CN110744982A - Double-linear-motor energy-feedback type active suspension actuator and control method thereof - Google Patents

Double-linear-motor energy-feedback type active suspension actuator and control method thereof Download PDF

Info

Publication number
CN110744982A
CN110744982A CN201911210973.7A CN201911210973A CN110744982A CN 110744982 A CN110744982 A CN 110744982A CN 201911210973 A CN201911210973 A CN 201911210973A CN 110744982 A CN110744982 A CN 110744982A
Authority
CN
China
Prior art keywords
actuator
linear motor
control
permanent magnet
phase
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.)
Granted
Application number
CN201911210973.7A
Other languages
Chinese (zh)
Other versions
CN110744982B (en
Inventor
寇发荣
景强强
武江浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xian University of Science and Technology
Original Assignee
Xian University of Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Xian University of Science and Technology filed Critical Xian University of Science and Technology
Priority to CN201911210973.7A priority Critical patent/CN110744982B/en
Publication of CN110744982A publication Critical patent/CN110744982A/en
Application granted granted Critical
Publication of CN110744982B publication Critical patent/CN110744982B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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
    • B60G17/01908—Acceleration or inclination 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
    • 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 double-linear-motor energy-regenerative active suspension actuator and a control method thereof, wherein an actuator body comprises an actuator outer shell, a base, a rod piece, a six-phase flux linkage linear motor and a three-phase permanent magnet synchronous linear motor; the control system comprises an active control system and an energy recovery system, and the invention also discloses an endocrine composite PID control method. The invention combines two linear motors with different structural forms into a whole, the active thrust of a suspension system is provided by a six-phase magnetic linkage linear motor, the three-phase permanent magnet synchronous linear motor is in an energy feedback state to recover vibration energy, the structural integration of the two linear motors with different forms greatly compresses the space, and simultaneously integrates energy feedback and active control into a whole, so that the vehicle suspension system is in an optimal vibration damping state while recovering energy, and the smoothness and the operation stability of a vehicle are improved.

Description

Double-linear-motor energy-feedback type active suspension actuator and control method thereof
Technical Field
The invention belongs to the technical field of vehicle dynamics, and particularly relates to a double-linear-motor energy-feedback type active suspension actuator and a control method thereof.
Background
The suspension of the vehicle is an important part capable of ensuring the driving smoothness and the operation stability of the vehicle, and can elastically connect the frame and the axle, so that the excitation transmitted to the vehicle body from the uneven road surface is well attenuated. Most of the existing suspensions adopted by vehicles are passive suspensions, although vibration can be effectively attenuated, the rigidity and the damping of the suspensions are fixed values and cannot be adjusted according to road conditions. In addition, controllable suspensions are beginning to be applied to automotive suspension technology, and there are two main types of controllable suspensions at present: active suspension and semi-active suspension. The active suspension can adjust the parameters of the suspension in real time according to the collected road information, but the energy consumption is too high. The semi-active suspension can not only adjust suspension parameters according to road surface information, but also recover energy generated in the vibration process of the suspension, but has limited damping control effect. The main forms of controllable suspension currently existing include: rack and pinion, magnetorheological, ball screw, and linear motor. But the energy loss of the gear-rack type actuator is large, and the reliability is low; the magneto-rheological type has the problem of magneto-rheological fluid deposition; the ball screw type energy consumption is large; linear motor actuators are widely studied because their motion directions are the same as the suspension motion direction without the need for a conversion mechanism. The energy feedback type suspension can recover vibration energy while reducing vibration, and becomes an enthusiastic research object for many scholars. However, the motor actuators of various current suspension systems still have the problems of easy failure and the like in a long-term load working state, and the common three-phase linear motor has the problem that the generated thrust cannot control the main power of the suspension if a phase-loss failure occurs during operation.
