CN110696581A - Air suspension control system and internal model control method thereof - Google Patents
Air suspension control system and internal model control method thereof Download PDFInfo
- Publication number
- CN110696581A CN110696581A CN201910948856.4A CN201910948856A CN110696581A CN 110696581 A CN110696581 A CN 110696581A CN 201910948856 A CN201910948856 A CN 201910948856A CN 110696581 A CN110696581 A CN 110696581A
- Authority
- CN
- China
- Prior art keywords
- air
- vertical acceleration
- vehicle body
- controller
- ecu
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/15—Fluid spring
- B60G2202/152—Pneumatic spring
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an air suspension system and an internal model control method thereof, wherein the air suspension system comprises an air spring, a sensor assembly, an actuating mechanism and an ECU (electronic control unit), the ECU sends signals to the actuating mechanism according to different working conditions, the damping of a vehicle suspension is adjusted by controlling the area of a throttling port of an adjustable damping shock absorber, and the height of a vehicle body is changed by controlling the inflation and deflation of the air spring; the rigidity of the air suspension is changed by controlling an air valve between the main air chamber and the auxiliary air chamber. The air suspension controller is improved on the basis of the existing air suspension controller, and has the advantages of simple structure, low cost, stability and reliability. An internal model controller designed by inverse formation to make Q(s) infinitely close to M‑1And(s) enabling the output vertical acceleration of the vehicle body to approach the reference value of the vertical acceleration of the vehicle body in the driving process of the vehicle, effectively compensating external disturbance, improving the robustness of the system and further improving the operation stability and riding comfort of the vehicle.
Description
Technical Field
The invention belongs to the technical field of vehicle suspension control, and particularly relates to an air suspension control system and an internal model control method thereof.
Background
The automobile plays a role in transporting personnel and goods as an important transportation means in the current society, but with the development of economy and the change of the society, the living standard of people is improved and production and living data are abundant, the requirement of people on the performance of protecting passengers and goods from being influenced by road jolt is higher and higher, and the improvement of the smoothness of the automobile is imperative.
The automobile suspension is composed of three parts, namely an elastic element, a guide device and a shock absorber, which are the most important parts influencing the smoothness of an automobile, and has the functions of relieving the impact load of an uneven road to the automobile body and attenuating the vibration of a bearing system caused by the impact load. No matter whether the automobile is in a full-load state or not, the air pressure of compressed air in the air spring can be automatically changed along with the difference of road conditions and the difference of suspension loads, the height of the whole automobile with the air suspension can be kept unchanged, the posture of the automobile body is kept stable, the riding comfort and the integrity of goods are greatly improved, and meanwhile, the road surface can be prevented from being damaged due to the impact of wheels.
Compared with other control theories, the internal model control has the advantages that an accurate mathematical model is not needed, external disturbance can be effectively compensated, the disturbance of model parameters can be further inhibited by introducing an interference inhibition controller and a target value tracking controller, and good robustness is obtained. Therefore, the research on the control system of the automobile air suspension based on the internal model control has important research significance.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art and provides an air suspension control system and an internal model control method thereof.
The technical scheme is as follows: the invention discloses an air suspension control system which comprises a sensor assembly, an ECU (electronic control unit) and an actuating mechanism, wherein the sensor assembly comprises an air pressure sensor, a vehicle body vertical acceleration sensor and a vehicle body height sensor; the vehicle body vertical acceleration sensor and the vehicle body height sensor directly transmit collected data to the ECU, the ECU is respectively connected with an exhaust electromagnetic valve and a stepping motor through signal lines, the other end of the exhaust electromagnetic valve is connected with an air spring, the air spring is supplied with air by an air storage cylinder, an air dryer and an air pressure sensor are installed on the air storage cylinder, the air pressure sensor transmits the collected data to the ECU, the other end of the air dryer is connected with an air compressor, and a relay on the air compressor is connected with the ECU; the stepping motor is sequentially connected with a shock absorber rotary valve and an adjustable damping shock absorber.
