Method for control using division of air suspention device |
| JP6349950B2 (en) * | 2014-05-19 | 2018-07-04 | いすゞ自動車株式会社 | Control device for vehicle height adjustment system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10151928A (en) * | 1996-09-25 | 1998-06-09 | Toyota Motor Corp | Vehicle height adjusting device |
| US7950674B2 (en) * | 2009-04-09 | 2011-05-31 | Arvinmeritor Technology, Llc | Ride height leveling control for dual air spring configuration |
| US8113521B2 (en) * | 2009-06-19 | 2012-02-14 | Pin Hsiu Rubber Co., Ltd. | Intelligent electronic air suspension system that automatically adjusts its air pressure |
| CN103085628B (en) * | 2013-01-25 | 2016-02-24 | 中国公路车辆机械有限公司 | A kind of Passenger car air suspension control system |
| CN103085627B (en) * | 2013-01-25 | 2015-08-12 | 中国公路车辆机械有限公司 | A kind of truck and trailer air suspension control system |
| CN109649106A (en) * | 2018-12-03 | 2019-04-19 | 珠海格力电器股份有限公司 | A kind of air suspension height control system and control method |
-
2018
- 2018-12-03 CN CN201811468502.1A patent/CN109649106A/en active Pending
-
2019
- 2019-09-06 WO PCT/CN2019/104639 patent/WO2020114027A1/en active Application Filing
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11278036A (en) * | 1998-03-30 | 1999-10-12 | Toyota Motor Corp | Car height adjustment device |
| JP2003170721A (en) * | 2001-12-05 | 2003-06-17 | Aisin Seiki Co Ltd | Vehicle height adjusting device |
| JP4052043B2 (en) * | 2002-07-08 | 2008-02-27 | トヨタ自動車株式会社 | Automatic vehicle height adjustment device |
| CN101284488A (en) * | 2007-04-12 | 2008-10-15 | 哈尔德克斯制动器公司 | Electronic height control system for a vehicle with multiple input signals |
| CN102029870A (en) * | 2009-10-02 | 2011-04-27 | 巴克斯代尔公司 | Hybrid leveling system |
| CN203681193U (en) * | 2013-12-09 | 2014-07-02 | 深圳市德平国瀚汽车电子科技有限公司 | AHC (active height control) system and vehicle |
| JP6349950B2 (en) * | 2014-05-19 | 2018-07-04 | いすゞ自動車株式会社 | Control device for vehicle height adjustment system |
| CN104015581A (en) * | 2014-05-20 | 2014-09-03 | 江苏大学 | Method for adjusting and controlling vehicle height of electrical control air suspension |
| CN106143041A (en) * | 2015-04-17 | 2016-11-23 | 金华理工泰科汽车研究所有限公司 | A kind of Vehicular air suspension control system and control method thereof |
| CN104960396A (en) * | 2015-07-08 | 2015-10-07 | 吉林大学 | Whole-vehicle height control method based on electric-control air hanging bracket adopting layered structure |
| CN107215164A (en) * | 2016-03-22 | 2017-09-29 | 丰田自动车株式会社 | Car height controlling system |
| KR20170119965A (en) * | 2016-04-20 | 2017-10-30 | 주식회사 디에어 | Method for control using division of air suspention device |
| CN105946497A (en) * | 2016-07-11 | 2016-09-21 | 安庆新景技电子科技有限公司 | Complete vehicle posture control method |
| CN106143039A (en) * | 2016-08-23 | 2016-11-23 | 河北嘉德工程技术有限公司 | A kind of control method of air suspension overall height regulation |
| CN106427452A (en) * | 2016-11-09 | 2017-02-22 | 辽宁工业大学 | Load disturbance delaying and aerating and de-aerating coordination control method for electronic control pneumatic suspension |
| CN107187289A (en) * | 2017-06-08 | 2017-09-22 | 衢州龙鼎汽车零部件制造有限公司 | A kind of pneumatic type bodywork height regulating system |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020114027A1 (en) * | 2018-12-03 | 2020-06-11 | 珠海格力电器股份有限公司 | Air suspension height control system and control method |
| CN110836782A (en) * | 2019-10-12 | 2020-02-25 | 中国第一汽车股份有限公司 | Manufacturing method of air suspension for vehicle |
| CN111497549A (en) * | 2020-05-19 | 2020-08-07 | 珠海格力电器股份有限公司 | Method and device for adjusting air suspension height, storage medium and processor |
| WO2021232794A1 (en) * | 2020-05-19 | 2021-11-25 | 格力电器（武汉）有限公司 | Method and device for adjusting height of air suspension, storage medium and processor |
| CN111660749B (en) * | 2020-06-29 | 2021-08-03 | 厦门金龙联合汽车工业有限公司 | Method for controlling height of air suspension vehicle body |
| CN111660749A (en) * | 2020-06-29 | 2020-09-15 | 厦门金龙联合汽车工业有限公司 | Method for controlling height of air suspension vehicle body |
| CN112188170A (en) * | 2020-09-30 | 2021-01-05 | 重庆市海普软件产业有限公司 | Outdoor intelligent digital holder control system and method |
| CN112172436A (en) * | 2020-10-12 | 2021-01-05 | 中车株洲电力机车有限公司 | Air spring height adjusting system and method for medium-low speed maglev train |