Disclosure of Invention
The invention aims to solve the technical problem that the defects of the prior art are overcome, and provides a double-linear-motor energy-feedback type active suspension actuator, a six-phase flux linkage linear motor and a common three-phase permanent magnet synchronous linear motor are integrated, the three-phase permanent magnet synchronous linear motor is used for energy feedback, the six-phase flux linkage linear motor is used for outputting active power due to the multi-phase advantages of the six-phase flux linkage linear motor to avoid suspension system working failure caused by phase-lacking faults, the vibration-damping energy can be recovered while the same vibration-damping effect of a suspension is effectively ensured, and meanwhile, the fault that the suspension system is unstable due to output power shortage caused by phase-lacking in the operation process of the motor is also effectively avoided.
The technical scheme adopted by the invention is as follows: a double-linear motor energy-regenerative active suspension actuator comprises an actuator body and a control system, and is characterized in that the actuator body comprises an actuator outer shell, a base, a rod piece, a six-phase flux linkage linear motor and a three-phase permanent magnet synchronous linear motor;
the three-phase permanent magnet synchronous linear motor comprises a primary permanent magnet of the three-phase permanent magnet synchronous linear motor, a secondary permanent magnet of the three-phase permanent magnet synchronous linear motor, a magnetic isolation material and a secondary protective layer, wherein the primary permanent magnet of the three-phase permanent magnet synchronous linear motor is embedded in an outer shell of an actuator, the upper end and the lower end of the primary permanent magnet of the three-phase permanent magnet synchronous linear motor are provided with the magnetic isolation material and are arranged in a staggered mode, the secondary permanent magnet of the three-phase permanent magnet synchronous linear motor is embedded in a base, and the secondary protective layer is arranged outside;
the six-phase flux linkage linear motor comprises a magnetic isolation plate, a six-phase flux linkage linear motor secondary, permanent magnets, armature windings and excitation windings, wherein the magnetic isolation plate is embedded in the inner wall of a base, the six-phase flux linkage linear motor secondary is arranged close to the magnetic isolation plate, the permanent magnets are arranged on the outer wall of a rod piece at intervals, and the armature windings and the excitation windings are arranged on the outer wall of the rod piece in a staggered mode.
The welding has the lug on the actuator shell body for be connected with vehicle spring load mass, the lug under the bottom welding of member for be connected with vehicle unsprung mass, the first sealing washer that two linear electric motor presented can formula initiative suspension actuator is arranged between actuator shell body and base, two linear electric motor presented can formula initiative suspension actuator's second sealing washer and is arranged between base and member.
The number of secondary permanent magnets of the three-phase permanent magnet synchronous linear motor is 10-12, the primary of the six-phase flux linkage linear motor is 6 poles, and the secondary of the six-phase flux linkage linear motor is 21 poles.
The actuator outer shell, the base and the rod piece can move pairwise relatively.
The actuator controller adopts DSP28335 digital signal processor, the input termination of actuator controller has been used for carrying out the spring-loaded mass acceleration sensor that detects to spring-loaded mass acceleration, is used for carrying out the super capacitor voltage sensor that detects to super capacitor voltage, and the output termination has the controllable constant current source circuit that is used for carrying out control to three-phase permanent magnet synchronous linear electric motor output current, and the MOS switch that is used for controlling super capacitor to charge to the battery triggers drive module, is used for the six looks magnetic linkage linear electric motor to actuator active control, controllable constant current source circuit, three-phase permanent magnet synchronous linear electric motor, rectifier circuit, super capacitor, MOS switch trigger drive module, battery inverter circuit and six looks magnetic linkage linear electric motor connect gradually.
The active control system refers to an actuator controller which directly controls the six-phase flux linkage linear motor to output active thrust for vibration reduction; the energy recovery system comprises an electromotive force generated by the three-phase permanent magnet synchronous linear motor and stored in a super capacitor through a rectifying circuit, a super capacitor voltage sensor transmits a detected super capacitor voltage signal to an actuator controller, when the voltage of the super capacitor reaches a certain limit value, the actuator controller controls an MOS switch to trigger a driving module to be opened, and the super capacitor charges a storage battery.
A control method for a double-linear motor energy feedback type active suspension actuator comprises the following steps:
firstly, data acquisition and transmission;
secondly, calculating ideal main power under the control of endocrine composite PID;
and thirdly, adjusting the actuator in real time.
