CN110744981A - Composite double-energy-feedback type suspension actuator and control strategy thereof - Google Patents

Composite double-energy-feedback type suspension actuator and control strategy thereof Download PDF

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CN110744981A
CN110744981A CN201911078404.1A CN201911078404A CN110744981A CN 110744981 A CN110744981 A CN 110744981A CN 201911078404 A CN201911078404 A CN 201911078404A CN 110744981 A CN110744981 A CN 110744981A
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actuator
linear motor
piezoelectric
permanent magnet
module
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CN110744981B (en
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寇发荣
武江浩
景强强
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Xian University of Science and Technology
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Xian University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/005—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion using electro- or magnetostrictive actuation means
    • F16F15/007—Piezo-electric elements being placed under pre-constraint, e.g. placed under compression
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/20—Stationary vehicle

Abstract

The invention discloses a composite double energy feedback type suspension actuator and a control strategy thereof. The actuator body is divided into a linear motor and a piezoelectric module, and the piezoelectric module mainly comprises a piezoelectric vibrator and a piezoelectric material. The invention also discloses a fuzzy control strategy based on the intelligent agent theory, and the method comprises the following steps: firstly, data acquisition and transmission; secondly, calculating and analyzing data; thirdly, adjusting the actuating force. The invention has simple structure, is convenient for design and manufacture, and can effectively recover energy, make the vehicle in the optimal vibration damping state and improve the smoothness and the operation stability of the vehicle.

Description

Composite double-energy-feedback type suspension actuator and control strategy thereof
Technical Field
The invention belongs to the technical field of vehicle dynamics, and particularly relates to a composite double energy feedback type suspension actuator and a control strategy thereof.
Background
The suspension of the vehicle is an important component capable of ensuring the driving smoothness and the steering stability of the vehicle, and can elastically connect the frame of the vehicle and the axle. Most of the existing suspensions adopted by vehicles are passive suspensions, and the rigidity and the damping of the suspensions are fixed values and cannot be adjusted according to road conditions. With the improvement of living standard of people, high-performance vehicles become the pursuit of most people, and are mainly reflected in the requirements on the comfort, the smoothness and the energy conservation of the vehicles. And with the development of electronic technology and control technology, controllable suspensions are beginning to be applied to automotive suspension technology. Currently, there are two main types of controllable suspension: active suspension and semi-active suspension. The main forms include: rack and pinion, magnetorheological, and ball screw. The above several forms of controllable suspension have certain drawbacks: the rack-and-pinion type actuator has large energy loss and low reliability; the magneto-rheological type has the problem of magneto-rheological fluid deposition; the ball screw type consumes more energy. In recent years, linear motor type suspension actuators have become the research objects of many researchers due to their high response speed, good controllability and high energy recovery efficiency. The invention provides a composite double energy feedback type suspension actuator based on the defects.
Disclosure of Invention
The present invention provides a composite dual energy feedback type suspension actuator, which aims to overcome the defects of the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that: a compound double energy feedback type suspension actuator is characterized in that: the linear motor module of the composite double energy feedback type suspension actuator comprises a linear motor primary permanent magnet (13), a linear motor secondary permanent magnet (15), a linear motor secondary permanent magnet and upper shell connecting piece (16), a linear motor primary permanent magnet base (10) and a linear motor secondary permanent magnet lower end cover (11). The composite double energy feedback type suspension actuator comprises a linear motor secondary permanent magnet base (10) connected with an actuator lower shell (7), a linear motor primary permanent magnet (13) is installed in the linear motor primary permanent magnet base (10), magnetic isolation plates (14) are arranged at the upper end and the lower end of the linear motor primary permanent magnet (13), and the linear motor secondary permanent magnet and an upper shell connecting piece (16) are connected with an actuator upper shell (2) and a linear motor secondary permanent magnet (15).
The piezoelectric module of the composite double energy feedback type suspension actuator comprises an upper piezoelectric spring (3), a piezoelectric material (4), a piezoelectric vibrator (5), an insulator (6) with double-sided viscosity and a lower piezoelectric spring (9). The upper piezoelectric spring (3) is arranged between an actuator upper shell (2) and an insulator (6) with double-sided viscosity, the upper end of the upper piezoelectric spring (3) is fixedly connected with the actuator upper shell (2), the lower end of the upper piezoelectric spring (3) is fixedly connected with the upper end of the insulator (6) with double-sided viscosity, 10 groups of piezoelectric materials (4) and piezoelectric vibrators (5) are embedded and bonded between the insulators (6) with double-sided viscosity, the piezoelectric vibrators (5) and the piezoelectric materials (4) are arranged at intervals, the insulator (6) with double-sided viscosity is fixedly installed on a linear motor primary permanent magnet base (10), the lower piezoelectric spring (9) is arranged between the insulator (6) with double-sided viscosity and an actuator lower shell (7), and the upper end of the lower piezoelectric spring (9) is fixedly connected with the insulator (6) with double-sided viscosity, the lower end of the lower piezoelectric spring (9) is fixedly connected with the lower shell (7) of the actuator, and the upper piezoelectric spring (3) and the lower piezoelectric spring (9) are sleeved outside the primary permanent magnet base (10) of the linear motor.
