CN109795279A - Multi-mode mixes suspension actuator and its control method - Google Patents
Multi-mode mixes suspension actuator and its control method Download PDFInfo
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- CN109795279A CN109795279A CN201910242588.4A CN201910242588A CN109795279A CN 109795279 A CN109795279 A CN 109795279A CN 201910242588 A CN201910242588 A CN 201910242588A CN 109795279 A CN109795279 A CN 109795279A
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Abstract
The invention discloses a kind of multi-mode mixing suspension actuator and its control methods, it includes actuator ontology and control unit that the multi-mode, which mixes suspension actuator, and actuator ontology includes air spring mechanism, air spring double rod-type magneto-rheological vibration dampers out within the organization are arranged in, double rod-type magneto-rheological vibration damper tops out are arranged in and is located at air spring upper linear motor unit within the organization and the lower linear motor unit of lower part in double rod-type magneto-rheological vibration dampers out is arranged in；Its method is comprising steps of the acquisition of one, data and synchronous transfer；Two, the ideal damping force under vehicle suspension LQG control is calculated；Three, vehicle root mean square of weighed acceleration is calculated；Four, multi-mode mixing suspension actuator is controlled.Rationally, it is convenient and at low cost to realize, job stability and high reliablity, energy regenerative is high-efficient, and real-time is high for novel design of the invention, and mixing suspension can be made to be in optimal vibration damping state, practical, convenient for promoting the use of.
Description
Technical field
The invention belongs to vehicle suspension Actuator technique fields, and in particular to a kind of multi-mode mixing suspension actuator and its
Control method.
Background technique
Vehicle is during traveling, since the excitation of the unevenness on road surface is so that vehicle generates vibration.Automobile is wide at present
It is general to use through passive suspension (being made of damper, elastic element etc.) function for realizing decaying vibration and bearing vehicle body
Energy.But the performance parameter of passive suspension (rigidity, damping) can not carry out in fact according to the actual condition in vehicle travel process
When adjust, therefore, passive suspension can not take into account the handling stability and ride comfort of vehicle, meanwhile, passive suspension by damper,
Elastic element will be converted into thermal dissipation in air by the energy of automobile vibration, is not used.Due to passively hanging
The shortcomings that frame can not adjust in real time the effectiveness in vibration suppression of suspension according to the operating condition of vehicle driving, improve the ride comfort of vehicle, closely
Nian Lai proposes Active suspension and semi-active suspension in succession.Active suspension being capable of excitation according to the unevenness on road surface and vehicle
Driving cycle adjusts the damping property of suspension in real time, and Active suspension can adapt to whole road excitation and vehicle row
Operating condition is sailed, still, Active suspension the shortcomings that there are highly energy-consumings, so that its development prospect is very restricted.Half is actively outstanding
The advantages of frame is that energy regenerating can also be carried out while it can provide a certain range of damping force to suspension, but due to
Semi-active suspension can only change a parameter in the rigidity or damping of suspension, so that semi-active suspension exists in real-time adjust
Drawback, can not adapt to whole road surfaces and vehicle driving-cycle, limit vehicle handling stability and ride comfort to a certain extent
It further increases.
Active suspension needs additional energy source to be supplied to actuator for it and generate active force progress vibration damping, therefore actively
Suspension energy consumption is very big, this is by the popularization of serious restricting vehicle Active suspension.Therefore the energy regenerative of active suspension actuator of electric must be taken into consideration
Into the design of Active suspension, the popularization and application of Active suspension otherwise will be seriously limited because of excessively high energy consumption.Actively
Suspension limits its development and application other than energy consumption height, there are one factor, allows for the failure of active suspension actuator of electric.Such as
Fruit Active suspension only uses actuator with spring, it is contemplated that actuator failure, then automobile ride will generate very with handling stability
It is big to influence.
The development of air suspension in recent years has obtained significant progress, more and more uses sky on high-grade car and car
Gas suspension, this is because air suspension rigidity non-linear and its improve the flat of vehicle by way of adjusting bodywork height
It is pliable, there is unique advantage compared to other kinds of semi-active suspension, but since air suspension is carrying out bodywork height
It needs to be inflated by air compressor when adjusting, consumes a large amount of energy.Patent publication No. is CN 102261417B's
Chinese invention patent " constant internal pressure air-spring additional air chambers and working method of volume consecutive variations " discloses a kind of volume
The constant internal pressure air-spring additional air chamber and working method of consecutive variations, the gas chamber cylinder body of the air spring additional air chamber is with two
A partition is divided into tri- chambers of A, B, C, and is equipped with solenoid valve in two partitions, and uses a double secondary linear motors and come
The movement for controlling partition, so that the volume of three chambers of gas chamber cylinder body of air spring changes, to realize increase or drop
Low spring system rigidity, it is also possible that air spring additional air chamber variable volume but internal pressure is kept constant, improves the row of vehicle
Sail stability and riding comfort.But there is no the energy consumption issues for solving air suspension for this method, and due to linear motor
Presence make energy consumption increase.Application No. is 201710909843.7 Chinese patents to disclose a kind of " combined type energy regenerative type half
Active suspension actuator of electric and its control method " proposes integration air spring with linear motor, and linear motor carries out energy regenerative, with
This energy consumption problem to reduce suspension system.But the problem of not accounting for the failure of linear motor actuator, if actuator
Failure, will not have any effect to energy regenerating.Linear motor shared dead volume in air spring is excessive simultaneously, it will indirectly
This compound semi-active suspension volume is caused to increase.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing, a kind of meter is novel to be closed
Reason realizes that convenient and at low cost, job stability and high reliablity, energy regenerative are high-efficient, real-time is high, can make to mix at suspension
In optimal vibration damping state, practical, convenient for popularization and use multi-mode mixing suspension actuator.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of multi-mode mixing suspension actuator,
Be characterized in that: including actuator ontology and control unit, the actuator ontology includes air spring mechanism, is arranged in air bullet
Spring double rod-type magneto-rheological vibration dampers out within the organization, setting on double rod-type magneto-rheological vibration damper tops out and are located at air spring machine
Upper linear motor unit in structure and be arranged in it is double go out rod-type magneto-rheological vibration dampers in lower part lower linear motor unit；
The air spring mechanism includes spaced air spring upper flange plate and air spring lower flange, and
Air-spring bellows between air spring upper flange plate and air spring lower flange, the air spring upper flange are set
The upper end of disk is connected with air spring upper end cover, and the lower end of the air spring lower flange is connected with air spring lower cover,
It is provided with the baroceptor protruded into air-spring bellows on the air spring upper end cover and is located at described pair
The air inlet and venthole of bar-type magneto-rheological damper two sides, be provided in the air inlet with the tank connected air inlet pipe of gas storage,
Intake solenoid valve is connected in the air inlet pipe, the air accumulator is connect with air compressor, is provided with and is subtracted in the venthole
The bending part of pressure electromagnetic valve, the air-spring bellows is equipped with girdle ring；
Double rod-type magneto-rheological vibration dampers out include that the working cylinder being arranged in air-spring bellows and setting are working
Cylinder is interior and stretches out the piston rod outside at the top of working cylinder upwards, and one section outside the piston rod stretching working cylinder top is upper straight-line electric
The motor shaft of machine unit, one section of the lower part of the piston rod are the motor shaft of lower linear motor unit, the working cylinder internal upper part
And the lower part for being located at upper linear motor unit is provided with the guide holder being oriented to for the up and down motion to piston rod, the work
The lower part for making cylinder inner close fitting guide holder is provided with upper seal, in the working cylinder lower part and be located at lower linear motor unit it is upper
Portion is provided with magnetic isolation plate, and the top of the working cylinder inner close fitting magnetic isolation plate is provided with lower seal, is located in the working cylinder upper
It is provided with magnetorheological fluid in space between sealing element and lower seal, piston, the work are connected in the middle part of the piston rod
It is provided with the magnetorheological fluid channel passed through for magnetorheological fluid between plug and the inner wall of working cylinder, is wound with coil on the piston；
The upper linear motor unit includes that upper linear motor shell, upper linear motor secondary permanent magnet component and setting exist
The upper linear electric motor primary winding assembly of the upper linear motor secondary permanent magnet component external, the upper linear motor shell are set
Set guide holder top and be located at air-spring bellows in, the piston rod stretches out upwards linear motor cover top portion outside and
It is connect with air spring upper end cover, the upper linear motor secondary permanent magnet component includes being evenly arranged in linear motor unit
Motor shaft outside and the multiple upper linear motor secondary permanent magnets being located in upper linear motor shell and setting multiple straight