| CN112172436B (en) * | 2020-10-12 | 2022-04-08 | 中车株洲电力机车有限公司 | Air spring height adjusting system and method for medium-low speed maglev train |
| CN112455175A (en) * | 2020-11-27 | 2021-03-09 | 珠海格力电器股份有限公司 | Method, device and system for controlling height of vehicle suspension |
| CN112903318A (en) * | 2021-01-27 | 2021-06-04 | 珠海格力电器股份有限公司 | Method, device and system for controlling height of vehicle suspension |
| CN112903318B (en) * | 2021-01-27 | 2022-04-05 | 珠海格力电器股份有限公司 | Method, device and system for controlling height of vehicle suspension |
| CN113252369A (en) * | 2021-06-24 | 2021-08-13 | 中国第一汽车股份有限公司 | Method for determining road parameters suitable for air suspension test |
| CN114110079A (en) * | 2021-11-08 | 2022-03-01 | 湖南弘辉科技有限公司 | Marine airbag vibration isolation control system and method |
| CN114211927A (en) * | 2022-01-20 | 2022-03-22 | 同济大学 | Electromagnetic valve control method, device and equipment based on air suspension and storage medium |
| CN114211927B (en) * | 2022-01-20 | 2024-01-30 | 同济大学 | Electromagnetic valve control method, device, equipment and storage medium based on air suspension |
| CN115817092A (en) * | 2023-01-03 | 2023-03-21 | 重庆长安汽车股份有限公司 | Air supply control method, device and equipment for air suspension and storage medium |
| CN115817092B (en) * | 2023-01-03 | 2024-05-10 | 重庆长安汽车股份有限公司 | Air suspension air supply control method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020114027A1 (en) | 2020-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109649106A (en) | A kind of air suspension height control system and control method | |
| CN105329058B (en) | A kind of energy regenerative type active air suspension system and its control method | |
| CN101248260B (en) | Power output apparatus, motor vehicle equipped with power output apparatus, and control method of power output apparatus | |
| CN108099533B (en) | IAHC intelligent electric control suspension system and vehicle | |
| CN105346349B (en) | The energy-recuperation system and its method of a kind of air suspension | |
| US11230272B2 (en) | Wheelie controller and control method thereof | |
| CN103587369B (en) | A kind of electronic control air suspension bodywork height multi-mode method for handover control | |
| CN106427452B (en) | A kind of delay of electronic control air suspension load disturbance and inflation/deflation control method for coordinating | |
| CN105501021A (en) | Automobile chassis height regulating and controlling device and control method thereof | |
| CN101321643A (en) | Hybrid vehicle | |
| CN104569501B (en) | A kind of vehicle speed based on dipper system is than calibration system and method | |
| CN109606055A (en) | A kind of airsuspension system and method and the vehicle for installing the system | |
| CN109353178B (en) | System and method for controlling overall vehicle attitude of electric control air suspension | |
| CN108860151A (en) | A kind of pure electric car drive system energy-saving control method | |
| CN110758041A (en) | Integrated self-powered active suspension actuator control system and control method thereof | |
| US11440413B2 (en) | Adjusting device for an electrically operated utility vehicle and method for the operation thereof | |
| CN110744980A (en) | Multi-mode combined energy-feedback type suspension actuator and control method thereof | |
| CN106143039A (en) | A kind of control method of air suspension overall height regulation | |
| CN104417311B (en) | The control method of a kind of air conditioner compressor of vehicle and control system | |
| US5418724A (en) | Antiskid control apparatus | |
| CN106428194B (en) | Electric hydraulic power-assisted steering control method based on factor compensation | |
| CN109606051B (en) | Air suspension vehicle height control system based on Internet of vehicles | |
| CN115723502B (en) | Air suspension system vehicle height adjusting method based on pressure measurement | |
| CN111169292B (en) | Method and system for controlling temperature of driving motor in pure electric driving uphill stage of vehicle | |
| CN107225916B (en) | Electric car air pressure based on road shock model adjusts system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190419 |
|
| RJ01 | Rejection of invention patent application after publication |