CN109677227B - Vehicle body posture adjusting system and method based on air spring - Google Patents
Vehicle body posture adjusting system and method based on air spring Download PDFInfo
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- CN109677227B CN109677227B CN201910031841.1A CN201910031841A CN109677227B CN 109677227 B CN109677227 B CN 109677227B CN 201910031841 A CN201910031841 A CN 201910031841A CN 109677227 B CN109677227 B CN 109677227B
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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
- B60G17/02—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 vehicle body posture adjusting system and method based on an air spring, wherein the adjusting system comprises a vehicle sensor module, a preprocessing module, a main control module, an adjusting module, a voice prompt module and an emergency manual button; the vehicle sensor module comprises four vehicle body height sensors and acceleration sensors; the adjusting module comprises four air springs and an additional air chamber; the air spring comprises an air bag, an air pressure sensor, an exhaust electric valve and an air inlet electric valve. When the intelligent automobile body height control system works, the total control module controls the exhaust electric valves of the four air springs, the air inlet electric valves of the four air springs and the voice prompt module to work according to sensing data of the four automobile body height sensors, the acceleration sensor, the air pressure sensors of the four air springs and the emergency manual button. The invention is beneficial to the driver to operate according to road conditions in advance, improves the adaptability of the vehicle suspension system to different road conditions, and ensures the driving safety.
Description
Technical Field
The invention relates to the field of automobile safety, in particular to a vehicle body posture adjusting system and method based on an air spring.
Background
Air suspensions are becoming more and more widely used in vehicles because of their unique advantages, the performance of which depends primarily on suspension parameters, whereas the stiffness of conventional passive air suspensions cannot be altered once selected at design time. When encountering some bumpy road surfaces, the natural vibration frequency of the air springs of the air suspension can be very high, and the air springs cannot play a role in vibration reduction well, so that the riding comfort of passengers and the driving feeling of drivers are affected. In order to improve the riding comfort of passengers, the effective volume of the air bag in the air spring can be increased, and after the effective volume of the air bag is increased, the vibration amplitude of the vehicle can be reduced under the same road condition.
At present, the existing air springs on the market are all controlled by an electric control automatic car body, namely, the electric signals sent by a controller are used for controlling a control valve, and the electric signals sent by the controller are used for controlling the control valve to have certain limitation, for example, when the car runs in a mountain area, the car has more curves and has larger roll when the car turns, and the control valve needs to be closed in advance to ensure the running safety, but because the electric signals sent by the controller do not have advance, the signal for controlling the electromagnetic valve to be turned off can be sent when the car turns, which is disadvantageous to the running. Furthermore, since the behavior of the controller signaling is not subjective, it is not possible to intelligently choose between driving comfort and anti-roll performance.
Disclosure of Invention
The invention aims to solve the technical problem of providing a vehicle body posture adjusting system and method based on an air spring aiming at the defects related to the background technology.
The invention adopts the following technical scheme for solving the technical problems:
an air spring-based vehicle body posture adjusting system comprises a vehicle sensor module, a preprocessing module, a total control module, an adjusting module, a voice prompt module and an emergency manual button;
the vehicle sensor module comprises four vehicle body height sensors and an acceleration sensor;
the four vehicle height sensors are arranged on the vehicle frame at the four wheels and are used for detecting the distance between the vehicle frame at the four wheels and the ground and transmitting the distance to the pretreatment module;
the acceleration sensor is arranged on a suspension of the vehicle and used for collecting the acceleration of the vehicle body and transmitting the acceleration to the preprocessing module;
the adjusting module comprises four air springs and an additional air chamber; the four air springs are respectively arranged at four suspensions of the automobile and are respectively used for adjusting the postures of the four suspensions;
the air spring comprises an air bag, an air pressure sensor, an exhaust electric valve and an air inlet electric valve; the air bag is provided with an air inlet and an air outlet, wherein the air outlet is communicated with the outside through a pipeline, and the air inlet is communicated with the additional air chamber through a pipeline; the air pressure sensor is arranged in the air bag and is used for sensing the air pressure in the air bag and transmitting the air pressure to the pretreatment module; the exhaust electric valve is respectively arranged in a pipeline in which the exhaust hole is communicated with the outside, and is used for enabling the air bag to be deflated towards the outside when the exhaust electric valve is opened, so that the elasticity of the air spring is reduced, and the riding comfort is improved; the air inlet electric valve is respectively arranged in a pipeline in which the air inlet hole is communicated with the additional air chamber, and is used for enabling the additional air chamber to inflate the air bag when the air inlet electric valve is opened, so that the air spring elasticity is increased, and the anti-rolling capability of the vehicle body is enhanced;
the preprocessing module is used for carrying out analog-digital signal conversion, filtering and abnormal data elimination on the received distances between the four wheels and the ground of the frame, the vehicle body acceleration and the air pressures in the four air spring air bags, and then transmitting the converted signals to the total control module;
the voice prompt system is used for sending out early warning prompts to a driver;
the emergency manual button is arranged in a cab of the vehicle and is used for inputting an emergency switching instruction to the overall control module;
the main control module is electrically connected with the pretreatment module, the emergency manual button, the exhaust electric valves of the four air springs, the air inlet electric valves of the four air springs and the voice prompt module respectively and is used for controlling the operation of the exhaust electric valves of the four air springs, the air inlet electric valves of the four air springs and the voice prompt module according to the transmitted data of the pretreatment module and the emergency manual button.