The air exhaust electromagnetic valve is used for controlling air exhaust of the air spring; the air compressor relay is used for controlling the air compressor to work so as to inflate the air spring; the stepper motor causes the shock absorber rotary valve to operate to adjust suspension damping.
Further, the ECU is based on a controller of internal model control software, and the control software is based on an internal model control strategy; the actual model of the air suspension vehicle system is connected with the standard nominal model in parallel, the acceleration signal acquired by the vehicle body vertical acceleration sensor is differentiated from the theoretical vertical acceleration of the standard nominal model, then the deviation value is transmitted to the controller (namely, a node 1 in figure 2), the controller differentiates the deviation value from the output quantity of the preset reference vertical acceleration input target value tracking controller, and then the new difference value is input to the interference suppression controller to suppress parameter perturbation and external interference, so that the system output approaches the preset reference value, and the internal model controller is reconstructed to suppress external disturbance (such as sudden crosswind, pothole road surface and the like), thereby achieving the purpose of improving riding comfort.
The actual model refers to a model of the vehicle in the actual running process, and the standard model can only be a mathematical model established through a kinetic equation and is an ideal model. The prior art has standard models, while the actual model is the controlled process.
Further, the filter time constant of the target value tracking controller is obtained by optimizing a PSO algorithm.
Further, the filtering time constant of the interference suppression controller is obtained by optimizing a PSO algorithm.
The invention also discloses an internal model control method of the air suspension control system, which comprises the following steps:
1) establishing a standard nominal model M(s) of the air suspension vehicle system;
2) designing an interference suppression controller Q(s), and making Q(s) equal to M-1(s) the system output y(s) is independent of the external disturbance d(s) regardless of whether the external disturbance v(s) is 0 or not; first, a stable ideal controller (i.e., command q(s) ═ M) is designed-1(s), an ideal set value tracking and complete interference suppression effect can be obtained, and the ideal controller does not even need to further adjust the controller parameters, and the robustness and the constraint of the system are not considered; secondly, introducing a filter, and obtaining expected dynamic quality and robustness by adjusting the structure and parameters of the filter; let Q(s) be f(s) [ M ]_(s)]-1，
α2The filter time constant is obtained by applying PSO algorithm optimization to the value of the filter time constant;
3) a design target value tracking controller F(s), specifically, order
α1The filter time constant is obtained by optimizing the value of the filter time constant based on a PSO algorithm;
4) calculating the theoretical vertical acceleration a of the vehicle body by using an air suspension vehicle system model M(s) according to the road excitationg；
5) The vertical acceleration sensor of the vehicle body acquires the actual vertical acceleration a of the vehicle bodyf；
6) The actual vertical acceleration a of the vehicle body to be collectedfTo the theoretical value agMaking difference to obtain deviation quantity delta omega1And feeds back the data to the ECU;
7) a preset reference vertical acceleration a*As input to the target tracking controller F(s), the error signal Δ ω in step 6) is output1Making a difference to obtain a new deviation delta omega2And as interference suppression controllerThe input of Q(s);
the output expression of the vertical acceleration of the vehicle body is as follows:
in the formula: s is a complex variable, Q(s) is an interference suppression controller, F(s) is a target value tracking controller, P(s) is a controlled object model, M(s) is an internal model, a*D(s) is an expected vertical acceleration value, D(s) is external random disturbance, and y(s) is an output value of the vertical acceleration of the vehicle body;
8) and C language is applied to the steps of writing a control program, and the control program is downloaded into an ECU memory after the compiling and linking are successful.
Has the advantages that: the evaluation indexes of the vehicle suspension include: vertical acceleration of the vehicle body (affecting the riding comfort of the vehicle), dynamic load of tires (affecting the tire grounding performance of the vehicle), and dynamic suspension stroke (affecting the posture of the vehicle body of the vehicle). The air suspension controller is improved on the basis of the existing air suspension controller, and has the advantages of simple structure, low cost, stability and reliability. An internal model controller designed by inverse formation to make Q(s) infinitely close to M-1And(s) enabling the output vertical acceleration of the vehicle body to approach the reference value of the vertical acceleration of the vehicle body in the driving process of the vehicle, effectively compensating external disturbance, improving the robustness of the system and further improving the operation stability and riding comfort of the vehicle.