The calculation steps of the ideal main power under the endocrine compound PID control are as follows:
the method comprises the following steps: real-time acquisition of sprung mass acceleration by sprung mass acceleration sensor
Figure BDA0002298122550000041
Control strategy according to PID
Figure BDA0002298122550000047
Obtaining the initial ideal control force Fi-1Wherein e (t) is the measured value of the acceleration of the sprung mass
Figure BDA0002298122550000042
The difference from 0; kpIs a proportional gain element coefficient, KiAs integral gain element coefficient, KdIs a differential gain element coefficient;
step two: calculating an endocrine control link according to the initial ideal force obtained by PID control, wherein the endocrine control is divided into primary control and secondary control, the primary control is proportional control, and the PID control outputs Fi-1，Fi-1Acceleration of sprung mass
Figure BDA0002298122550000043
The deviation of (a) is input, the aim is to dynamically eliminate the control deviation, and the first-stage control outputs ideal force of
Figure BDA0002298122550000044
Wherein K1Is greater than 0, is the proportionality coefficient of the primary controller, and the output F of the secondary control by the primary controli-2As input, while controlling the output F in one stagei-2Acceleration of sprung mass
Figure BDA0002298122550000045
The deviation of the control signal is used as an input, and the secondary control adopts PID control again to achieve the purpose of feedback regulation to maintain the stability of the control system. The output of the secondary control is:
the output of the final secondary control is used as the final ideal force of the suspension system, the actual control force u is output through the actuator, the endocrine control is compounded on the basis of the traditional PID control, the sprung mass acceleration information is used as feedback to participate in regulation, the control effect of the suspension system is further ensured, and Kp′、Kd′、Ki′Are respectively a second order PIAnd D, controlling the coefficients of proportional, integral and differential gain links in the control.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention relates to a double-linear-motor energy-feedback type active suspension actuator, wherein a six-phase flux linkage linear motor structure has high thrust density and smaller thrust fluctuation, and the interphase mutual inductance is smaller.
2. The double-linear motor energy-feedback type active suspension actuator has good fault tolerance, and if a certain phase of missing fault occurs in the operation process of the six-phase linear motor, the residual phase of the six-phase linear motor still outputs larger motor thrust to ensure the active operation of a suspension system; if the six-phase linear motor is damaged in multiple phases and completely fails, the three-phase linear motor which originally feeds energy is in active work to provide active power to ensure the working stability of the suspension system.
3. The invention relates to an energy feedback type active suspension of a double-linear motor, which mainly uses a six-phase flux linkage linear motor to provide active power and uses a three-phase permanent magnet synchronous linear motor to feed energy.
4. The invention adjusts the input current of the linear motor, and has higher response speed compared with other electromagnetic actuators.
5. The invention adopts an endocrine composite PID control strategy, and enhances the self-adaptive performance of the controller by compositing endocrine control on the basis of the traditional PID control.
Drawings
Fig. 1 is a schematic structural diagram of a double linear motor energy-regenerative active suspension actuator according to the present invention;
FIG. 2 is a schematic diagram showing the connection of the actuator controller and other circuit components of the present invention;
FIG. 3 is a flow chart of a method for controlling the double linear motor energy-regenerative active suspension actuator according to the present invention;
FIG. 4 shows the structure of the endocrine hybrid PID controller of the invention;
in the figure, 1 is an upper lifting lug; 2-actuator outer shell; 3-primary permanent magnet of three-phase permanent magnet synchronous linear motor; 4-secondary permanent magnet of three-phase permanent magnet synchronous linear motor; 5, a magnetic isolation plate; 6-magnetic isolation material; 7, a base; 8-a first sealing ring; 9-lower lifting lug; 10-a rod member; 11-a second sealing ring; 12-secondary of six-phase flux linkage linear motor; 13-a permanent magnet; 14 — armature winding; 15-excitation winding; 16-a secondary protective layer; 17-controllable constant current source circuit; 18-three-phase permanent magnet synchronous linear motor; 19-a rectifier circuit; 20-a super capacitor; 21-MOS switch trigger drive module; 22-a super capacitor voltage sensor; 23-sprung mass acceleration sensor; 24-an actuator controller; 25-a storage battery; 26-six-phase flux linkage linear motor; 27-inverter circuit.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the predetermined object, the following detailed description of the embodiments, structures, features and effects according to the present invention will be given with reference to the accompanying drawings and preferred embodiments.