Upper linear motor Subloop Protect layer outside line motor secondary permanent magnet, the pole N, the pole S of multiple upper linear motor secondary permanent magnets
It is alternatively arranged；The upper linear electric motor primary winding assembly includes the upper linear electric motor primary being arranged in upper linear motor shell
Iron core and the upper linear motor for being arranged in inside upper linear electric motor primary iron core and being located at outside upper linear motor Subloop Protect layer
Armature winding, the upper linear electric motor primary iron core are fixed on the upper end of guide holder；
The lower linear motor unit includes lower linear motor fixing seat, lower linear motor secondary permanent magnet component and setting
In the lower linear electric motor primary winding assembly of the lower linear motor secondary permanent magnet component external, the lower linear motor is fixed
Seat be arranged in working cylinder bottom, the bottom of the lower linear motor fixing seat be provided with positioned at working cylinder bottom and with air bullet
The lower linear motor of spring lower cover connection protects bottom plate, and the lower linear motor secondary permanent magnet component includes being evenly arranged in down
Multiple lower linear motor secondary permanent magnets and setting outside the motor shaft of linear motor unit are secondary in multiple lower linear motors
Lower linear motor Subloop Protect layer outside permanent magnet, the pole N, the pole S of multiple lower linear motor secondary permanent magnets are alternatively arranged；Institute
Lower linear electric motor primary winding assembly is stated to include lower linear electric motor primary iron core and be arranged inside lower linear electric motor primary iron core
And it is located at the lower linear electric motor primary winding outside lower linear motor Subloop Protect layer, the lower linear electric motor primary iron core is fixed
In lower linear motor fixing seat；
Described control unit includes actuator controller and accumulator, and the input of the actuator controller is terminated with use
In the nonspring carried mass velocity sensor detected to nonspring carried mass speed, for what is detected to spring carried mass speed
Spring carried mass velocity sensor, the vehicle speed sensor for being detected to Vehicle Speed and for road pavement unevenness into
The input terminal of the road roughness displacement sensor of row detection, the baroceptor and actuator controller connects, the work
The output of dynamic device controller is terminated with the first driving circuit for electromagnetic valve for driving intake solenoid valve, depressurizes electromagnetism for driving
The second solenoid valve driving circuit of valve and the relay of the current supply circuit for being switched on or switched off air compressor, and for for
Upper linear electric motor primary winding provides the first controllable constant current source circuit of adjustable current, for mentioning for lower linear electric motor primary winding
The second controllable constant current source circuit for adjustable current and for providing the third controllable constant current source circuit of adjustable current, institute for coil
It states linear electric motor primary winding to connect with the first controllable constant current source circuit, the lower linear electric motor primary winding and second is controllably
Constant-current source circuit connection, the coil are connect with third controllable constant current source circuit, and the intake solenoid valve and the first solenoid valve drive
The output end connection of dynamic circuit, the vacuum solenoid valve are connect with the output end of second solenoid valve driving circuit, the relay
It is connected in the current supply circuit of air compressor；The accumulator includes upper linear motor accumulator and the storage of lower linear motor
Can circuit, the upper linear motor accumulator includes sequentially connected upper rectification circuit and upper battery charging circuit, described
Lower linear motor accumulator includes sequentially connected lower rectification circuit, swept resistance and lower battery charging circuit, the vehicle
It carries battery to be all connected with the output end of upper battery charging circuit and the output end of lower battery charging circuit, described first can
Constant-current source circuit, the second controllable constant current source circuit and third controllable constant current source circuit is controlled to connect with the output end of Vehicular accumulator cell
It connects, the upper linear electric motor primary winding is connect with upper rectification circuit, the lower linear electric motor primary winding and lower rectification circuit
Connection；The output end of the actuator controller is further connected with swept resistance adjustment module, the swept resistance and swept resistance tune
Save the output end connection of module.
Above-mentioned multi-mode mixes suspension actuator, it is characterised in that: between the upper seal and the inner wall of working cylinder
And upper sealing ring is provided between upper seal and piston rod, between the lower seal and the inner wall of working cylinder and under
Lower sealing ring is provided between sealing element and piston rod.
Above-mentioned multi-mode mixes suspension actuator, it is characterised in that: the guide holder be it is columnar structured, it is described straight
Line electric motor primary iron core is welded on the upper end of guide holder.
Above-mentioned multi-mode mixes suspension actuator, it is characterised in that: the upper rectification circuit and lower rectification circuit are
Three-phase bridge rectifier circuit.
Above-mentioned multi-mode mixes suspension actuator, it is characterised in that: the actuator controller is at DSP digital signal
Manage device.
Above-mentioned multi-mode mixes suspension actuator, it is characterised in that: the quantity of the upper linear motor secondary permanent magnet
It is 12~16, the quantity of the lower linear motor secondary permanent magnet is 4~6.
The invention also discloses a kind of method and steps simply, switches the vehicle by ideal active force and suspension velocity direction
The operation control mode of Active suspension, it is energy saving while, can make to mix suspension and be in the more of optimal vibration damping state
The control method of mode mixture suspension actuator, method includes the following steps:
Step 1: data acquisition and synchronous transfer: spring carried mass velocity sensor examines spring carried mass speed in real time
It surveys, nonspring carried mass velocity sensor is measured in real time nonspring carried mass speed；Actuator controller is to spring carried mass speed
The nonspring carried mass speed that the spring carried mass speed signal and nonspring carried mass velocity sensor that degree sensor detects detect
Signal carries out periodic samples；
Step 2: calculating the ideal damping force under vehicle suspension LQG control: the actuator controller is according to formulaThe spring carried mass speed v that i-th samples is calculateds,iIt is carried with non-spring
Mass velocity vu,iIdeal damping force F under corresponding vehicle suspension LQG controla,i, whereinFor vs,iDifferential, q1For vehicle
The acceleration factor and q of suspension LQG control1Value be 1~1010, q2For the velocity coeffficient and q of vehicle suspension LQG control2's
Value is 1~1010, q3For the displacement coefficient and q of vehicle suspension LQG control3Value be 1~1010, tiFor i-th sampling
Time, the value of i are non-zero natural number；
Step 3: calculating vehicle root mean square of weighed acceleration: the actuator controller is according to formulaVehicle root mean square of weighed acceleration a is calculatedw, and vehicle is defined according to human body subjectivity comfort
Root mean square of weighed acceleration root-mean-square value two-stage threshold value is respectively aw1' and aw2', by human body subjectivity comfort according to vehicle
Root mean square of weighed acceleration root-mean-square value two-stage threshold definitions aw< aw1' it is comfort zone, aw1′≤aw≤aw2' it is slightly uncomfortable
Area, aw> aw2' it is very uncomfortable area；Wherein, aw(t) it is weighted acceleration time history, passes through the acceleration time to record
Course a (t) obtains a using the filter network of frequency weighting function w (f)w(t), the expression formula of frequency weighting function w (f) isF is frequency, and t is the moment, and T is the vibration analysis time；
Step 4: controlling multi-mode mixing suspension actuator: the actuator controller is according to judging inequality
Fa,i(vs,i-vu,i) > 0 it is whether true to judge whether to meet ideal control force and the product of suspension relative velocity be positive direction, work as Fa,i
(vs,i-vu,i) > 0 when setting up, is judged as that the product of ideal control force and suspension relative velocity is positive direction, at this point, adding again to vehicle
Weigh acceleration root-mean-square value awIt is in aw< aw1′、aw1′≤aw≤aw2' and aw> aw2' region judged, work as awIt is in aw<
aw1' comfort zone when, select this state mixing suspension be in energy regenerative mode；Work as awIt is in aw1′≤aw≤aw2' slightly uncomfortable area
When, select this state mixing suspension to be in semi-active control pattern；Work as awIt is in aw> aw2' very uncomfortable area when, select this
State mixing suspension has the initiative control model；Work as Fa,i(vs,i-vu,i) > 0 it is invalid when, select this state mixing suspension be in
Energy regenerative mode；
When mixing suspension is in energy regenerative mode, the upper linear motor unit and the lower equal energy regenerative of linear motor unit are described
Third controllable constant current source circuit is not the coil power supply of double rod-type magneto-rheological vibration dampers out；
When mixing suspension is in semi-active control pattern, the upper linear motor unit and lower linear motor unit are presented
Can, meanwhile, the upper linear motor unit and lower linear motor unit generate the electromagnetic damping power in the same direction with ideal control force, add
Enter the compensation adjustment that electromagnetic damping power carries out ideal control force；
Mixing suspension have the initiative control model when, the third controllable constant current source circuit be not it is described it is double go out rod-type magnetic current
Become the coil power supply of damper, it is upper linear electric motor primary winding that the actuator controller, which controls the first controllable constant current source circuit,
In be passed through electric current, current induced magnetic field incudes mutually with upper linear motor secondary permanent magnet, generate radial electromagnetic push, drive
Piston rod movement, so that generating active force carries out vibration damping；Meanwhile the actuator controller passes through swept resistance adjustment module tune
The resistance value for saving swept resistance is maximum value Rmax, the lower linear motor unit generates opposite most with ideal direction of control force