Casing (2) cover is in the outside of casing (7) under the actuator on the actuator of compound pair of energy-feedback formula suspension actuator, the outside of casing (7) is installed under the actuator in sealing washer (12), guarantees to guarantee certain leakproofness between casing (2) and the actuator casing (7) under the actuator, go up lug (1) fixed connection on the casing on the actuator for connect car spring load quality, lug (8) fixed connection is on casing (7) under the actuator for connect the non-spring load quality of car down.
The control unit comprises an energy recovery module and a linear motor control module, the input end of the actuator controller is connected with a sprung mass displacement sensor for detecting sprung mass displacement, an unsprung mass displacement sensor for detecting unsprung mass displacement, a sprung mass speed sensor for detecting sprung mass speed, an unsprung mass speed sensor for detecting unsprung mass speed, a first super-capacitor voltage sensor for detecting first super-capacitor voltage, a second super-capacitor voltage sensor for detecting second super-capacitor voltage, the output end of the actuator controller is connected with a controllable constant current source circuit for controlling output current, and a first MOS switch trigger driving module for controlling the first super-capacitor to charge a storage battery, and a second MOS switch trigger driving module for controlling a second super capacitor to charge the storage battery is arranged.
The piezoelectric module energy feedback circuit sequentially comprises a piezoelectric vibrator (5), a piezoelectric material (4), a first rectifying circuit, a first super capacitor, a first MOS switch trigger driving module and a storage battery.
The linear motor energy feedback module comprises a linear motor, a second rectifying circuit, a second super capacitor, a second MOS switch trigger driving module and a storage battery.
The linear motor control module mainly comprises an actuator controller, a controllable constant current source circuit and a linear motor.
The composite double energy feedback type suspension actuator is characterized in that: the primary permanent magnet base (10) of the linear motor is connected with the lower shell (7) of the actuator through welding, and the secondary permanent magnet of the linear motor is connected with the upper shell connecting piece (16) of the actuator through welding.
The composite double energy feedback type suspension actuator is characterized in that: and a sealing ring (12) is arranged outside the lower shell (7) of the actuator, and the lower shell is made of rubber materials, so that the actuator is ensured to be in a sealing state.
The composite double energy feedback type suspension actuator is characterized in that: the number of the piezoelectric modules is 10, wherein the piezoelectric materials (4) and the piezoelectric vibrators (5) are arranged at intervals, the piezoelectric modules are arranged around the circumference of a primary permanent magnet base (10) of the linear motor, and 16 piezoelectric vibrators (5) are arranged in each piezoelectric module at intervals.
The composite double energy feedback type suspension actuator is characterized in that: the number of the secondary permanent magnets (15) of the linear motor is 10-12.
The composite double energy feedback type suspension actuator is characterized in that: the number of turns of the upper piezoelectric spring (3) is 8, the number of turns of the lower piezoelectric spring (9) is 6, and the stiffness coefficients of the two springs are the same.
The composite double energy feedback type suspension actuator is characterized in that: the actuator controller adopts a DSP28335 digital signal processor.
The invention also provides a fuzzy control strategy based on the intelligent agent theory, which is characterized by comprising the following steps:
step one, data acquisition and synchronous transmission: the sprung mass displacement sensor periodically samples the sprung mass displacement and records the sampled value as Xs,iThe unsprung mass displacement sensor periodically samples the unsprung mass displacement and records it as Xu,iThe sprung mass velocity sensor periodically samples the sprung mass velocity, denoted vs,iThe unsprung mass velocity sensor periodically samples the unsprung mass velocity, denoted vu,iWherein i is a non-0 natural number.
Step two, calculating and analyzing data: by comparing the collected sprung mass velocity vs,iThe derivation is carried out to obtain the sprung mass acceleration as,iBy measuring the acquired unsprung mass velocity vu,iThe derivation is carried out to obtain the unsprung mass acceleration au,i；
Step three, actuator control:
the actuator controller generates a corresponding target current by collecting signals sensed by the sensor, and adjusts the magnitude of actuating force in real time through the actuator, so that the smoothness and the operating stability of the vehicle are improved.
Step 301, information acquisition: sprung mass displacement X sampled by sprung mass displacement sensors,iUnsprung mass displacement X sampled by unsprung mass displacement sensoru,iSprung mass velocity v sampled by sprung mass velocity sensors,iUnsprung mass velocity v sampled by an unsprung mass velocity sensoru,iThe four sampled variables are stored in the actuator controller and represent the environment acquired by the vehicleAnd (4) information.