The invention also discloses a control method of the vehicle body posture adjusting system based on the air spring, which comprises the following steps:
step 1), four car body height sensors, an acceleration sensor and air pressure sensors of four air springs respectively obtain the distance between the car frame and the ground at four wheels, car body acceleration A and the air pressure in four air spring air bags, and transmit the distances to the preprocessing module;
step 2), the preprocessing module is used for carrying out analog-digital signal conversion, filtering and abnormal data elimination on the received distances between the four wheels and the ground of the frame, the vehicle body acceleration A and the air pressure in the four air spring air bags, and then transmitting the converted signals to the total control module;
step 3), the total control module calculates a difference value L1 of the distance between the left rear wheel and the right rear wheel of the frame and the ground, and calculates a difference value L2 of the distance between the left front wheel and the right front wheel of the frame and the ground;
step 4), the total control module obtains an absolute value L of an average value of L1 and L2;
step 5), the total control module compares A with a preset acceleration threshold B, compares L with a preset stable value M, and judges whether an emergency manual button is pressed or not;
step 5.1), if a is less than or equal to B, L and M is not pressed, and the emergency manual button is not pressed, the vehicle body is stable and has no rollover risk, the total control module compares the air pressures in the four air spring air bags with preset first air pressure thresholds respectively, and for each air spring:
step 5.1.1), if the air pressure in the air spring is smaller than a preset first air pressure threshold value, controlling an exhaust electric valve of the air spring to be closed and an air inlet electric valve of the air spring to be opened, and inflating an air bag in the air spring until the air pressure in the air spring is equal to the preset first air pressure threshold value;
step 5.1.2), if the air pressure in the air spring is greater than a preset first air pressure threshold value, controlling an exhaust electric valve of the air spring to be opened and an air inlet electric valve of the air spring to be closed, and deflating an air bag in the air spring until the air pressure in the air spring is equal to the preset first air pressure threshold value;
step 5.2), if a is greater than B, L and less than M, and the emergency manual button is not pressed, the vehicle body jolts at this time, and there is no rollover risk, the total control module compares the air pressures in the four air spring air bags with preset second air pressure thresholds, respectively, which are less than a preset first air pressure threshold, for each air spring:
step 5.2.1), if the air pressure in the air spring is smaller than a preset second air pressure threshold value, controlling an exhaust electric valve of the air spring to be closed and an air inlet electric valve of the air spring to be opened, and inflating an air bag in the air spring until the air pressure in the air spring is equal to the preset second air pressure threshold value;
step 5.2.2), if the air pressure in the air spring is greater than a preset second air pressure threshold value, controlling an exhaust electric valve of the air spring to be opened and an air inlet electric valve of the air spring to be closed, and deflating an air bag in the air spring until the air pressure in the air spring is equal to the preset second air pressure threshold value;
step 5.3), if L is greater than M or the emergency manual button is pressed, at this time, there is a risk of rollover, and the overall control module performs active control:
step 5.3.1), the total control module controls the voice prompt module to send out early warning prompt to the driver;
step 5.3.2), calculating target air pressures of the four air spring air bags according to the distances between the four wheels of the vehicle frame and the ground, and controlling the exhaust electric valve and the air inlet electric valve of each air spring to make the air pressures of the four air spring air bags equal to the target air pressures.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
1. the emergency manual button is arranged on the basis of the electric control valve, so that a driver can control the vehicle suspension actively by subjective control of the emergency manual button according to road conditions, the adaptability of the air suspension system to different road conditions is improved, and the driving safety is ensured.