Small reversed electromagnetic damping power Fg2min, reduce active control energy consumption；Moreover, the lower linear motor cell operation is in energy regenerative state,
During upper lifting lug moves up and down, piston rod is driven to move up and down, at the beginning of lower linear motor secondary permanent magnet cuts lower linear motor
Grade winding, generates induced electromotive force, and the induced electromotive force of generation is charged electric by lower rectification circuit, swept resistance and lower battery
The charging of road direction Vehicular accumulator cell；
During controlling in step 4 multi-mode mixing suspension actuator, the actuator controller also passes through
The air spring mechanism realizes the adjusting to height of vehicle body, detailed process are as follows:
Step A, the vehicle speed information and road roughness displacement sensing that the described actuator controller transmits vehicle speed sensor
The road roughness information that device transmits is handled, and when speed is 0~30km/h, is judged as that vehicle is being run at a low speed,
When speed is 30km/h~90km/h, it is judged as that the underway speed traveling of vehicle is judged as when speed is 90km/h or more
Vehicle is being run at high speed；When road roughness is when time period t ' interior is respectively less than preset road roughness threshold value, judgement
It is vehicle driving in flat road surface, when road roughness is all larger than in time period t ' interior equal to preset road roughness threshold value
When, it is judged as vehicle driving in rough road；When vehicle is being run at a low speed and travelled in flat road surface, it is defined as low speed
Flat road surface traveling is defined as low speed rough road traveling when vehicle is being run at a low speed and travelled in rough road, when
The underway speed of vehicle is travelled and is travelled in flat road surface, middling speed flat road surface traveling is defined as, when the underway speed of vehicle
It travels and travels in rough road, be defined as middling speed rough road traveling, when vehicle is being run at high speed and travelled flat
When smooth road surface, it is defined as high speed flat road surface traveling and is defined as when vehicle is being run at high speed and travelled in rough road
High speed rough road traveling；
Step B, the described actuator controller divides low speed flat road surface traveling, low speed rough road traveling, the flat road of middling speed
Face traveling, middling speed rough road traveling, high speed flat road surface traveling and high speed rough road travel six kinds of operating conditions to automobile body
Height is adjusted, method particularly includes:
When vehicle is travelled with high speed rough road when driving in low speed flat road surface, the actuator controller is not to described
Air spring mechanism is controlled, adjusting of the air spring mechanism without height of vehicle body；
When vehicle is travelled with high speed flat road surface when driving in middling speed flat road surface, described in the actuator controller control
Air spring mechanism reduces height of vehicle body, reduces windage, reduces oil consumption；Wherein, described in the actuator controller control
Air spring mechanism reduces height of vehicle body method particularly includes: the actuator controller control second solenoid valve driving electricity
Road drives vacuum solenoid valve to open, until the air pressure for the air-spring bellows that baroceptor detects reaches preset pressure lower limit
When value, vacuum solenoid valve is closed, so that the air-spring bellows in the air spring mechanism compress, it is high to reduce automobile body
Degree；
When vehicle is travelled with middling speed rough road when driving in low speed rough road, described in the actuator controller control
Air spring mechanism increases height of vehicle body, improves passability；Wherein, the actuator controller controls the air spring
Mechanism increases height of vehicle body method particularly includes: the actuator controller control relay connects the confession of air compressor
Electrical circuit, and control the first driving circuit for electromagnetic valve driving intake solenoid valve and open, until the air that baroceptor detects
When the air pressure of spring air bag reaches preset pressure upper limit value, the current supply circuit of air compressor is disconnected, intake solenoid valve is closed, makes
The air-spring bellows obtained in the air spring mechanism are upheld, and height of vehicle body is increased.
Above-mentioned method, it is characterised in that: q described in step 21Value be 1.2 × 105, the q2Value be
1.65×108, the q3Value be 9.5 × 109；A described in step 3w1' value be 0.315ms-2, aw2'
Value is 0.5ms-2；Mixing suspension described in step 4 have the initiative control model when, actuator controller control the
One controllable constant current source circuit is to be passed through electric current I in upper linear electric motor primary windingt1=Fa,i/Kt1, wherein Kt1For upper linear motor
Thrust coefficient and its value range be 50~150.
Above-mentioned method, it is characterised in that: mixing suspension described in step 4 is when being in semi-active control pattern, it is described on
Linear motor unit and lower linear motor unit generate the electromagnetic damping power in the same direction with ideal control force, be added electromagnetic damping power into
The detailed process of the compensation adjustment of row ideal control force are as follows:
The actuator controller is according to formulaIt is calculated described
The electromagnetic damping power F that upper linear motor unit generatesg1, and by Fg1With the ideal damping force F under vehicle suspension LQG controla,iPhase
Compare, as the electromagnetic damping power F that the upper linear motor unit generatesg1≥Fa,iWhen, illustrate that the upper linear motor unit generates
Electromagnetic damping power can satisfy the compensation adjustment of ideal control force, the actuator controller passes through swept resistance adjustment module
The resistance value for adjusting swept resistance is maximum；Wherein, Cg1For the electromagnetic damping coefficient of the upper linear motor unit, Kt1It is upper straight
The thrust coefficient of line motor and its value range are 50~150, Kε1For the electromagnetism counter electromotive force system of the upper linear motor unit
Number and its value range are 60Vs/m~70Vs/m, r1For the resistance value of the upper linear electric motor primary winding；
As the electromagnetic damping power F that the upper linear motor unit generatesg1< Fa,iWhen, the actuator controller is according to public affairs
FormulaThe maximum electricity that the lower linear motor unit generates is calculated
Non-magnetic conductor Fg2max, and by Fg1+Fg2maxWith Fa,iIt compares, works as Fg1+Fg2max≥Fa,iWhen, illustrate by adjusting the sliding electricity
The resistance value of resistance, can satisfy the compensation adjustment of ideal control force, and the actuator controller passes through formula
The resistance value R of swept resistance is calculated, then the resistance value of swept resistance is adjusted as R by swept resistance adjustment module, wherein Cg2For
The electromagnetic damping coefficient of the lower linear motor unit, Kt2For lower linear motor thrust coefficient and its value range be 50~
150, Kε2It is 60Vs/m~70Vs/m for the electromagnetism back EMF coefficient and its value range of the lower linear motor unit,
Kε2Value be less than Kε1, r2For the resistance value of the lower linear electric motor primary winding；Work as Fg1+Fg2max< Fa,iWhen, illustrate to pass through tune
The resistance value for saving the swept resistance is unable to satisfy the compensation adjustment of ideal control force, needs to be added magnetorheological semi- active control, magnetic
Damping force adjustable part is Coulomb damping power F in rheology semi- active controlk, by can in lower linear motor energy regenerative circuit under the state
It adjusts resistance R to be adjusted to 0, obtains Fg2max, adjustable Coulomb damping power Fk=Fa,i-Fg1-Fg2max, according to magneto-rheological vibration damper Coulomb damping
Power FkWith coulomb electric current IkRelationshipObtain a coulomb electric current Ik, actuator control
It is the described pair of coil for going out rod-type magneto-rheological vibration damper for coulomb electric current I that device, which controls third controllable constant current source circuit,k, electromagnetism is added
Damping force carries out the compensation adjustment of ideal control force；In formula, a1,a2,a3For multinomial coefficient, sgn is sign function.
Above-mentioned method, it is characterised in that: a1Value be 89, a2Value be -36, a3Value
It is 125.
Compared with the prior art, the present invention has the following advantages:
1, multi-mode of the invention mixes suspension actuator, and structure is simple, novel in design reasonable, realizes convenient and cost
It is low.
2, multi-mode of the invention mixes suspension actuator, efficient, fast response time, real-time height.
3, multi-mode of the invention mixes suspension actuator, including air spring mechanism, No.1 linear motor unit, No. two
Linear motor unit, magneto-rheological vibration damper adjust spring carried mass and nonspring carried mass by adjusting the height of air spring
Difference in height, so that adjusting automobile is in bodywork height of the high low speed in different road travelings.
4, multi-mode of the invention mixes suspension actuator, and used air spring mechanism is by adjusting air spring
Inflation is deflated to realize the adjusting to the height of air spring and then realize the adjusting of bodywork height, and the traveling of automobile is improved
Stability and riding comfort.
5, multi-mode of the invention mixes suspension actuator, can not only play the effect of general electromagnetic actuator, and work as
When No.1 linear motor actuator fails, magneto-rheological vibration damper works normally in the same old way；After magneto-rheological vibration damper failure, No.1 is straight
Line Motor actuator can carry out active control；Play Dual Failures protection feature.
6, the method and step of the control method of multi-mode of the invention mixing suspension actuator is simple, passes through ideal active force
Switch the operation control mode of the vehicle active suspension with suspension velocity direction, the multi-mode mixing is suspended in energy regenerative mould
Switch between formula, half aggressive mode and the operating mode that actively consumes energy, while energy saving, can make to mix suspension in best
Vibration damping state.
7, multi-mode of the invention mixes suspension actuator, job stability and high reliablity, is not susceptible to failure, is not necessarily to
Maintenance is regularly maintained.
8, the present invention carries out energy storage using Vehicular accumulator cell, and energy storage effect is good.
9, of the invention practical, using effect is good, convenient for promoting the use of.