Step 302, reasoning process: in the running process of the vehicle, a quadratic performance index is adopted to measure the running state of the vehicle, and the quadratic performance index can be expressed as:
Figure BDA0002263198770000051
wherein q is1、q2、q3As a performance weighting factor, XrIs input on the road surface.
Step 303, learning process: the actuator controller performs learning by reciprocating actions of trial-evaluation-retry according to the stored information, thereby perfecting the information collected in the storage space of the actuator controller. Because the road excitation is a random parameter, the quadratic performance index value of the vehicle is constantly changed, and the optimal running smoothness and the optimal operation stability of the vehicle under a working condition must be considered in a long-term manner.
Step 304, control process: and after determining the corresponding ideal current value according to the stored information, the actuator controller adjusts the corresponding output current through a fuzzy control strategy, and the controllable constant current source circuit adjusts the current output to the linear motor by the storage battery to generate corresponding actuating force so as to complete the active control of the actuator.
Compared with the prior art, the invention has the following advantages:
1. the composite double energy feedback type suspension actuator is reasonable in design, simple in structure and easy to realize.
2. Compared with other electromagnetic actuators, the input current of the linear motor is regulated, and the response speed of the linear motor is higher.
3. The invention adopts double energy feedback of piezoelectric and linear motors, and piezoelectric materials can realize energy feedback under any working condition, thereby greatly improving the energy recovery efficiency and realizing the self-sufficiency of the energy of the actuator.
4. The fuzzy control strategy based on the intelligent agent theory provided by the invention well collects the environmental conditions, obtains an ideal current value through four steps of information acquisition, inference process, learning process and control process, obtains an actual current value by adopting fuzzy control in the control process, and generates a proper actuating force by outputting the actual current value to the actuator through the storage battery.
5. The invention has stable work, high reliability and great practical value.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic structural diagram of a hybrid dual energy feedback type suspension actuator according to the present invention.
FIG. 2 is a schematic diagram of the actuator controller and other circuit component connections of the present invention.
Fig. 3 is a flow chart of a control method of the composite dual energy feedback type suspension actuator of the invention.
Description of reference numerals:
1, an upper lifting lug; 2, an upper shell of the actuator; 3-upper piezoelectric spring; 4-a piezoelectric material; 5-a piezoelectric vibrator; 6-insulator with double-sided adhesive; 7, an actuator lower shell; 8, a lower lifting lug; 9-lower piezoelectric spring; 10-primary permanent magnet base of linear motor; 11-lower end cover of secondary permanent magnet of linear motor; 12-a sealing ring; 13-primary permanent magnet of linear motor; 14-magnetic isolation plate; 15-linear motor secondary permanent magnet; 16-connecting piece of secondary permanent magnet of linear motor and upper shell; 17-a first rectifying circuit; 18-first super capacitor 19-first MOS switch trigger driving module; 20 — a first supercapacitor voltage sensor; 21-sprung mass displacement sensor; 22-unsprung mass displacement transducer; 23-sprung mass velocity sensor; 24-unsprung mass velocity sensor; 25-actuator controller; 26-controllable constant current source circuit; 27-a storage battery; 28 — a second supercapacitor voltage sensor; 29-linear motor; 30-a second rectifying circuit; 31 — a second supercapacitor; 32-a second MOS switch trigger driving module;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
as shown in fig. 1, a hybrid dual energy feedback type suspension actuator includes an actuator body, an energy recovery device, and a control unit. The actuator body is divided into a linear motor and a piezoelectric module, and the piezoelectric module mainly comprises a piezoelectric vibrator and a piezoelectric material.
The linear motor module of the composite double energy feedback type suspension actuator comprises a linear motor primary permanent magnet (13), a linear motor secondary permanent magnet (15), a linear motor secondary permanent magnet and upper shell connecting piece (16), a linear motor primary permanent magnet base (10) and a linear motor secondary permanent magnet lower end cover (11). The composite double energy feedback type suspension actuator comprises a linear motor secondary permanent magnet base (10) connected with an actuator lower shell (7), a linear motor primary permanent magnet (13) is installed in the linear motor primary permanent magnet base (10), magnetic isolation plates (14) are arranged at the upper end and the lower end of the linear motor primary permanent magnet (13), and the linear motor secondary permanent magnet and an upper shell connecting piece (16) are connected with an actuator upper shell (2) and a linear motor secondary permanent magnet (15).