2. According to the invention, the posture of the vehicle body is regulated through the air springs, the air bags in the air springs are connected with the additional air chambers, so that the softness and the rigidity of the air springs can be directly regulated, and the softness of the four air springs can be automatically regulated according to the bumping degree of the vehicle body, so that the vehicle is more comfortable to run.
Drawings
FIG. 1 is a schematic diagram of an air spring based body attitude adjustment system of the present invention;
fig. 2 is a flow chart of a control method of the air spring based vehicle body posture adjustment system of the present invention.
Detailed Description
The technical scheme of the invention is further described in detail below with reference to the accompanying drawings:
this invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, the components are exaggerated for clarity.
As shown in fig. 1, the invention discloses an air spring-based vehicle body posture adjusting system, which comprises a vehicle sensor module, a preprocessing module, a total control module, an adjusting module, a voice prompt module and an emergency manual button;
the vehicle sensor module comprises four vehicle body height sensors and an acceleration sensor;
the four vehicle height sensors are arranged on the vehicle frame at the four wheels and are used for detecting the distance between the vehicle frame at the four wheels and the ground and transmitting the distance to the pretreatment module;
the acceleration sensor is arranged on a suspension of the vehicle and used for collecting the acceleration of the vehicle body and transmitting the acceleration to the preprocessing module;
the adjusting module comprises four air springs and an additional air chamber; the four air springs are respectively arranged at four suspensions of the automobile and are respectively used for adjusting the postures of the four suspensions;
the air spring comprises an air bag, an air pressure sensor, an exhaust electric valve and an air inlet electric valve; the air bag is provided with an air inlet and an air outlet, wherein the air outlet is communicated with the outside through a pipeline, and the air inlet is communicated with the additional air chamber through a pipeline; the air pressure sensor is arranged in the air bag and is used for sensing the air pressure in the air bag and transmitting the air pressure to the pretreatment module; the exhaust electric valve is respectively arranged in a pipeline in which the exhaust hole is communicated with the outside, and is used for enabling the air bag to be deflated towards the outside when the exhaust electric valve is opened, so that the elasticity of the air spring is reduced, and the riding comfort is improved; the air inlet electric valve is respectively arranged in a pipeline in which the air inlet hole is communicated with the additional air chamber, and is used for enabling the additional air chamber to inflate the air bag when the air inlet electric valve is opened, so that the air spring elasticity is increased, and the anti-rolling capability of the vehicle body is enhanced;
the preprocessing module is used for carrying out analog-digital signal conversion, filtering and abnormal data elimination on the received distances between the four wheels and the ground of the frame, the vehicle body acceleration and the air pressures in the four air spring air bags, and then transmitting the converted signals to the total control module;
the voice prompt system is used for sending out early warning prompts to a driver;
the emergency manual button is arranged in a cab of the vehicle and is used for inputting an emergency switching instruction to the overall control module;
the main control module is electrically connected with the pretreatment module, the emergency manual button, the exhaust electric valves of the four air springs, the air inlet electric valves of the four air springs and the voice prompt module respectively and is used for controlling the operation of the exhaust electric valves of the four air springs, the air inlet electric valves of the four air springs and the voice prompt module according to the transmitted data of the pretreatment module and the emergency manual button.