In conclusion the present invention is novel in design rationally, convenient and at low cost, job stability and high reliablity, feedback are realized
Can be high-efficient, real-time is high, and mixing suspension can be made to be in optimal vibration damping state, and it is practical, convenient for promoting the use of.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that multi-mode of the present invention mixes suspension actuator.
Fig. 2 is the connection relationship diagram of actuator controller of the present invention and other each units.
Fig. 3 is the method flow block diagram for the control method that multi-mode of the present invention mixes suspension actuator.
Description of symbols:
1-air spring lower cover；2-1-goes up linear motor Subloop Protect layer；
The lower linear motor Subloop Protect layer of 2-2-；3-1-goes up linear motor secondary permanent magnet；
The lower linear motor secondary permanent magnet of 3-2-；4-1-goes up linear electric motor primary iron core；
The lower linear electric motor primary iron core of 4-2-；5-1-goes up linear electric motor primary winding；
The lower linear electric motor primary winding of 5-2-；6-actuator controllers；
7-guide holders；8-1-upper sealing ring；8-2-lower sealing ring；
9-1-upper seal；9-2-lower seal；10-magnetorheological fluids；
11-pistons；12-magnetic isolation plates；13-lower linear motors protect bottom plate；
14-working cylinders；15-lower linear motor fixing seats；16-magnetorheological fluid channels；
17-coils；18-piston rods；19-nonspring carried mass acceleration transducers；
20-spring carried mass velocity sensors；21-the first controllable constant current source circuit；
22-the second controllable constant current source circuit；23-third controllable constant current source circuits；
24-1-goes up rectification circuit；24-2-goes up battery charging circuit；
The lower rectification circuit of 25-1-；25-2-swept resistance；The lower battery charging circuit of 25-3-；
26-Vehicular accumulator cells；27-swept resistance adjustment modules；28-upper linear motor shells.
30-intake solenoid valves；31-air spring upper flange plates；32-air-spring bellows；
33-girdle rings；34-air spring upper end covers；35-vacuum solenoid valves；
36-air spring lower flanges；37-the first driving circuit for electromagnetic valve；
38-second solenoid valve driving circuits；39-air inlet pipe；40-air accumulators；
41-air compressors；42-relays；43-baroceptors；
44-vehicle speed sensor；45-road roughness displacement sensors.
Specific embodiment
As shown in Figure 1, multi-mode of the invention mixes suspension actuator, including actuator ontology and control unit, it is described
Actuator ontology include air spring mechanism, setting air spring it is within the organization it is double go out rod-type magneto-rheological vibration dampers, setting exist
It is double go out rod-type magneto-rheological vibration damper tops and be located at air spring upper linear motor unit within the organization and setting it is double go out rod-types
The lower linear motor unit of lower part in magneto-rheological vibration damper；
The air spring mechanism includes spaced air spring upper flange plate 31 and air spring lower flange 36,
And the air-spring bellows 32 between air spring upper flange plate 31 and air spring lower flange 36, the air are set
The upper end of spring upper flange plate 31 is connected with air spring upper end cover 34, and the lower end of the air spring lower flange 36 is connected with
Air spring lower cover 1 is provided with the baroceptor protruded into air-spring bellows 32 on the air spring upper end cover 34
43 and be located at it is described it is double go out rod-type magneto-rheological vibration damper two sides air inlet and venthole, be provided in the air inlet
The air inlet pipe 39 connecting with air accumulator 40 is connected with intake solenoid valve 30, the air accumulator 40 and air in the air inlet pipe 39
Compressor 41 connects, and is provided with vacuum solenoid valve 35 in the venthole, the bending part of the air-spring bellows 32 is equipped with
Girdle ring 33；
When it is implemented, the air spring upper end cover 34 is bolted with air spring upper flange plate 31, it is described
Air spring lower cover 1 is bolted with air spring lower flange 36；
Double rod-type magneto-rheological vibration dampers out include that the working cylinder 14 being arranged in air-spring bellows 32 and setting exist
In working cylinder 14 and the upward piston rod 18 stretched out outside 14 top of working cylinder, the piston rod 18 stretch out outside 14 top of working cylinder
One section of motor shaft for upper linear motor unit, one section of the lower part of the piston rod 18 are the motor shaft of lower linear motor unit,
14 internal upper part of working cylinder and be located at upper linear motor unit lower part be provided with for the up and down motion to piston rod 18 into
The guide holder 7 of row guiding, the lower part of the 14 inner close fitting guide holder 7 of working cylinder is provided with upper seal 9-1, the working cylinder 14
The interior lower part and top for being located at lower linear motor unit is provided with magnetic isolation plate 12, the 14 inner close fitting magnetic isolation plate 12 of working cylinder it is upper
Portion is provided with lower seal 9-2, and the working cylinder 14 is set in the interior space between upper seal 9-1 and lower seal 9-2
It is equipped with magnetorheological fluid 10, the middle part of the piston rod 18 is connected with piston 11, between the piston 11 and the inner wall of working cylinder 14
It is provided with the magnetorheological fluid channel 16 passed through for magnetorheological fluid 10, is wound with coil 17 on the piston 11；
The upper linear motor unit includes upper linear motor shell 28, upper linear motor secondary permanent magnet component and setting
In the upper linear electric motor primary winding assembly of the upper linear motor secondary permanent magnet component external, the upper linear motor shell
28 are arranged in the top of guide holder 7 and are located in air-spring bellows 32, and the piston rod 18 is stretched out upwards outside upper linear motor
28 top of shell is outer and connect with air spring upper end cover 34, and the upper linear motor secondary permanent magnet component includes being evenly arranged in
Multiple upper linear motor secondary permanent magnets outside the motor shaft of upper linear motor unit and in upper linear motor shell 28
The 3-1 and upper linear motor Subloop Protect layer 2-1 being arranged in outside multiple upper linear motor secondary permanent magnet 3-1 is multiple straight
The pole N, the pole S of line motor secondary permanent magnet 3-1 is alternatively arranged；The upper linear electric motor primary winding assembly includes setting upper straight
Upper linear electric motor primary iron core 4-1 and setting in line motor housing 28 inside upper linear electric motor primary iron core 4-1 and are located at
Upper linear electric motor primary winding 5-1 outside upper linear motor Subloop Protect layer 2-1, the upper linear electric motor primary iron core 4-1
It is fixed on the upper end of guide holder 7；
The lower linear motor unit includes lower linear motor fixing seat 15, lower linear motor secondary permanent magnet component and sets
The lower linear electric motor primary winding assembly in the lower linear motor secondary permanent magnet component external is set, the lower linear motor is solid
Reservation 15 is arranged in working cylinder 14 bottom, the bottom of the lower linear motor fixing seat 15 and is provided with positioned at 14 bottom of working cylinder
And the lower linear motor protection bottom plate 13 being connect with air spring lower cover 1, the lower linear motor secondary permanent magnet component packet
It includes multiple lower linear motor secondary permanent magnet 3-2 outside the motor shaft for being evenly arranged in lower linear motor unit and is arranged more
Lower linear motor Subloop Protect layer 2-2 outside a lower linear motor secondary permanent magnet 3-2, multiple lower linear motor secondary permanent magnetism
The pole N, the pole S of body 3-2 is alternatively arranged；The lower linear electric motor primary winding assembly include lower linear electric motor primary iron core 4-2 and
The lower linear motor inside lower linear electric motor primary iron core 4-2 and being located at outside lower linear motor Subloop Protect layer 2-2 is set
Armature winding 5-2, the lower linear electric motor primary iron core 4-2 are fixed in lower linear motor fixing seat 15；
In conjunction with Fig. 2, described control unit includes actuator controller 6 and accumulator, the actuator controller 6 it is defeated
Enter to be terminated with nonspring carried mass velocity sensor 19 for being detected to nonspring carried mass speed, for spring carried mass speed
It spends the spring carried mass velocity sensor 20 detected, the vehicle speed sensor 44 for being detected to Vehicle Speed and uses
In the road roughness displacement sensor 45 that road pavement unevenness is detected, the baroceptor 43 and actuator controller
6 input terminal connection, the output of the actuator controller 6 are terminated with for driving the first solenoid valve of intake solenoid valve 30 to drive
Move circuit 37, the second solenoid valve driving circuit 38 for driving vacuum solenoid valve 35 and for being switched on or switched off air compressor
The relay 42 of 41 current supply circuit, and for providing the first controllable of adjustable current for upper linear electric motor primary winding 5-1
Constant-current source circuit 21, for providing 22 and of the second controllable constant current source circuit of adjustable current for lower linear electric motor primary winding 5-2
For providing the third controllable constant current source circuit 23 of adjustable current, the upper linear electric motor primary winding 5-1 and for coil 17
The connection of one controllable constant current source circuit 21, the lower linear electric motor primary winding 5-2 are connect with the second controllable constant current source circuit 22, institute
It states coil 17 to connect with third controllable constant current source circuit 23, the intake solenoid valve 30 is defeated with the first driving circuit for electromagnetic valve 37
Outlet connection, the vacuum solenoid valve 35 are connect with the output end of second solenoid valve driving circuit 38, and the relay 42 is connected
In the current supply circuit of air compressor 41；The accumulator includes upper linear motor accumulator and lower linear motor energy storage
Circuit, the upper linear motor accumulator include sequentially connected upper rectification circuit 24-1 and upper battery charging circuit 24-
2, the lower linear motor accumulator includes that sequentially connected lower rectification circuit 25-1, swept resistance 25-2 and lower battery fill
Circuit 25-3, the output end and lower battery charging circuit of the Vehicular accumulator cell 26 and upper battery charging circuit 24-2
The output end of 25-3 is all connected with, first controllable constant current source circuit 21, the second controllable constant current source circuit 22 and third controllable constant
Current source circuit 23 is connect with the output end of Vehicular accumulator cell 26, the upper linear electric motor primary winding 5-1 and upper rectification circuit
24-1 connection, the lower linear electric motor primary winding 5-2 are connect with lower rectification circuit 25-1；The actuator controller 6 it is defeated
Outlet is further connected with swept resistance adjustment module 27, the output end company of the swept resistance 25-2 and swept resistance adjustment module 27
It connects.