Drawings
FIG. 1 is a view showing the construction of an air suspension system according to the present invention;
FIG. 2 is a block diagram of an internal model control process according to the present invention;
FIG. 3 is a flowchart of the development of the internal model control according to the present invention;
FIG. 4 is a simplified model of an air suspension vehicle system of the present invention;
FIG. 5 is a flow chart of the PSO algorithm of the present invention;
FIG. 6 is a simplified modeling and simulation diagram of a vehicle according to the present invention.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
As shown in fig. 1, the air suspension control system of the present invention comprises a sensor assembly, an ECU and an actuator, wherein the sensor assembly comprises an air pressure sensor, a vehicle body vertical acceleration sensor and a vehicle body height sensor, and the actuator comprises an exhaust solenoid valve, an air compressor and a stepping motor; the vehicle body vertical acceleration sensor and the vehicle body height sensor directly transmit collected data to the ECU, the ECU is respectively connected with an exhaust electromagnetic valve and a stepping motor through signal lines, the other end of the exhaust electromagnetic valve is connected with an air spring, the air spring is supplied with air by an air storage cylinder, an air dryer and an air pressure sensor are installed on the air storage cylinder, the air pressure sensor transmits the collected data to the ECU, the other end of the air dryer is connected with an air compressor, and a relay on the air compressor is connected with the ECU; the stepping motor is sequentially connected with a shock absorber rotary valve and an adjustable damping shock absorber.
The vehicle body vertical acceleration sensor is used for collecting a vertical acceleration signal of a vehicle body, and the vertical acceleration signal is transmitted to the central processing unit ECU as an input end and is installed at the center of mass of the vehicle body. The vehicle height sensor is used for collecting vehicle height signals, and the vehicle height signals are transmitted to the central processing unit as input ends and are installed at the center of mass of the vehicle body. The air pressure sensor collects air pressure signals and transmits the signals to the ECU, and the ECU controls the air compressor to work and is arranged in the air storage cylinder. The electromagnetic valve group (comprising an exhaust electromagnetic valve and an air valve) is arranged between the four tires and the suspension, and the travel of the air spring is changed through air intake and air discharge to control the vehicle body to rise and fall. The rigidity of the suspension is changed by controlling an air valve between the main air chamber and the auxiliary air chamber; a damper stepper motor is mounted to the damper for driving the damper rotary valve. The relay of the air compressor is arranged on the air compressor, and the relay is used for controlling the on-off of a working circuit of the air compressor.
The ECU is arranged below a running instrument panel of a vehicle, the input end of the ECU is connected with the sensor assembly, and the output end of the ECU is connected with the actuating mechanism.
As shown in fig. 2, q(s) is an interference suppression controller,f(s) is a target value tracking controller, P(s) is an air suspension vehicle system model, M(s) is a standard nominal mathematical model, a*For the desired vertical acceleration value, D(s) is the external disturbance, y(s) is the vertical acceleration output value, and u is the input variable.
The output end of the air suspension vehicle system model P(s) is a node 2, the output end of the external disturbance D(s) is also the node 2, and the output values of P(s) and D(s) are summed at the node 2 to obtain the actual vertical acceleration a of the vehicle bodyfThen input into the node 3, the output end of the standard nominal mathematical model M(s) is also the output value a of the node 3, M(s)gAnd afDifferencing after node 3 yields Δ ω1Difference value Δ ω1Fed back to node 1, the desired vertical acceleration value a*Input to the input end of the target value tracking controller F(s), and the output end is connected with the output values of the nodes 1 and F(s) and delta omega1The difference is made at node 1 and the new difference is input to an interference suppression controller q(s) whose outputs are connected to p(s) and m(s).
As shown in fig. 3, the internal model control method of the air suspension control system of the present embodiment includes the following steps:
1) first, as shown in fig. 4, a standard nominal model m(s) of the air suspension vehicle system is established.