The piezoelectric module of the composite double energy feedback type suspension actuator comprises an upper piezoelectric spring (3), a piezoelectric material (4), a piezoelectric vibrator (5), an insulator (6) with double-sided viscosity and a lower piezoelectric spring (9). The upper piezoelectric spring (3) is arranged between an actuator upper shell (2) and an insulator (6) with double-sided viscosity, the upper end of the upper piezoelectric spring (3) is fixedly connected with the actuator upper shell (2), the lower end of the upper piezoelectric spring (3) is fixedly connected with the upper end of the insulator (6) with double-sided viscosity, 10 groups of piezoelectric materials (4) and piezoelectric vibrators (5) are embedded and bonded between the insulators (6) with double-sided viscosity, the piezoelectric vibrators (5) and the piezoelectric materials (4) are arranged at intervals, the insulator (6) with double-sided viscosity is fixedly installed on a linear motor primary permanent magnet base (10), the lower piezoelectric spring (9) is arranged between the insulator (6) with double-sided viscosity and an actuator lower shell (7), and the upper end of the lower piezoelectric spring (9) is fixedly connected with the insulator (6) with double-sided viscosity, the lower end of the lower piezoelectric spring (9) is fixedly connected with the lower shell (7) of the actuator, and the upper piezoelectric spring (3) and the lower piezoelectric spring (9) are sleeved outside the primary permanent magnet base (10) of the linear motor.
Casing (2) cover is in the outside of casing (7) under the actuator on the actuator of compound pair of energy-feedback formula suspension actuator, the outside of casing (7) is installed under the actuator in sealing washer (12), guarantees to guarantee certain leakproofness between casing (2) and the actuator casing (7) under the actuator, go up lug (1) fixed connection on the casing on the actuator for connect car spring load quality, lug (8) fixed connection is on casing (7) under the actuator for connect the non-spring load quality of car down.
As shown in fig. 2, the energy recovery device and the control unit of the invention are provided, the control unit comprises an energy recovery module and a linear motor control module, the input end of the actuator controller is connected with a sprung mass displacement sensor for detecting sprung mass displacement, an unsprung mass displacement sensor for detecting unsprung mass displacement, a sprung mass velocity sensor for detecting sprung mass velocity, an unsprung mass velocity sensor for detecting unsprung mass velocity, a first super capacitor voltage sensor for detecting first super capacitor voltage, a second super capacitor voltage sensor for detecting second super capacitor voltage, the output end of the actuator controller is connected with a controllable constant current source circuit for controlling output current, the first MOS switch trigger driving module is used for controlling the first super capacitor to charge the storage battery, and the second MOS switch trigger driving module is used for controlling the second super capacitor to charge the storage battery.
The piezoelectric module energy feedback circuit sequentially comprises a piezoelectric vibrator (5), a piezoelectric material (4), a first rectifying circuit, a first super capacitor, a first MOS switch trigger driving module and a storage battery.
The linear motor energy feedback module comprises a linear motor, a second rectifying circuit, a second super capacitor, a second MOS switch trigger driving module and a storage battery.
The linear motor control module mainly comprises an actuator controller, a controllable constant current source circuit and a linear motor.
In the middle of the in-service use, through actuator body, energy recuperation device and the mutual work cooperation of the control unit, the elementary permanent magnet base of linear electric motor passes through welded connection casing under the actuator, the casing is connected on the secondary permanent magnet of linear electric motor and last casing connecting piece pass through welding and actuator. The outer portion of the lower shell of the actuator is provided with a sealing ring, and the actuator is guaranteed to be in a sealing state due to the fact that the sealing ring is made of rubber materials.
Example 2:
based on embodiment 1, as shown in fig. 2, the primary permanent magnet base (10) of the linear motor is connected to the lower actuator casing (7) by welding, and the secondary permanent magnet of the linear motor is connected to the upper actuator casing (2) by welding with the upper casing connecting piece (16). And a sealing ring (12) is arranged outside the lower shell (7) of the actuator, and the lower shell is made of rubber materials, so that the actuator is ensured to be in a sealing state.
Furthermore, the number of the piezoelectric modules is 10, wherein the piezoelectric materials (4) and the piezoelectric vibrators (5) are arranged at intervals, the piezoelectric modules are arranged around the circumference of the primary permanent magnet base (10) of the linear motor, and 16 piezoelectric vibrators (5) are arranged in each piezoelectric module at intervals.
Furthermore, the number of the secondary permanent magnets (15) of the linear motor is 10-12.
Furthermore, the number of turns of the upper piezoelectric spring (3) is 8, the number of turns of the lower piezoelectric spring (9) is 6, and the stiffness coefficients of the two springs are the same.
Further, the actuator controller adopts a DSP28335 digital signal processor.
In the middle of the practical use, through with the elementary permanent magnet base welding of linear electric motor casing under the actuator, linear electric motor carries out input current and adjusts, compares other electromagnetic actuator, and its response speed is very fast. The piezoelectric and linear motor double energy feedback is adopted, the piezoelectric material can realize energy feedback no matter under any working condition, the energy recovery efficiency is greatly improved, and the self-sufficiency of the actuator energy is realized.