In the present embodiment, between the upper seal 9-1 and the inner wall of working cylinder 14 and upper seal 9-1 and piston rod
Upper sealing ring 8-1 is provided between 18, between the lower seal 9-2 and the inner wall of working cylinder 14 and lower seal 9-2
Lower sealing ring 8-2 is provided between piston rod 18.
In the present embodiment, the guide holder 7 be it is columnar structured, the upper linear electric motor primary iron core 4-1, which is welded on, to be led
To the upper end of seat 7.
In the present embodiment, the upper rectification circuit 24-1 and lower rectification circuit 25-1 are three-phase bridge rectifier circuit.
In the present embodiment, the actuator controller 6 is DSP digital signal processor.
In the present embodiment, the quantity of the upper linear motor secondary permanent magnet 3-1 is 12~16, the lower linear motor
The quantity of grade permanent magnet 3-2 is 4~6.
As shown in figure 3, the control method of multi-mode mixing suspension actuator of the invention, comprising the following steps:
Step 1: data acquisition and synchronous transfer: spring carried mass velocity sensor 20 carries out spring carried mass speed real-time
Detection, nonspring carried mass velocity sensor 19 are measured in real time nonspring carried mass speed；Actuator controller 6 is to spring charge material
The non-spring that the spring carried mass speed signal and nonspring carried mass velocity sensor 19 that amount velocity sensor 20 detects detect carries
Mass velocity signal carries out periodic samples；
Step 2: calculating the ideal damping force under vehicle suspension LQG control: the actuator controller 6 is according to formulaThe spring carried mass speed v that i-th samples is calculateds,iIt is carried with non-spring
Mass velocity vu,iIdeal damping force F under corresponding vehicle suspension LQG controla,i, whereinFor vs,iDifferential, q1For vehicle
The acceleration factor and q of suspension LQG control1Value be 1~1010, q2For the velocity coeffficient and q of vehicle suspension LQG control2's
Value is 1~1010, q3For the displacement coefficient and q of vehicle suspension LQG control3Value be 1~1010, tiFor i-th sampling
Time, the value of i are non-zero natural number；
Step 3: calculating vehicle root mean square of weighed acceleration: the actuator controller 6 is according to formulaVehicle root mean square of weighed acceleration a is calculatedw, and vehicle is defined according to human body subjectivity comfort
Root mean square of weighed acceleration root-mean-square value two-stage threshold value is respectively aw1' and aw2', by human body subjectivity comfort according to vehicle
Root mean square of weighed acceleration root-mean-square value two-stage threshold definitions aw< aw1' it is comfort zone, aw1′≤aw≤aw2' it is slightly uncomfortable
Area, aw> aw2' it is very uncomfortable area；Wherein, aw(t) it is weighted acceleration time history, passes through the acceleration time to record
Course a (t) obtains a using the filter network of frequency weighting function w (f)w(t), the expression formula of frequency weighting function w (f) isF is frequency, and t is the moment, and T is the vibration analysis time；
Step 4: controlling multi-mode mixing suspension actuator: the actuator controller 6 is according to judging inequality
Fa,i(vs,i-vu,i) > 0 it is whether true to judge whether to meet ideal control force and the product of suspension relative velocity be positive direction, work as Fa,i
(vs,i-vu,i) > 0 when setting up, is judged as that the product of ideal control force and suspension relative velocity is positive direction, at this point, adding again to vehicle
Weigh acceleration root-mean-square value awIt is in aw< aw1′、aw1′≤aw≤aw2' and aw> aw2' region judged, work as awIt is in aw<
aw1' comfort zone when, select this state mixing suspension be in energy regenerative mode；Work as awIt is in aw1′≤aw≤aw2' slightly uncomfortable area
When, select this state mixing suspension to be in semi-active control pattern；Work as awIt is in aw> aw2' very uncomfortable area when, select this
State mixing suspension has the initiative control model；Work as Fa,i(vs,i-vu,i) > 0 it is invalid when, select this state mixing suspension be in
Energy regenerative mode；
When mixing suspension is in energy regenerative mode, the upper linear motor unit and the lower equal energy regenerative of linear motor unit are described
Coil 17 of the third controllable constant current source circuit 23 not for double rod-type magneto-rheological vibration dampers out is powered；
When mixing suspension is in semi-active control pattern, the upper linear motor unit and lower linear motor unit are presented
Can, meanwhile, the upper linear motor unit and lower linear motor unit generate the electromagnetic damping power in the same direction with ideal control force, add
Enter the compensation adjustment that electromagnetic damping power carries out ideal control force；
Mixing suspension have the initiative control model when, the third controllable constant current source circuit 23 for it is described it is double go out rod-type magnetic
The coil 17 of rheology damper is powered, and it is upper linear motor that the actuator controller 6, which controls the first controllable constant current source circuit 21,
Electric current is passed through in armature winding 5-1, current induced magnetic field incudes mutually with upper linear motor secondary permanent magnet 3-1, generates radial
Electromagnetic push, drive piston rod 18 move, thus generate active force carry out vibration damping；Meanwhile the actuator controller 6 passes through
The resistance value that swept resistance adjustment module 27 adjusts swept resistance 25-2 is maximum value Rmax, the lower linear motor unit generation
The reversed electromagnetic damping power F of the minimum opposite with ideal direction of control forceg2min, reduce active control energy consumption；Moreover, the lower straight line
Electric motor units work is in energy regenerative state, during upper lifting lug 1 moves up and down, drives piston rod 18 to move up and down, lower linear motor
Secondary permanent magnet 3-2 cuts lower linear electric motor primary winding 5-2, induced electromotive force is generated, under the induced electromotive force of generation passes through
Rectification circuit 25-1, swept resistance 25-2 and lower battery charging circuit 25-3 charge to Vehicular accumulator cell 26；
During controlling in step 4 multi-mode mixing suspension actuator, the actuator controller 6 is also logical
Cross adjusting of the air spring mechanism realization to height of vehicle body, detailed process are as follows:
Step A, the vehicle speed information and road roughness displacement biography that the described actuator controller 6 transmits vehicle speed sensor 44
The road roughness information that sensor 45 transmits is handled, and when speed is 0~30km/h, is judged as that vehicle is carrying out low speed row
It sails, when speed is 30km/h~90km/h, is judged as that the underway speed traveling of vehicle is sentenced when speed is 90km/h or more
Break and is running at high speed for vehicle；When road roughness is when time period t ' interior is respectively less than preset road roughness threshold value,
It is judged as vehicle driving in flat road surface, when road roughness is all larger than in time period t ' interior equal to preset road roughness threshold
When value, it is judged as vehicle driving in rough road；When vehicle is being run at a low speed and travelled in flat road surface, it is defined as low
Fast flat road surface traveling is defined as low speed rough road traveling when vehicle is being run at a low speed and travelled in rough road,
It when the underway speed traveling of vehicle and travels in flat road surface, middling speed flat road surface traveling is defined as, when vehicle is underway
Speed is travelled and is travelled in rough road, middling speed rough road traveling is defined as, when vehicle is being run at high speed and travelled
When flat road surface, it is defined as high speed flat road surface traveling, when vehicle is being run at high speed and travelled in rough road, definition
For high speed rough road traveling；
When it is implemented, the value of the t ' is 1min~10min；By setting time period t ', can be avoided the short time
Interior multiple switching causes automobile unstability.