2) Designing an interference suppression controller Q(s), and making Q(s) equal to M-1(s) the system output y(s) is independent of the external disturbance d(s) whether the external disturbance v(s) is 0 or not. Firstly, designing a stable ideal controller without considering the robustness and the constraint of the system; secondly, a filter is introduced, and the structure and parameters of the filter are adjusted to obtain the expected dynamic quality and robustness. Let Q(s) be f(s) [ M ]_(s)]-1，
α2Is a filtering time constant, and the value is obtained by applying PSO algorithm optimization.
3) A design target value tracking controller F(s), specifically, order
α1Is a filtering time constant, and the value is obtained by optimization based on a PSO algorithm.
4) Calculating the theoretical vertical acceleration a of the vehicle body by using an air suspension vehicle system model M(s) according to the road excitationg(As shown in FIG. 6, the system can be modeled by MATLAB/Simulink to output the vertical acceleration of the vehicle body).
5) The vertical acceleration sensor acquires the actual vertical acceleration a of the vehicle bodyf。
6) Will actually accelerate vertically afTo the theoretical value agMaking difference to obtain deviation quantity delta omega1And feeds it back to the ECU (i.e., at node 1 in fig. 2).
7) A preset reference vertical acceleration a*As input to the target tracking controller F(s), the error signal Δ ω in step 6) is output1Making a difference to obtain a new deviation delta omega2And serves as an input to the interference suppression controller q(s).
The output expression of the vertical acceleration of the vehicle body is as follows:
in the formula: s is a complex variable, Q(s) is an interference suppression controller, F(s) is a target value tracking controller, P(s) is a controlled object model, M(s) is an internal model, a*And D(s) is an external random disturbance, and y(s) is a vertical acceleration output value.
8) And writing the control program in the C language from the step 2) to the step 7), and downloading the control program to an ECU memory after the compiling and linking are successful.
As shown in fig. 5, the PSO method for filtering the time constant in the above embodiment is as follows:
the optimal solution is found through cooperation and information sharing among individuals in the group. The PSO algorithm first initializes a population of random particles and iteratively finds the optimal solution by the velocity vectors of the particles. In each iteration, the particle updates itself by tracking two "extrema". The first is the optimal solution found by the particle itself, called the individual extremum pbest, the other extremum is the optimal solution currently found by the whole population, this extremum is the global extremum gbest.
vi＝ωvi+c1(pbest-xi)rand()+c2(gbest-xi)rand()
xi＝xi+vi
i is 1, 2, …, M is the total number of particles in the population.
viDenotes the velocity, x, of the ith particleiRepresents the velocity after the i-th particle iteration, ω is the inertial weight, c1、c2For the learning factor, rand () is represented at [0, 1 ]]Uniformly distributed random functions. And (4) continuously updating and iterating the particle swarm to finally obtain the gbest ending operation.
A large number of simulation experiments show that for a time-lag system, an ITAE index is taken as an optimized target function, and a fitness function is selected as follows:
initializing population size N-40, initializing particle velocity and position and associated constant parameters c1＝c 22, the maximum iteration number iter _ max is 40, ω decreases linearly with the iteration number, and the decreasing formula is
The velocity and position of the particles are then the individual optimal solutions.
In the embodiment, the output of the vertical acceleration of the vehicle body is taken as an example, the controlled object is connected with the standard model which is as consistent as possible in parallel, the difference between the vertical acceleration of the controlled object and the vertical acceleration output by the standard model is utilized, the difference value is fed back to the input end of the internal model controller, the set reference value of the vertical acceleration of the vehicle is input to the target value tracking controller, the output value and the feedback error signal are differed to obtain a new difference value, and then the new difference value is input to the interference suppression controller. The method can effectively compensate the random and unpredictable disturbance (including sudden strong wind of the vehicle in the driving engineering, immeasurable depression road surface of the vehicle) in the outside, has strong robustness, and improves the driving stability and riding comfort.