Example 3:
based on embodiment 1, the fuzzy control strategy based on the intelligent agent theory includes the following steps:
step one, data acquisition and synchronous transmission: the sprung mass displacement sensor periodically samples the sprung mass displacement and records the sampled value as Xs,iThe unsprung mass displacement sensor periodically samples the unsprung mass displacement and records it as Xu,iThe sprung mass velocity sensor periodically samples the sprung mass velocity, denoted vs,iThe unsprung mass velocity sensor periodically samples the unsprung mass velocity, denoted vu,iWherein i is a non-0 natural number.
Step two, calculating and analyzing data: by comparing the collected sprung mass velocity vs,iThe derivation is carried out to obtain the sprung mass acceleration as,iBy measuring the acquired unsprung mass velocity vu,iThe derivation is carried out to obtain the unsprung mass acceleration au,i；
Step three, actuator control:
the actuator controller generates a corresponding target current by collecting signals sensed by the sensor, and adjusts the magnitude of actuating force in real time through the actuator, so that the smoothness and the operating stability of the vehicle are improved.
Step 301, information acquisition: sprung mass displacement X sampled by sprung mass displacement sensors,iUnsprung mass displacement X sampled by unsprung mass displacement sensoru,iSprung mass velocity v sampled by sprung mass velocity sensors,iUnsprung mass velocity v sampled by an unsprung mass velocity sensoru,iThe four sampled variables are stored in the actuator controller and represent the environmental information acquired by the vehicle.
Step 302, reasoning process: in the running process of the vehicle, the running state of the vehicle is measured by using quadratic performance indexes which can be shown in a tableShown as follows:
Figure BDA0002263198770000121
wherein q is1、q2、q3As a performance weighting factor, XrIs input on the road surface.
Step 303, learning process: the actuator controller performs learning by reciprocating actions of trial-evaluation-retry according to the stored information, thereby perfecting the information collected in the storage space of the actuator controller. Because the road excitation is a random parameter, the quadratic performance index value of the vehicle is constantly changed, and the optimal running smoothness and the optimal operation stability of the vehicle under a working condition must be considered in a long-term manner.
Step 304, control process: and after determining the corresponding ideal current value according to the stored information, the actuator controller adjusts the corresponding output current through a fuzzy control strategy, and the controllable constant current source circuit adjusts the current output to the linear motor by the storage battery to generate corresponding actuating force so as to complete the active control of the actuator.
The composite double energy feedback type suspension actuator is characterized in that: in step 304, the actuator controller obtains the controllable current I according to a fuzzy control methodiThe method comprises the following specific implementation steps:
step (1), the actuator controller according to a formula ei＝Xs,i-Xu,iObtaining the deviation e of the sprung mass displacement and the unsprung mass displacement of the ith samplingiThe actuator controller samples the sprung mass velocity vs,iThe derivation is carried out to obtain the sprung mass acceleration as,i。
Step (2), the actuator controller according to a formula Ei＝ei×keFor deviation eiQuantization is carried out to obtain the deviation eiAmount of quantization of EiWherein k iseIs the quantified amount, k, of the deviation of sprung and unsprung mass displacementse＝130，eiAmount of quantization of EiHas a discourse field of [ -6,6](ii) a Actuator controller according to formula
Figure BDA0002263198770000131
To sprung mass acceleration as,iQuantization is carried out to obtain the sprung mass acceleration as,iAmount of quantization of
Figure BDA0002263198770000132
kec＝2，as,iAmount of quantization of
Figure BDA00022631987700001313
Has a quantization argument of [ -6,6]。
Step (3) quantifying quantity E of deviation between sprung mass displacement and unsprung mass displacement by actuator controlleriInteger by rounding to give EiInteger result
Figure BDA0002263198770000133
Actuator controller quantifies sprung mass acceleration
Figure BDA0002263198770000134
Performing integer conversion according to a rounding method to obtain
Figure BDA0002263198770000135
Integer result
Figure BDA0002263198770000136
Subjecting the obtained EiInteger result
Figure BDA0002263198770000137
As a first input for fuzzy control, the result
Figure BDA0002263198770000138
Integer resultAs a second input for the fuzzy control.