As shown in fig. 2, the invention also discloses a control method of the vehicle body posture adjusting system based on the air spring, which comprises the following steps:
step 1), four car body height sensors, an acceleration sensor and air pressure sensors of four air springs respectively obtain the distance between the car frame and the ground at four wheels, car body acceleration A and the air pressure in four air spring air bags, and transmit the distances to the preprocessing module;
step 2), the preprocessing module is used for carrying out analog-digital signal conversion, filtering and abnormal data elimination on the received distances between the four wheels and the ground of the frame, the vehicle body acceleration A and the air pressure in the four air spring air bags, and then transmitting the converted signals to the total control module;
step 3), the total control module calculates a difference value L1 of the distance between the left rear wheel and the right rear wheel of the frame and the ground, and calculates a difference value L2 of the distance between the left front wheel and the right front wheel of the frame and the ground;
step 4), the total control module obtains an absolute value L of an average value of L1 and L2;
step 5), the total control module compares A with a preset acceleration threshold B, compares L with a preset stable value M, and judges whether an emergency manual button is pressed or not;
step 5.1), if a is less than or equal to B, L and M is not pressed, and the emergency manual button is not pressed, the vehicle body is stable and has no rollover risk, the total control module compares the air pressures in the four air spring air bags with preset first air pressure thresholds respectively, and for each air spring:
step 5.1.1), if the air pressure in the air spring is smaller than a preset first air pressure threshold value, controlling an exhaust electric valve of the air spring to be closed and an air inlet electric valve of the air spring to be opened, and inflating an air bag in the air spring until the air pressure in the air spring is equal to the preset first air pressure threshold value;
step 5.1.2), if the air pressure in the air spring is greater than a preset first air pressure threshold value, controlling an exhaust electric valve of the air spring to be opened and an air inlet electric valve of the air spring to be closed, and deflating an air bag in the air spring until the air pressure in the air spring is equal to the preset first air pressure threshold value;
step 5.2), if a is greater than B, L and less than M, and the emergency manual button is not pressed, the vehicle body jolts at this time, and there is no rollover risk, the total control module compares the air pressures in the four air spring air bags with preset second air pressure thresholds, respectively, which are less than a preset first air pressure threshold, for each air spring:
step 5.2.1), if the air pressure in the air spring is smaller than a preset second air pressure threshold value, controlling an exhaust electric valve of the air spring to be closed and an air inlet electric valve of the air spring to be opened, and inflating an air bag in the air spring until the air pressure in the air spring is equal to the preset second air pressure threshold value;
step 5.2.2), if the air pressure in the air spring is greater than a preset second air pressure threshold value, controlling an exhaust electric valve of the air spring to be opened and an air inlet electric valve of the air spring to be closed, and deflating an air bag in the air spring until the air pressure in the air spring is equal to the preset second air pressure threshold value;
step 5.3), if L is greater than M or the emergency manual button is pressed, at this time, there is a risk of rollover, and the overall control module performs active control:
step 5.3.1), the total control module controls the voice prompt module to send out early warning prompt to the driver;
step 5.3.2), calculating target air pressures of the four air spring air bags according to the distances between the four wheels of the vehicle frame and the ground, and controlling the exhaust electric valve and the air inlet electric valve of each air spring to make the air pressures of the four air spring air bags equal to the target air pressures.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (1)
1. The control method of the vehicle body posture adjusting system based on the air spring comprises a vehicle sensor module, a preprocessing module, a total control module, an adjusting module, a voice prompt module and an emergency manual button;
the vehicle sensor module comprises four vehicle body height sensors and an acceleration sensor;
the four vehicle height sensors are arranged on the vehicle frame at the four wheels and are used for detecting the distance between the vehicle frame at the four wheels and the ground and transmitting the distance to the pretreatment module;
the acceleration sensor is arranged on a suspension of the vehicle and used for collecting the acceleration of the vehicle body and transmitting the acceleration to the preprocessing module;
the adjusting module comprises four air springs and an additional air chamber; the four air springs are respectively arranged at four suspensions of the automobile and are respectively used for adjusting the postures of the four suspensions;
the air spring comprises an air bag, an air pressure sensor, an exhaust electric valve and an air inlet electric valve; the air bag is provided with an air inlet and an air outlet, wherein the air outlet is communicated with the outside through a pipeline, and the air inlet is communicated with the additional air chamber through a pipeline; the air pressure sensor is arranged in the air bag and is used for sensing the air pressure in the air bag and transmitting the air pressure to the pretreatment module; the exhaust electric valve is respectively arranged in a pipeline in which the exhaust hole is communicated with the outside, and is used for enabling the air bag to be deflated towards the outside when the exhaust electric valve is opened, so that the elasticity of the air spring is reduced, and the riding comfort is improved; the air inlet electric valve is respectively arranged in a pipeline in which the air inlet hole is communicated with the additional air chamber, and is used for enabling the additional air chamber to inflate the air bag when the air inlet electric valve is opened, so that the air spring elasticity is increased, and the anti-rolling capability of the vehicle body is enhanced;