After the automobile is started, the ECU performs calculation judgment and decision according to the corresponding signals of the sensor assembly, and outputs control instructions to the executing mechanism. The stepping motor controls the action of the rotary valve of the shock absorber, so that the damping force of the shock absorber is changed, and the damping force of the automobile suspension is adjusted. Meanwhile, the ECU sends an instruction to an air compressor relay, the air compressor relay controls the air compressor to work, generated gas enters the gas storage tank through the air dryer and then enters the air spring, the vehicle body rises, when the air pressure sensor detects that the pressure reaches a certain value, a signal is sent out and fed back to the ECU, and the ECU controls the air compressor to stop working. When the automobile body needs to descend, the ECU transmits a signal to the exhaust electromagnetic valve, so that the air spring deflates, and the automobile body descends. The rigidity of the air spring is changed by controlling the air valve between the main air chamber and the auxiliary air chamber, so that the rigidity of the suspension is changed.
Claims (5)
1. An air suspension control system characterized by: the device comprises a sensor assembly, an ECU and an execution mechanism, wherein the sensor assembly comprises an air pressure sensor, a vehicle body vertical acceleration sensor and a vehicle body height sensor, and the execution mechanism comprises an exhaust electromagnetic valve, an air compressor and a stepping motor; the vehicle body vertical acceleration sensor and the vehicle body height sensor directly transmit the collected data to the ECU, the ECU is respectively connected with the exhaust electromagnetic valve and the stepping motor through signal lines, the other end of the exhaust electromagnetic valve is connected with the air spring, the air spring is supplied with air by the air storage cylinder, the air storage cylinder is provided with the air dryer and the air pressure sensor, the air pressure sensor transmits the collected data to the ECU, the other end of the air dryer is connected with the air compressor, and a relay on the air compressor is connected with the ECU; the stepping motor is sequentially connected with a shock absorber rotary valve and an adjustable damping shock absorber.
2. The air suspension control system according to claim 1, characterized in that: the ECU is based on a central controller of internal model control software, and the control software is based on an internal model control strategy; the actual model of the air suspension vehicle system is connected with the standard nominal model in parallel, an acceleration signal acquired by a vehicle body vertical acceleration sensor is differed from the theoretical vertical acceleration of the standard nominal model, then the deviation value is transmitted to the controller, the controller again differentiates the deviation value from the output quantity of a preset reference vertical acceleration input target value tracking controller, and then the new difference value is input to an interference suppression controller to suppress parameter perturbation and external interference so that the system output approaches to the preset reference value;
the actual model refers to a model of the vehicle in the actual running process, and the standard model can only be a mathematical model established through a kinetic equation.
3. The air suspension control system according to claim 2, characterized in that: and the filtering time constant of the target value tracking controller is obtained by optimizing a PSO algorithm.
4. The air suspension control system according to claim 2, characterized in that: and the filtering time constant of the interference suppression controller is obtained by optimizing a PSO algorithm.