Step (4), the actuator controller according to the first input
Figure BDA00022631987700001310
And a second input
Figure BDA00022631987700001311
Inquiring the preset fuzzy control table to obtain the output gamma of the fuzzy controli。
Step (5), the actuator controller according to the formulaObtaining the input current required by the linear motor; wherein the output gamma isiHas a discourse field of [ -6,6]，KiFor output Γ for fuzzy controliScale factor to be adjusted, KiThe value of the alpha is equal to or more than 0s,i≤2(m·s-2) When k isi110, when 2 < as,i≤5(m·s-2) When k isi130, when 5(m · s)-2)＜as,iWhen k isi＝150。
The above method is characterized in that: the specific process of presetting the fuzzy control lookup table by the actuator controller in the step (4) is as follows:
step A, the actuator controller is according to a formula ei＝Xs,i-Xu,iObtaining the deviation e of the sprung mass displacement and the unsprung mass displacement of the ith samplingiThe actuator controller samples the sprung mass velocity vs,iThe derivation is carried out to obtain the sprung mass acceleration as,i。
Step B, the actuator controller according to the formula Ei＝ei×keFor deviation eiQuantization is carried out to obtain the deviation eiAmount of quantization of EiWherein k iseIs the quantified amount, k, of the deviation of sprung and unsprung mass displacementse＝130，eiAmount of quantization of EiHas a discourse field of [ -6,6](ii) a Actuator controller according to formulaTo sprung mass acceleration as,iPerforming quantization to obtainSprung mass acceleration as,iAmount of quantization of
Figure BDA0002263198770000141
kec＝2，as,iAmount of quantization of
Figure BDA0002263198770000142
Has a quantization argument of [ -6,6]。
Step C, quantifying quantity E of deviation of sprung mass displacement and unsprung mass displacement by an actuator controlleriInteger by rounding to give EiInteger result
Figure BDA0002263198770000143
Actuator controller quantifies sprung mass acceleration
Figure BDA0002263198770000144
Performing integer conversion according to a rounding method to obtain
Figure BDA0002263198770000145
Integer result
Figure BDA0002263198770000146
Subjecting the obtained EiInteger result
Figure BDA0002263198770000147
As a first input for fuzzy control, the result
Figure BDA0002263198770000148
Integer resultAs a second input for the fuzzy control.
Step D, the actuator controller is used for controlling the actuator according to the first input
Figure BDA00022631987700001410
And a second input
Figure BDA00022631987700001411
Inquiring the preset fuzzy control table to obtain the output gamma of the fuzzy controli。
Step E, the actuator controller according to the formula
Figure BDA00022631987700001412
Obtaining the input current required by the linear motor; wherein the output gamma isiHas a discourse field of [ -6,6]，KiFor output Γ for fuzzy controliScale factor to be adjusted, KiThe value of the alpha is equal to or more than 0s,i≤2(m·s-2) When k isi110, when 2 < as,i≤5(m·s-2) When k isi130, when 5(m · s)-2)＜as,iWhen k isi＝150。
Step F, the actuator controller adjusts the deviation eiAmount of quantization of EiFuzzification is carried out, and the specific process is as follows:
defining the deviation e between the sprung mass displacement and the unsprung mass displacementiAmount of quantization of EiThe set of paste states of (B) is { negative big NB, negative middle NM, negative small NS, zero ZO, positive small PS, positive PM, positive big PB };
actuator controller according to EiGaussian membership function of
Figure BDA0002263198770000151
To obtain EiCorresponding fuzzy state membership degree gausssf (E)i,u1,σ1) Wherein u is1Is a deviation eiAmount of quantization of EiCenter of the Gaussian membership function of1Is a deviation eiAmount of quantization of EiWidth of the Gaussian membership function, u when the fuzzy state is negative large1-6; when the fuzzy state is negative-medium, u1-4; when the fuzzy state is negative, u1-2; when the fuzzy state is zero, u10; when the fuzzy state is positive, u 12; when the fuzzy state is in the middle, u14; when the fuzzy state is positive, u1＝6；
G, intelligent fuzzy controller pair as,iAmount of quantization of
Figure BDA0002263198770000152
Fuzzification is carried out, and the specific process is as follows:
definition as,iAmount of quantization of
Figure BDA0002263198770000153
The set of paste states of (B) is { negative big NB, negative middle NM, negative small NS, zero ZO, positive small PS, positive PM, positive big PB };
actuator controller based onGaussian membership function of
Figure BDA0002263198770000155
To obtain
Figure BDA0002263198770000156
Corresponding fuzzy state degree of membership
Figure BDA0002263198770000157
Wherein u is2Is asiAmount of quantization of
Figure BDA0002263198770000158
Center of the Gaussian membership function of2Is asiAmount of quantization of
Figure BDA0002263198770000159
Width of the Gaussian membership function, u when the fuzzy state is negative large2-6; when the fuzzy state is negative-medium, u2-4; when the fuzzy state is negative, u2-2; when the fuzzy state is zero, u20; when the fuzzy state is positive, u 22; when the fuzzy state is in the middle, u24; when the fuzzy state is positive, u2＝6；
Step H, determiningOutput of fuzzy controliThe set of paste states is { negative large NB, negative middle NM, negative small NS, zero ZO, positive small PS, positive PM, positive large PB }, and the following fuzzy control rule table is formulated:
Figure BDA0002263198770000161
step I, outputting gamma to the fuzzy controliThe fuzzy state is subjected to defuzzification treatment, and the specific process is as follows:
output Γ defining fuzzy controliDiscourse range Z [ -6,6 [ ]]Actuator controller based on gammaiGaussian membership function of