the preprocessing module is used for carrying out analog-digital signal conversion, filtering and abnormal data elimination on the received distances between the four wheels and the ground of the frame, the vehicle body acceleration and the air pressures in the four air spring air bags, and then transmitting the converted signals to the total control module;
the voice prompt module is used for sending out early warning prompts to a driver;
the emergency manual button is arranged in a cab of the vehicle and is used for inputting an emergency switching instruction to the overall control module;
the main control module is respectively and electrically connected with the pretreatment module, the emergency manual button, the exhaust electric valves of the four air springs, the air inlet electric valves of the four air springs and the voice prompt module, and is used for controlling the exhaust electric valves of the four air springs, the air inlet electric valves of the four air springs and the voice prompt module to work according to the transmitted data of the pretreatment module and the emergency manual button;
the control method of the vehicle body posture adjusting system based on the air spring is characterized by comprising the following steps of:
step 1), four car body height sensors, an acceleration sensor and air pressure sensors of four air springs respectively obtain the distance between the car frame and the ground at four wheels, car body acceleration A and the air pressure in four air spring air bags, and transmit the distances to the preprocessing module;
step 2), the preprocessing module is used for carrying out analog-digital signal conversion, filtering and abnormal data elimination on the received distances between the four wheels and the ground of the frame, the vehicle body acceleration A and the air pressure in the four air spring air bags, and then transmitting the converted signals to the total control module;
step 3), the total control module calculates a difference value L1 of the distance between the left rear wheel and the right rear wheel of the frame and the ground, and calculates a difference value L2 of the distance between the left front wheel and the right front wheel of the frame and the ground;
step 4), the total control module obtains an absolute value L of an average value of L1 and L2;
step 5), the total control module compares A with a preset acceleration threshold B, compares L with a preset stable value M, and judges whether an emergency manual button is pressed or not;
step 5.1), if a is less than or equal to B, L and M is not pressed, and the emergency manual button is not pressed, the vehicle body is stable and has no rollover risk, the total control module compares the air pressures in the four air spring air bags with preset first air pressure thresholds respectively, and for each air spring:
step 5.1.1), if the air pressure in the air spring is smaller than a preset first air pressure threshold value, controlling an exhaust electric valve of the air spring to be closed and an air inlet electric valve of the air spring to be opened, and inflating an air bag in the air spring until the air pressure in the air spring is equal to the preset first air pressure threshold value;
step 5.1.2), if the air pressure in the air spring is greater than a preset first air pressure threshold value, controlling an exhaust electric valve of the air spring to be opened and an air inlet electric valve of the air spring to be closed, and deflating an air bag in the air spring until the air pressure in the air spring is equal to the preset first air pressure threshold value;
step 5.2), if a is greater than B, L and less than M, and the emergency manual button is not pressed, the vehicle body jolts at this time, and there is no rollover risk, the total control module compares the air pressures in the four air spring air bags with preset second air pressure thresholds, respectively, which are less than a preset first air pressure threshold, for each air spring:
step 5.2.1), if the air pressure in the air spring is smaller than a preset second air pressure threshold value, controlling an exhaust electric valve of the air spring to be closed and an air inlet electric valve of the air spring to be opened, and inflating an air bag in the air spring until the air pressure in the air spring is equal to the preset second air pressure threshold value;
step 5.2.2), if the air pressure in the air spring is greater than a preset second air pressure threshold value, controlling an exhaust electric valve of the air spring to be opened and an air inlet electric valve of the air spring to be closed, and deflating an air bag in the air spring until the air pressure in the air spring is equal to the preset second air pressure threshold value;
step 5.3), if L is greater than M or the emergency manual button is pressed, at this time, there is a risk of rollover, and the overall control module performs active control:
step 5.3.1), the total control module controls the voice prompt module to send out early warning prompt to the driver;
step 5.3.2), calculating target air pressures of the four air spring air bags according to the distances between the four wheels of the vehicle frame and the ground, and controlling the exhaust electric valve and the air inlet electric valve of each air spring to make the air pressures of the four air spring air bags equal to the target air pressures.
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| CN201910031841.1A CN109677227B (en) | 2019-01-14 | 2019-01-14 | Vehicle body posture adjusting system and method based on air spring |
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| CN112223972B (en) * | 2019-08-27 | 2021-12-07 | 吉林大学 | Double-cross-arm type suspension helical spring failure emergency protection control system and method |
| CN112238725B (en) * | 2019-09-16 | 2021-11-05 | 吉林大学 | Thrust vector-based suspension spring failure emergency protection control system and method |
| CN112693271B (en) * | 2021-02-24 | 2022-05-17 | 山东思迈尔智能科技有限公司 | Remote trailer body height adjusting method |
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