5. An internal mold control method of an air suspension control system according to any one of claims 1 to 4, characterized in that: the method comprises the following steps:
1) establishing a standard nominal model M(s) of the air suspension vehicle system;
2) designing an interference suppression controller Q(s), and making Q(s) equal to M-1(s) the system output y(s) is independent of the external disturbance d(s) regardless of whether the external disturbance v(s) is 0 or not; firstly, designing a stable ideal controller; secondly, introducing a filter, and obtaining expected dynamic quality and robustness by adjusting the structure and parameters of the filter; let q(s) ═ f(s) [ M _(s)]-1，
α2The filter time constant is obtained by applying PSO algorithm optimization to the value of the filter time constant;
3) a design target value tracking controller F(s), specifically, order
α1The filter time constant is obtained by optimizing the value of the filter time constant based on a PSO algorithm;
4) calculating the theoretical vertical acceleration a of the vehicle body by using an air suspension vehicle system model M(s) according to the road excitationg；
5) The vertical acceleration sensor of the vehicle body acquires the actual vertical acceleration a of the vehicle bodyf；
6) The actual vertical acceleration a of the vehicle body to be collectedfTo the theoretical value agMaking difference to obtain deviation quantity delta omega1And feeds back the data to the ECU;
7) a preset reference vertical acceleration a*As input to the target tracking controller F(s), the error signal Δ ω in step 6) is output1Making a difference to obtain a new deviation delta omega2And as an input to an interference suppression controller q(s);
the output expression of the vertical acceleration of the vehicle body is as follows:
in the formula: s is a complex variable, Q(s) is an interference suppression controller, F(s) is a target value tracking controller, P(s) is a controlled object model, M(s) is an internal model, a*D(s) is an expected vertical acceleration value, D(s) is external random disturbance, and y(s) is an output value of the vertical acceleration of the vehicle body;
8) and writing the control program in the C language from the step 2) to the step 7), and downloading the control program to an ECU memory after the compiling and linking are successful.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910948856.4A CN110696581A (en) | 2019-10-08 | 2019-10-08 | Air suspension control system and internal model control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910948856.4A CN110696581A (en) | 2019-10-08 | 2019-10-08 | Air suspension control system and internal model control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110696581A true CN110696581A (en) | 2020-01-17 |
Family
ID=69196820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910948856.4A Pending CN110696581A (en) | 2019-10-08 | 2019-10-08 | Air suspension control system and internal model control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110696581A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111546850A (en) * | 2020-03-31 | 2020-08-18 | 重庆交通大学 | Vehicle body height and vehicle attitude coordination control method based on hybrid logic dynamic model |
| CN112172436A (en) * | 2020-10-12 | 2021-01-05 | 中车株洲电力机车有限公司 | Air spring height adjusting system and method for medium-low speed maglev train |
| CN112549893A (en) * | 2020-12-11 | 2021-03-26 | 浙江戈尔德智能悬架股份有限公司 | Intelligent electronic control suspension vibration damping system of automobile |
| CN113212413A (en) * | 2021-05-28 | 2021-08-06 | 重庆长安汽车股份有限公司 | Integrated chassis domain coordination control system and vehicle |
| CN114475133A (en) * | 2022-02-18 | 2022-05-13 | 岚图汽车科技有限公司 | Vehicle control method, device, equipment and readable storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626914A (en) * | 2014-12-31 | 2015-05-20 | 广西科技大学 | Fuzzy control method of automobile nonlinear active suspension system |
| CN105501021A (en) * | 2015-12-18 | 2016-04-20 | 江苏科技大学 | Automobile chassis height regulating and controlling device and control method thereof |
| CN105599558A (en) * | 2016-01-15 | 2016-05-25 | 江苏大学 | Electronic control air suspension vehicle body height adjustment and whole vehicle posture combined control method |
| CN109489997A (en) * | 2018-12-21 | 2019-03-19 | 江苏科技大学 | A kind of automobile suspension system multifunctional testing platform and its test method |
| CN110254155A (en) * | 2019-05-25 | 2019-09-20 | 青岛纪玉捷成车辆技术有限公司 | A kind of automatically controlled suspension control system of car |
-
2019
- 2019-10-08 CN CN201910948856.4A patent/CN110696581A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626914A (en) * | 2014-12-31 | 2015-05-20 | 广西科技大学 | Fuzzy control method of automobile nonlinear active suspension system |