Figure BDA0002263198770000162
Obtaining the gamma-shapediCorresponding fuzzy state membership Gaussmf (Γ)i,u3,σ3) Wherein u is3Is output of gammaiCenter of the Gaussian membership function of3Is output of gammaiWidth of the Gaussian membership function, u when the fuzzy state is negative large3-6; when the fuzzy state is negative-medium, u3-4; when the fuzzy state is negative, u3-2; when the fuzzy state is zero, u30; when the fuzzy state is positive, u 32; when the fuzzy state is in the middle, u34; when the fuzzy state is positive, u3＝6；
Step J, repeating the step A to the step I to enable EiDiscourse area of [ -6,6]Inner 13 integers and
Figure BDA0002263198770000172
discourse area of [ -6,6]169 combinations of 13 integers within and output Γ of the fuzzy controliThe one-to-one correspondence of the defuzzification results is made into a following fuzzy control lookup table;
in actual use, based on a fuzzy control strategy of an intelligent agent theory, environment conditions are well collected, an ideal current value is obtained through four steps of information acquisition, inference process, learning process and control process, an actual current value is obtained through fuzzy control in the control process, and the storage battery outputs the actual current value to the actuator to generate proper actuating power. The invention has stable work, high reliability and great practical value. The actuator body is divided into a linear motor and a piezoelectric module, and the piezoelectric module mainly comprises a piezoelectric vibrator and a piezoelectric material. The invention has simple structure, is convenient for design and manufacture, and can effectively recover energy, make the vehicle in the optimal vibration damping state and improve the smoothness and the operation stability of the vehicle.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Technical solutions between various embodiments may be combined with each other, but must be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The foregoing is illustrative of the preferred embodiments of the present invention, and the present invention is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. Any simple modification, equivalent change and modification of the above embodiments according to the technical spirit of the present invention still fall within the scope of the technical solution of the present invention.

Claims (8)

1. A compound double energy feedback type suspension actuator is characterized in that: the actuator mainly comprises a linear motor module and a piezoelectric module, the control unit mainly comprises an energy recovery module and a linear motor control module, and the linear motor module of the composite double energy feedback type suspension actuator comprises a linear motor primary permanent magnet (13), a linear motor secondary permanent magnet (15), a linear motor secondary permanent magnet and an upper shell connecting piece (16), a linear motor primary permanent magnet base (10) and a linear motor secondary permanent magnet lower end cover (11). The composite double energy feedback type suspension actuator comprises a linear motor secondary permanent magnet base (10) connected with an actuator lower shell (7), a linear motor primary permanent magnet (13) is installed in the linear motor primary permanent magnet base (10), magnetic isolation plates (14) are arranged at the upper end and the lower end of the linear motor primary permanent magnet (13), and the linear motor secondary permanent magnet and an upper shell connecting piece (16) are connected with an actuator upper shell (2) and a linear motor secondary permanent magnet (15).
The piezoelectric module of the composite double energy feedback type suspension actuator comprises an upper piezoelectric spring (3), a piezoelectric material (4), a piezoelectric vibrator (5), an insulator (6) with double-sided viscosity and a lower piezoelectric spring (9). The upper piezoelectric spring (3) is arranged between an actuator upper shell (2) and an insulator (6) with double-sided viscosity, the upper end of the upper piezoelectric spring (3) is fixedly connected with the actuator upper shell (2), the lower end of the upper piezoelectric spring (3) is fixedly connected with the upper end of the insulator (6) with double-sided viscosity, 10 groups of piezoelectric materials (4) and piezoelectric vibrators (5) are embedded and bonded between the insulators (6) with double-sided viscosity, the piezoelectric vibrators (5) and the piezoelectric materials (4) are arranged at intervals, the insulator (6) with double-sided viscosity is fixedly installed on a linear motor primary permanent magnet base (10), the lower piezoelectric spring (9) is arranged between the insulator (6) with double-sided viscosity and an actuator lower shell (7), and the upper end of the lower piezoelectric spring (9) is fixedly connected with the insulator (6) with double-sided viscosity, the lower end of the lower piezoelectric spring (9) is fixedly connected with the lower shell (7) of the actuator, and the upper piezoelectric spring (3) and the lower piezoelectric spring (9) are sleeved outside the primary permanent magnet base (10) of the linear motor.
Casing (2) cover is in the outside of casing (7) under the actuator on the actuator of compound pair of energy-feedback formula suspension actuator, the outside of casing (7) is installed under the actuator in sealing washer (12), guarantees to guarantee certain leakproofness between casing (2) and the actuator casing (7) under the actuator, go up lug (1) fixed connection on the casing on the actuator for connect car spring load quality, lug (8) fixed connection is on casing (7) under the actuator for connect the non-spring load quality of car down.