Step B, the described actuator controller 6 divides low speed flat road surface traveling, low speed rough road traveling, the flat road of middling speed
Face traveling, middling speed rough road traveling, high speed flat road surface traveling and high speed rough road travel six kinds of operating conditions to automobile body
Height is adjusted, method particularly includes:
When vehicle is travelled with high speed rough road when driving in low speed flat road surface, the actuator controller 6 is not to institute
It states air spring mechanism to be controlled, adjusting of the air spring mechanism without height of vehicle body；
When vehicle low speed flat road surface when driving, do not need carry out height of vehicle body adjusting；When vehicle is in high speed
Rough road when driving, the adjusting in order to guarantee vehicle safety, without height of vehicle body；
When vehicle is travelled with high speed flat road surface when driving in middling speed flat road surface, the actuator controller 6 controls institute
Stating air spring mechanism reduces height of vehicle body, reduces windage, reduces oil consumption；Wherein, the actuator controller 6 controls institute
Stating air spring mechanism reduces height of vehicle body method particularly includes: the actuator controller 6 controls second solenoid valve and drives
Dynamic circuit 38 drives vacuum solenoid valve 35 to open, until the air pressure for the air-spring bellows 32 that baroceptor 43 detects reaches
When preset pressure lower limit value, vacuum solenoid valve 35 is closed, so that the air-spring bellows 32 in the air spring mechanism compress,
Reduce height of vehicle body；
When vehicle is travelled with middling speed rough road when driving in low speed rough road, the actuator controller 6 controls institute
It states air spring mechanism and increases height of vehicle body, improve passability；Wherein, the actuator controller 6 controls the air
Spring mechanism increases height of vehicle body method particularly includes: the actuator controller 6 controls relay 42 and connects air pressure
The current supply circuit of contracting machine 41, and control the first driving circuit for electromagnetic valve 37 driving intake solenoid valve 30 and open, until air pressure sensing
When the air pressure for the air-spring bellows 32 that device 43 detects reaches preset pressure upper limit value, the power supply for disconnecting air compressor 41 is returned
Intake solenoid valve 30 is closed on road, so that the air-spring bellows 32 in the air spring mechanism are upheld, it is high to increase automobile body
Degree.
In the present embodiment, q described in step 21Value be 1.2 × 105, the q2Value be 1.65 × 108, described
q3Value be 9.5 × 109；A described in step 3w1' value be 0.315ms-2, aw2' value be 0.5ms-2；Mixing suspension described in step 4 have the initiative control model when, the actuator controller 6 controls the first controllable constant-current source
Circuit 21 is to be passed through electric current I in upper linear electric motor primary winding 5-1t1=Fa,i/Kt1, wherein Kt1For the thrust of upper linear motor
Coefficient and its value range are 50~150.
In the present embodiment, when mixing suspension described in step 4 is in semi-active control pattern, the upper linear motor list
First and lower linear motor unit generates the electromagnetic damping power in the same direction with ideal control force, and electromagnetic damping power is added and carries out ideal control
The detailed process of the compensation adjustment of power are as follows:
The actuator controller 6 is according to formulaInstitute is calculated
State the electromagnetic damping power F of linear motor unit generationg1, and by Fg1With the ideal damping force F under vehicle suspension LQG controla,i
It compares, as the electromagnetic damping power F that the upper linear motor unit generatesg1≥Fa,iWhen, illustrate that the upper linear motor unit produces
Raw electromagnetic damping power can satisfy the compensation adjustment of ideal control force, and the actuator controller 6 is adjusted by swept resistance
The resistance value that module 27 adjusts swept resistance 25-2 is maximum；Wherein, Cg1For the electromagnetic damping coefficient of the upper linear motor unit,
Kt1It is 50~150, K for the thrust coefficient and its value range of upper linear motorε1Electromagnetism for the upper linear motor unit is anti-
Power coefficient and its value range are 60Vs/m~70Vs/m, r1For the resistance of the upper linear electric motor primary winding 5-1
Value；
As the electromagnetic damping power F that the upper linear motor unit generatesg1< Fa,iWhen, the actuator controller 6 is according to public affairs
FormulaThe maximum electricity that the lower linear motor unit generates is calculated
Non-magnetic conductor Fg2max, and by Fg1+Fg2maxWith Fa,iIt compares, works as Fg1+Fg2max≥Fa,iWhen, illustrate by adjusting the sliding electricity
The resistance value for hindering 25-2, can satisfy the compensation adjustment of ideal control force, the actuator controller 6 passes through formulaThe resistance value R of swept resistance 25-2 is calculated, then sliding electricity is adjusted by swept resistance adjustment module 27
The resistance value for hindering 25-2 is R, wherein Cg2For the electromagnetic damping coefficient of the lower linear motor unit, Kt2For pushing away for lower linear motor
Force coefficient and its value range are 50~150, Kε2For the electromagnetism back EMF coefficient and its value of the lower linear motor unit
Range is 60Vs/m~70Vs/m, Kε2Value be less than Kε1, r2For the resistance value of the lower linear electric motor primary winding 5-2；
Work as Fg1+Fg2max< Fa,iWhen, illustrate to be unable to satisfy the compensation of ideal control force by the resistance value for adjusting the swept resistance 25-2
It adjusts, needs to be added magnetorheological semi- active control, damping force adjustable part is Coulomb damping power F in magnetorheological semi- active controlk,
Adjustable resistance R in lower linear motor energy regenerative circuit is adjusted to 0 under the state, obtains Fg2max, adjustable Coulomb damping power Fk=Fa,i-
Fg1-Fg2max, according to magneto-rheological vibration damper Coulomb damping power FkWith coulomb electric current IkRelationshipObtain a coulomb electric current Ik, it is electric that actuator controller 6 controls third controllable constant-current source
Road 23 is the coil 17 of double rod-type magneto-rheological vibration dampers out for coulomb electric current Ik, electromagnetic damping power is added and carries out ideal control
The compensation adjustment of power；In formula, a1,a2,a3For multinomial coefficient, sgn is sign function.
In the present embodiment, a1Value be 89, a2Value be -36, a3Value be 125.
The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention
Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention
In the protection scope of art scheme.
Claims (10)
1. a kind of multi-mode mixes suspension actuator, it is characterised in that: including actuator ontology and control unit, the actuator
Ontology includes air spring mechanism, is arranged in air spring double rod-type magneto-rheological vibration dampers out within the organization, is arranged in double rods
Formula magneto-rheological vibration damper top and be located at air spring upper linear motor unit within the organization and setting it is double go out bar-type magneto-rheologicals
The lower linear motor unit of lower part in damper；
The air spring mechanism includes spaced air spring upper flange plate (31) and air spring lower flange (36),
And the air-spring bellows (32) being arranged between air spring upper flange plate (31) and air spring lower flange (36), institute
The upper end for stating air spring upper flange plate (31) is connected with air spring upper end cover (34), the air spring lower flange (36)
Lower end be connected with air spring lower cover (1), be provided on the air spring upper end cover (34) and protrude into air-spring bellows
(32) baroceptor (43) in and be located at it is described it is double go out rod-type magneto-rheological vibration damper two sides air inlet and outlet
Hole is provided with the air inlet pipe (39) connecting with air accumulator (40) in the air inlet, is connected with air inlet on the air inlet pipe (39)
Solenoid valve (30), the air accumulator (40) connect with air compressor (41), are provided with vacuum solenoid valve in the venthole
(35), the bending part of the air-spring bellows (32) is equipped with girdle ring (33)；
Double rod-type magneto-rheological vibration dampers out include that the working cylinder (14) being arranged in air-spring bellows (32) and setting exist
Working cylinder (14) is interior and stretches out the piston rod (18) outside at the top of working cylinder (14) upwards, and the piston rod (18) stretches out working cylinder
(14) one section outside top is the motor shaft of upper linear motor unit, and one section of the lower part of the piston rod (18) is lower linear motor
The motor shaft of unit, working cylinder (14) internal upper part and the lower part for being located at upper linear motor unit are provided with for piston rod
(18) lower part of the guide holder (7) that up and down motion is oriented to, working cylinder (14) the inner close fitting guide holder (7) is provided with
Sealing element (9-1), the interior lower part of the working cylinder (14) and the top for being located at lower linear motor unit are provided with magnetic isolation plate (12), institute
The top for stating working cylinder (14) inner close fitting magnetic isolation plate (12) is provided with lower seal (9-2), is located in the working cylinder (14) upper
It is provided in space between sealing element (9-1) and lower seal (9-2) magnetorheological fluid (10), the middle part of the piston rod (18)
It is connected with piston (11), is provided with the magnetic passed through for magnetorheological fluid (10) between the piston (11) and the inner wall of working cylinder (14)
Rheology liquid channel (16) is wound with coil (17) on the piston (11)；
The upper linear motor unit includes that upper linear motor shell (28), upper linear motor secondary permanent magnet component and setting exist
The upper linear electric motor primary winding assembly of the upper linear motor secondary permanent magnet component external, the upper linear motor shell
(28) top in guide holder (7) is set and is located in air-spring bellows (32), the piston rod (18) is stretched out upper straight upwards
It is connect outside at the top of line motor housing (28) and with air spring upper end cover (34), the upper linear motor secondary permanent magnet component packet