| CN105501021A (en) * | 2015-12-18 | 2016-04-20 | 江苏科技大学 | Automobile chassis height regulating and controlling device and control method thereof |
| CN105599558A (en) * | 2016-01-15 | 2016-05-25 | 江苏大学 | Electronic control air suspension vehicle body height adjustment and whole vehicle posture combined control method |
| CN109489997A (en) * | 2018-12-21 | 2019-03-19 | 江苏科技大学 | A kind of automobile suspension system multifunctional testing platform and its test method |
| CN110254155A (en) * | 2019-05-25 | 2019-09-20 | 青岛纪玉捷成车辆技术有限公司 | A kind of automatically controlled suspension control system of car |
Non-Patent Citations (2)
| Title |
|---|
| 刘焕彬 主编: "《制浆造纸过程自动测量与控制》", 31 August 2003, 中国轻工业出版社 * |
| 袁春元 等: "基于粒子群算法的车辆悬架PID控制器研究", 《中国农机化学报》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111546850A (en) * | 2020-03-31 | 2020-08-18 | 重庆交通大学 | Vehicle body height and vehicle attitude coordination control method based on hybrid logic dynamic model |
| CN112172436A (en) * | 2020-10-12 | 2021-01-05 | 中车株洲电力机车有限公司 | Air spring height adjusting system and method for medium-low speed maglev train |
| CN112549893A (en) * | 2020-12-11 | 2021-03-26 | 浙江戈尔德智能悬架股份有限公司 | Intelligent electronic control suspension vibration damping system of automobile |
| CN112549893B (en) * | 2020-12-11 | 2022-01-25 | 浙江戈尔德智能悬架股份有限公司 | Intelligent electronic control suspension vibration damping system of automobile |
| CN113212413A (en) * | 2021-05-28 | 2021-08-06 | 重庆长安汽车股份有限公司 | Integrated chassis domain coordination control system and vehicle |
| CN114475133A (en) * | 2022-02-18 | 2022-05-13 | 岚图汽车科技有限公司 | Vehicle control method, device, equipment and readable storage medium |
| CN114475133B (en) * | 2022-02-18 | 2023-07-14 | 岚图汽车科技有限公司 | Vehicle control method, device, equipment and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110696581A (en) | Air suspension control system and internal model control method thereof | |
| CN105082920B (en) | Damping is adjustable with bodywork height interconnection air suspension cooperative control system and method | |
| Sankaranarayanan et al. | Semiactive suspension control of a light commercial vehicle | |
| CN112757860B (en) | NMPC-based hub direct-drive air suspension system and cooperative control method | |
| CN101269618B (en) | Control method for damping value of electronic control air spring damping apparatus with three-gear | |
| JP3751313B2 (en) | Vehicle suspension system | |
| CN103434359B (en) | Multi-target control method of automobile driving suspension system | |
| US7321816B2 (en) | Model free semi-active vehicle suspension system | |
| CN110171261B (en) | Semi-active coordination control method for vibration reduction and power generation of magnetorheological energy feedback suspension | |
| CN105159094B (en) | The design method of vehicle active suspension LQG controller Optimal Control Forces | |
| CN112590484B (en) | Electric control air suspension vehicle body height adjusting method based on model prediction control | |
| JP2002529304A (en) | Enhanced computer-optimized adaptive suspension apparatus and method | |
| CN110001334B (en) | Structure and control parameter coordination design method of two-stage damping type active suspension | |
| CN103754081A (en) | Optimal fuzzy complex control method of vehicle nonlinear suspension system | |
| CN113147307B (en) | Active suspension inversion control method based on reference model | |
| CN106347059B (en) | A kind of wheel hub driving electric vehicle active suspension double loop PID control method based on particle cluster algorithm | |
| CN106926660A (en) | A kind of electromagnetic suspension system and its control method based on wheel rim driven motor vehicle | |
| CN114590090A (en) | Direct-drive semi-active suspension control system construction method based on self-adaptive LQR (Low-speed response) wheel hub | |
| Watanabe et al. | Mechanical and control design of a variable geometry active suspension system | |
| CN114619824A (en) | Vehicle body control method, control device, electronic device, and storage medium | |
| Zhu et al. | Optimal chassis suspension design for towbarless towing vehicle for aircraft taxiing | |
| CN113761768A (en) | Integrated optimization design method of magneto-rheological damper for whole vehicle vibration suppression | |
| CN115782496A (en) | Intelligent evolution method of semi-active suspension system based on MAP control | |
| CN111137093B (en) | Control method and system for distributed driving vehicle suspension wheel hub motor system | |
| Etman et al. | Design of a stroke dependent damper for the front axle suspension of a truck using multibody system dynamics and numerical optimization |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200117 |