The control unit comprises an energy recovery module and a linear motor control module, the input end of the actuator controller is connected with a sprung mass displacement sensor for detecting sprung mass displacement, an unsprung mass displacement sensor for detecting unsprung mass displacement, a sprung mass speed sensor for detecting sprung mass speed, an unsprung mass speed sensor for detecting unsprung mass speed, a first super-capacitor voltage sensor for detecting first super-capacitor voltage, a second super-capacitor voltage sensor for detecting second super-capacitor voltage, the output end of the actuator controller is connected with a controllable constant current source circuit for controlling output current, and a first MOS switch trigger driving module for controlling the first super-capacitor to charge a storage battery, and a second MOS switch trigger driving module for controlling a second super capacitor to charge the storage battery is arranged.
The piezoelectric module energy feedback circuit sequentially comprises a piezoelectric vibrator (5), a piezoelectric material (4), a first rectifying circuit, a first super capacitor, a first MOS switch trigger driving module and a storage battery.
The linear motor energy feedback module comprises a linear motor, a second rectifying circuit, a second super capacitor, a second MOS switch trigger driving module and a storage battery.
The linear motor control module mainly comprises an actuator controller, a controllable constant current source circuit and a linear motor.
2. A compound dual-regenerative suspension actuator and control strategy therefor in accordance with claim 1 wherein: the primary permanent magnet base (10) of the linear motor is connected with the lower shell (7) of the actuator through welding, and the secondary permanent magnet of the linear motor is connected with the upper shell connecting piece (16) of the actuator through welding.
3. A compound dual-regenerative suspension actuator and control strategy therefor in accordance with claim 1 wherein: and a sealing ring (12) is arranged outside the lower shell (7) of the actuator, and the lower shell is made of rubber materials, so that the actuator is ensured to be in a sealing state.
4. A compound dual-regenerative suspension actuator and control strategy therefor in accordance with claim 1 wherein: the number of the piezoelectric modules is 10, wherein the piezoelectric materials (4) and the piezoelectric vibrators (5) are arranged at intervals, the piezoelectric modules are arranged around the circumference of a primary permanent magnet base (10) of the linear motor, and 16 piezoelectric vibrators (5) are arranged in each piezoelectric module at intervals.
5. A compound dual-regenerative suspension actuator and control strategy therefor in accordance with claim 1 wherein: the number of the secondary permanent magnets (15) of the linear motor is 10-12.
6. A compound dual-regenerative suspension actuator and control strategy therefor in accordance with claim 1 wherein: the number of turns of the upper piezoelectric spring (3) is 8, the number of turns of the lower piezoelectric spring (9) is 6, and the stiffness coefficients of the two springs are the same.
7. A compound dual-regenerative suspension actuator and control strategy therefor in accordance with claim 1 wherein: the actuator controller adopts a DSP28335 digital signal processor.
8. A fuzzy control strategy based on intelligent agent theory according to claim 1, characterized in that the method comprises the following steps:
and S1, data acquisition and synchronous transmission: the sprung mass displacement sensor periodically samples the sprung mass displacement and records the sampled value as Xs,iThe unsprung mass displacement sensor periodically samples the unsprung mass displacement and records it as Xu,iThe sprung mass velocity sensor periodically samples the sprung mass velocity, denoted vs,iThe unsprung mass velocity sensor periodically samples the unsprung mass velocity, denoted vu,iWherein i is a non-0 natural number.
And S2, calculating and analyzing data: by comparing the collected sprung mass velocity vs,iThe derivation is carried out to obtain the sprung mass acceleration as,iBy measuring the acquired unsprung mass velocity vu,iThe derivation is carried out to obtain the unsprung mass acceleration au,i；
S3 actuator control: the actuator controller generates a corresponding target current by collecting signals sensed by the sensor, and adjusts the magnitude of actuating force in real time through the actuator, so that the smoothness and the operating stability of the vehicle are improved. First step information acquisition: sprung mass displacement X sampled by sprung mass displacement sensors,iUnsprung mass displacement X sampled by unsprung mass displacement sensoru,iSprung mass velocity v sampled by sprung mass velocity sensors,iUnsprung mass velocity v sampled by an unsprung mass velocity sensoru,iThe four sampled variables are stored in the actuator controller and represent the environmental information acquired by the vehicle. The second step of reasoning process: in the running process of the vehicle, a quadratic performance index is adopted to measure the running state of the vehicle, and the quadratic performance index can be expressed as:wherein q is1、q2、q3As a performance weighting factor, XrIs input on the road surface. The third step is a learning process: the actuator controller performs a reciprocating action of trial-evaluation-retry according to the stored informationAnd learning is carried out, and the information collected in the self storage space is perfected. Because the road excitation is a random parameter, the quadratic performance index value of the vehicle is constantly changed, and the optimal running smoothness and the optimal operation stability of the vehicle under a working condition must be considered in a long-term manner. The fourth step of control process: and after determining the corresponding ideal current value according to the stored information, the actuator controller adjusts the corresponding output current through a fuzzy control strategy, and the controllable constant current source circuit adjusts the current output to the linear motor by the storage battery to generate corresponding actuating force so as to complete the active control of the actuator.
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