Include the multiple upper straight lines outside the motor shaft for being evenly arranged in linear motor unit and being located in upper linear motor shell (28)
Motor secondary permanent magnet (3-1) and setting are secondary in the external upper linear motor of multiple upper linear motor secondary permanent magnets (3-1)
Protective layer (2-1), the pole N, the pole S of multiple upper linear motor secondary permanent magnets (3-1) are alternatively arranged；The upper linear electric motor primary
Winding assembly includes the upper linear electric motor primary iron core (4-1) being arranged in upper linear motor shell (28) and is arranged in upper straight line
Electric motor primary iron core (4-1) is internal and is located at the external upper linear electric motor primary winding of upper linear motor Subloop Protect layer (2-1)
(5-1), the upper linear electric motor primary iron core (4-1) are fixed on the upper end of guide holder (7)；
The lower linear motor unit includes lower linear motor fixing seat (15), lower linear motor secondary permanent magnet component and setting
In the lower linear electric motor primary winding assembly of the lower linear motor secondary permanent magnet component external, the lower linear motor is fixed
Seat (15) is arranged in working cylinder (14) interior bottom, and the bottom of the lower linear motor fixing seat (15) is provided with positioned at working cylinder
(14) bottom and the lower linear motor connecting with air spring lower cover (1) protection bottom plate (13), the lower linear motor are secondary
Permanent magnet assembly includes the multiple lower linear motor secondary permanent magnets being evenly arranged in outside the motor shaft of lower linear motor unit
(3-2) and the setting lower linear motor Subloop Protect layer (2-2) external in multiple lower linear motor secondary permanent magnets (3-2), it is more
The pole N, the pole S of a lower linear motor secondary permanent magnet (3-2) are alternatively arranged；Under the lower linear electric motor primary winding assembly includes
Linear electric motor primary iron core (4-2) and setting are internal in lower linear electric motor primary iron core (4-2) and secondary positioned at lower linear motor
The external lower linear electric motor primary winding (5-2) of protective layer (2-2), the lower linear electric motor primary iron core (4-2) are fixed on down
In linear motor fixing seat (15)；
Described control unit includes actuator controller (6) and accumulator, and the input of the actuator controller (6) is terminated with
Nonspring carried mass velocity sensor (19) for being detected to nonspring carried mass speed, for being carried out to spring carried mass speed
It the spring carried mass velocity sensor (20) of detection, the vehicle speed sensor (44) for being detected to Vehicle Speed and is used for
The road roughness displacement sensor (45) that road pavement unevenness is detected, the baroceptor (43) and actuator control
The input terminal of device (6) connects, and the output of the actuator controller (6) is terminated with first for driving intake solenoid valve (30)
Driving circuit for electromagnetic valve (37), for drive the second solenoid valve driving circuit (38) of vacuum solenoid valve (35) with for connecting or
The relay (42) of the current supply circuit of air compressor (41) is disconnected, and for mentioning for upper linear electric motor primary winding (5-1)
For the first controllable constant current source circuit (21) of adjustable current, for providing adjustable current for lower linear electric motor primary winding (5-2)
The second controllable constant current source circuit (22) and for for coil (17) provide adjustable current third controllable constant current source circuit (23),
The upper linear electric motor primary winding (5-1) connect with the first controllable constant current source circuit (21), the lower linear electric motor primary around
Group (5-2) is connect with the second controllable constant current source circuit (22), and the coil (17) connect with third controllable constant current source circuit (23),
The intake solenoid valve (30) connect with the output end of the first driving circuit for electromagnetic valve (37), the vacuum solenoid valve (35) and the
The output end of two driving circuit for electromagnetic valve (38) connects, and the relay (42) is connected on the current supply circuit of air compressor (41)
In；The accumulator includes upper linear motor accumulator and lower linear motor accumulator, the upper linear motor energy storage
Circuit includes sequentially connected upper rectification circuit (24-1) and upper battery charging circuit (24-2), the lower linear motor energy storage
Circuit includes sequentially connected lower rectification circuit (25-1), swept resistance (25-2) and lower battery charging circuit (25-3), institute
State Vehicular accumulator cell (26) and upper battery charging circuit (24-2) output end and lower battery charging circuit (25-3) it is defeated
Outlet is all connected with, first controllable constant current source circuit (21), the second controllable constant current source circuit (22) and third controllable constant-current source
Circuit (23) is connect with the output end of Vehicular accumulator cell (26), the upper linear electric motor primary winding (5-1) and upper rectified current
Road (24-1) connection, the lower linear electric motor primary winding (5-2) connect with lower rectification circuit (25-1)；The actuator control
The output end of device (6) is further connected with swept resistance adjustment module (27), the swept resistance (25-2) and swept resistance adjustment module
(27) output end connection.
2. multi-mode described in accordance with the claim 1 mixes suspension actuator, it is characterised in that: the upper seal (9-1) with
Upper sealing ring (8-1), institute are provided between the inner wall of working cylinder (14) and between upper seal (9-1) and piston rod (18)
It states between lower seal (9-2) and the inner wall of working cylinder (14) and is respectively provided between lower seal (9-2) and piston rod (18)
There is lower sealing ring (8-2).
3. multi-mode described in accordance with the claim 1 mixes suspension actuator, it is characterised in that: the guide holder (7) is cylinder
Shape structure, the upper linear electric motor primary iron core (4-1) are welded on the upper end of guide holder (7).
4. multi-mode described in accordance with the claim 1 mixes suspension actuator, it is characterised in that: the upper rectification circuit (24-1)
It is three-phase bridge rectifier circuit with lower rectification circuit (25-1).
5. multi-mode described in accordance with the claim 1 mixes suspension actuator, it is characterised in that: the actuator controller (6)
For DSP digital signal processor.
6. multi-mode described in accordance with the claim 1 mixes suspension actuator, it is characterised in that: the upper linear motor secondary is forever
The quantity of magnet (3-1) is 12~16, and the quantity of the lower linear motor secondary permanent magnet (3-2) is 4~6.
7. a kind of control method of multi-mode as described in claim 1 mixing suspension actuator, which is characterized in that this method includes
Following steps:
Step 1: data acquisition and synchronous transfer: spring carried mass velocity sensor (20) examines spring carried mass speed in real time
It surveys, nonspring carried mass velocity sensor (19) is measured in real time nonspring carried mass speed；Actuator controller (6) carries spring
What the spring carried mass speed signal and nonspring carried mass velocity sensor (19) that mass velocity sensor (20) detects detected
Nonspring carried mass speed signal carries out periodic samples；
Step 2: calculating the ideal damping force under vehicle suspension LQG control: the actuator controller (6) is according to formulaThe spring carried mass speed v that i-th samples is calculateds,iWith non-spring charge material
Measure speed vu,iIdeal damping force F under corresponding vehicle suspension LQG controla,i, whereinFor vs,iDifferential, q1For vehicle
The acceleration factor and q of suspension LQG control1Value be 1~1010, q2For the velocity coeffficient and q of vehicle suspension LQG control2's
Value is 1~1010, q3For the displacement coefficient and q of vehicle suspension LQG control3Value be 1~1010, tiFor i-th sampling
Time, the value of i are non-zero natural number；
Step 3: calculating vehicle root mean square of weighed acceleration: the actuator controller (6) is according to formulaVehicle root mean square of weighed acceleration a is calculatedw, and vehicle is defined according to human body subjectivity comfort
Root mean square of weighed acceleration root-mean-square value two-stage threshold value is respectively aw1' and aw2', by human body subjectivity comfort according to vehicle
Root mean square of weighed acceleration root-mean-square value two-stage threshold definitions aw< aw1' it is comfort zone, aw1′≤aw≤aw2' it is slightly uncomfortable
Area, aw> aw2' it is very uncomfortable area；Wherein, aw(t) it is weighted acceleration time history, passes through the acceleration time to record
Course a (t) obtains a using the filter network of frequency weighting function w (f)w(t), the expression formula of frequency weighting function w (f) isF is frequency, and t is the moment, and T is the vibration analysis time；
Step 4: controlling multi-mode mixing suspension actuator: the actuator controller (6) is according to judging inequality
Fa,i(vs,i-vu,i) > 0 it is whether true to judge whether to meet ideal control force and the product of suspension relative velocity be positive direction, work as Fa,i
(vs,i-vu,i) > 0 when setting up, is judged as that the product of ideal control force and suspension relative velocity is positive direction, at this point, adding again to vehicle
Weigh acceleration root-mean-square value awIt is in aw< aw1′、aw1′≤aw≤aw2' and aw> aw2' region judged, work as awIt is in aw<
aw1' comfort zone when, select this state mixing suspension be in energy regenerative mode；Work as awIt is in aw1′≤aw≤aw2' slightly uncomfortable area
When, select this state mixing suspension to be in semi-active control pattern；Work as awIt is in aw> aw2' very uncomfortable area when, select this
State mixing suspension has the initiative control model；Work as Fa,i(vs,i-vu,i) > 0 it is invalid when, select this state mixing suspension be in
Energy regenerative mode；
When mixing suspension is in energy regenerative mode, the upper linear motor unit and the lower equal energy regenerative of linear motor unit, the third
Controllable constant current source circuit (23) is not coil (17) power supply of double rod-type magneto-rheological vibration dampers out；
When mixing suspension is in semi-active control pattern, the upper linear motor unit and the lower equal energy regenerative of linear motor unit, together
When, the upper linear motor unit and lower linear motor unit generate the electromagnetic damping power in the same direction with ideal control force, and electricity is added
Non-magnetic conductor carries out the compensation adjustment of ideal control force；
Mixing suspension have the initiative control model when, the third controllable constant current source circuit (23) for it is described it is double go out rod-type magnetic currents
Become coil (17) power supply of damper, actuator controller (6) control the first controllable constant current source circuit (21) is upper straight line
Electric current is passed through in electric motor primary winding (5-1), current induced magnetic field and upper linear motor secondary permanent magnet (3-1) incude mutually,
Radial electromagnetic push is generated, piston rod (18) movement is driven, so that generating active force carries out vibration damping；Meanwhile the actuator
Controller (6) is maximum value R by the resistance value that swept resistance adjustment module (27) adjust swept resistance (25-2)max, under described
Linear motor unit generates the reversed electromagnetic damping power F of the minimum opposite with ideal direction of control forceg2min, reduce active control energy
Consumption；Moreover, the lower linear motor cell operation in energy regenerative state, during upper lifting lug (1) moves up and down, drives piston rod
(18) it moves up and down, lower linear motor secondary permanent magnet (3-2) cuts lower linear electric motor primary winding (5-2), generates induced electricity
The induced electromotive force of kinetic potential, generation passes through lower rectification circuit (25-1), swept resistance (25-2) and lower battery charging circuit
(25-3) charges to Vehicular accumulator cell (26)；
During controlling in step 4 multi-mode mixing suspension actuator, the actuator controller (6) also passes through
The air spring mechanism realizes the adjusting to height of vehicle body, detailed process are as follows:
Step A, the vehicle speed information and road roughness displacement biography that the described actuator controller (6) transmits vehicle speed sensor (44)
The road roughness information that sensor (45) transmits is handled, and when speed is 0~30km/h, is judged as that vehicle is carrying out low speed
Traveling is judged as the underway speed traveling of vehicle when speed is 30km/h~90km/h, when speed is 90km/h or more,
It is judged as that vehicle is being run at high speed；When road roughness is in time period t ' interior respectively less than preset road roughness threshold value
When, it is judged as vehicle driving in flat road surface, when road roughness is all larger than in time period t ' interior equal to preset Uneven road
When spending threshold value, it is judged as vehicle driving in rough road；When vehicle is being run at a low speed and is being travelled in flat road surface, definition
Low speed rough road is defined as when vehicle is being run at a low speed and travelled in rough road for low speed flat road surface traveling
Traveling, when vehicle it is underway speed traveling and travel in flat road surface, be defined as middling speed flat road surface traveling, when vehicle into
Row drives at moderate speed and travels in rough road, middling speed rough road traveling is defined as, when vehicle is being run at high speed and gone
It sails in flat road surface, is defined as high speed flat road surface traveling, when vehicle is being run at high speed and is being travelled in rough road,
It is defined as high speed rough road traveling；
Step B, the described actuator controller (6) divides low speed flat road surface traveling, low speed rough road traveling, middling speed flat road surface
Traveling, middling speed rough road traveling, high speed flat road surface traveling and high speed rough road travel six kinds of operating conditions to automobile body height
Degree is adjusted, method particularly includes:
When vehicle is travelled with high speed rough road when driving in low speed flat road surface, the actuator controller (6) is not to described
Air spring mechanism is controlled, adjusting of the air spring mechanism without height of vehicle body；
When vehicle is travelled with high speed flat road surface when driving in middling speed flat road surface, described in actuator controller (6) control
Air spring mechanism reduces height of vehicle body, reduces windage, reduces oil consumption；Wherein, the actuator controller (6) controls institute
Stating air spring mechanism reduces height of vehicle body method particularly includes: the actuator controller (6) controls second solenoid valve
Driving circuit (38) drives vacuum solenoid valve (35) to open, until the air-spring bellows (32) that baroceptor (43) detect
Air pressure when reaching preset pressure lower limit value, close vacuum solenoid valve (35), so that the air bullet in the air spring mechanism
Spring air bag (32) compression, reduces height of vehicle body；
When vehicle is travelled with middling speed rough road when driving in low speed rough road, described in actuator controller (6) control
Air spring mechanism increases height of vehicle body, improves passability；Wherein, the actuator controller (6) controls the air
Spring mechanism increases height of vehicle body method particularly includes: actuator controller (6) control relay (42) is connected empty
The current supply circuit of air compressor (41), and control the first driving circuit for electromagnetic valve (37) driving intake solenoid valve (30) and open, directly
When the air pressure of the air-spring bellows (32) detected to baroceptor (43) reaches preset pressure upper limit value, air pressure is disconnected
The current supply circuit of contracting machine (41) is closed intake solenoid valve (30), so that the air-spring bellows in the air spring mechanism
(32) it upholds, increases height of vehicle body.
8. according to the method for claim 6, it is characterised in that: q described in step 21Value be 1.2 × 105, the q2
Value be 1.65 × 108, the q3Value be 9.5 × 109；A described in step 3w1' value be 0.315ms-2, institute
State aw2' value be 0.5ms-2；Mixing suspension described in step 4 have the initiative control model when, actuator control
Device (6) control the first controllable constant current source circuit (21) is to be passed through electric current I in upper linear electric motor primary winding (5-1)t1=Fa,i/
Kt1, wherein Kt1It is 50~150 for the thrust coefficient and its value range of upper linear motor.
9. according to the method for claim 6, it is characterised in that: mixing suspension described in step 4 is in semi- active control mould
When formula, the upper linear motor unit and lower linear motor unit generate the electromagnetic damping power in the same direction with ideal control force, are added
Electromagnetic damping power carries out the detailed process of the compensation adjustment of ideal control force are as follows:
The actuator controller (6) is according to formulaIt is calculated described
The electromagnetic damping power F that upper linear motor unit generatesg1, and by Fg1With the ideal damping force F under vehicle suspension LQG controla,iPhase
Compare, as the electromagnetic damping power F that the upper linear motor unit generatesg1≥Fa,iWhen, illustrate that the upper linear motor unit generates
Electromagnetic damping power can satisfy the compensation adjustment of ideal control force, the actuator controller (6) passes through swept resistance and adjusts
The resistance value that module (27) adjusts swept resistance (25-2) is maximum；Wherein, Cg1For the electromagnetic damping of the upper linear motor unit
Coefficient, Kt1It is 50~150, K for the thrust coefficient and its value range of upper linear motorε1For the upper linear motor unit
Electromagnetism back EMF coefficient and its value range are 60Vs/m~70Vs/m, r1For the upper linear electric motor primary winding
The resistance value of (5-1)；
As the electromagnetic damping power F that the upper linear motor unit generatesg1< Fa,iWhen, the actuator controller (6) is according to formulaThe maximum electromagnetism that the lower linear motor unit generates is calculated
Damping force Fg2max, and by Fg1+Fg2maxWith Fa,iIt compares, works as Fg1+Fg2max≥Fa,iWhen, illustrate by adjusting the swept resistance
The resistance value of (25-2), can satisfy the compensation adjustment of ideal control force, and the actuator controller (6) passes through formulaThe resistance value R of swept resistance (25-2) is calculated, then is adjusted and is slided by swept resistance adjustment module (27)
The resistance value of dynamic resistance (25-2) is R, wherein Cg2For the electromagnetic damping coefficient of the lower linear motor unit, Kt2For lower straight-line electric
The thrust coefficient of machine and its value range are 50~150, Kε2For the lower linear motor unit electromagnetism back EMF coefficient and
Its value range is 60Vs/m~70Vs/m, Kε2Value be less than Kε1, r2For the lower linear electric motor primary winding (5-2)
Resistance value；Work as Fg1+Fg2max< Fa,iWhen, illustrate to be unable to satisfy ideal control by the resistance value for adjusting the swept resistance (25-2)
The compensation adjustment of power processed needs to be added magnetorheological semi- active control, and damping force adjustable part is library in magnetorheological semi- active control
Human relations damping force Fk, adjustable resistance R in lower linear motor energy regenerative circuit is adjusted to 0 under the state, obtains Fg2max, adjustable Coulomb damping
Power Fk=Fa,i-Fg1-Fg2max, according to magneto-rheological vibration damper Coulomb damping power FkWith coulomb electric current IkRelationshipObtain a coulomb electric current Ik, actuator controller (6) control third controllable constant-current source
Circuit (23) is the coil (17) of double rod-type magneto-rheological vibration dampers out for coulomb electric current Ik, electromagnetic damping power is added and is managed
Think the compensation adjustment of control force；In formula, a1,a2,a3For multinomial coefficient, sgn is sign function.
10. according to the method for claim 9, it is characterised in that: a1Value be 89, a2Value be -36,
The a3Value be 125.
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| CN112049893A (en) * | 2020-09-07 | 2020-12-08 | 新疆大学 | Replaceable vibration energy recovery shock absorber and suspension mode automatic control method |
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