The first embodiment is as follows:
as shown in fig. 1, the double-linear-motor energy-feedback type active suspension actuator comprises an actuator body and a control system, and is characterized in that the actuator body comprises an actuator outer shell (2), a base (7), a rod piece (10), a six-phase magnetic-linkage linear motor and a three-phase permanent magnet synchronous linear motor;
the three-phase permanent magnet synchronous linear motor comprises a primary permanent magnet (3) of the three-phase permanent magnet synchronous linear motor, a secondary permanent magnet (4) of the three-phase permanent magnet synchronous linear motor, a magnetic isolation material (6) and a secondary protective layer (16), wherein the primary permanent magnet (3) of the three-phase permanent magnet synchronous linear motor is embedded and installed in an actuator outer shell (2), the upper end and the lower end of the primary permanent magnet (3) of the three-phase permanent magnet synchronous linear motor are provided with the magnetic isolation material (6) and are arranged in a staggered mode, the secondary permanent magnet (4) of the three-phase permanent magnet synchronous linear motor is embedded and installed in a base (7), and the secondary protective layer (16) is installed;
six looks flux linkage linear electric motor includes magnetic shield (5), six looks flux linkage linear electric motor secondary (12), permanent magnet (13), armature winding (14), excitation winding (15), magnetic shield (5) are inlayed at base (7) inner wall, six looks flux linkage linear electric motor secondary (12) are arranged near magnetic shield (5), permanent magnet (13) interval arrangement is on member (10) outer wall, armature winding (14) and excitation winding (15) staggered arrangement are on member (10) outer wall.
The welding has lug (1) on actuator shell body (2) for be connected with vehicle spring load mass, lug (9) under the bottom welding of member (10) for be connected with vehicle unsprung mass, the first sealing washer (8) of two linear electric motor present ability formula initiative suspension actuator are arranged between actuator shell body (2) and base (7), the second sealing washer (11) of two linear electric motor present ability formula initiative suspension actuator are arranged between base (7) and member (10).
The number of the secondary permanent magnets (4) of the three-phase permanent magnet synchronous linear motor is 10-12, the primary of the six-phase flux linkage linear motor is 6 poles, and the secondary (12) of the six-phase flux linkage linear motor is 21 poles.
The actuator outer shell (2), the base (7) and the rod piece (10) can move pairwise relatively.
The actuator controller (24) adopts a DSP28335 digital signal processor, the input end of the actuator controller (24) is connected with a sprung mass acceleration sensor (23) for detecting the sprung mass acceleration, a super capacitor voltage sensor (22) for detecting the super capacitor voltage, a controllable constant current source circuit (17) for controlling the output current of the three-phase permanent magnet synchronous linear motor is connected with the output end, a MOS switch trigger driving module (21) for controlling the super capacitor (20) to charge the storage battery (25), the six-phase flux linkage linear motor is used for actively controlling an actuator, and the controllable constant current source circuit (17), the three-phase permanent magnet synchronous linear motor (18), the rectifying circuit (19), the super capacitor (20), the MOS switch trigger driving module (21), the storage battery (9) inverter circuit and the six-phase flux linkage linear motor are sequentially connected.
The active control system refers to that an actuator controller (24) directly controls a six-phase flux linkage linear motor (26) to output active thrust to damp vibration; the energy recovery system comprises an electromotive force generated by a three-phase permanent magnet synchronous linear motor (18) and stored in a super capacitor (20) through a rectifying circuit (19), a super capacitor voltage sensor (22) transmits a detected voltage signal of the super capacitor (20) to an actuator controller (24), when the voltage of the super capacitor reaches a certain limit value, the actuator controller (24) controls an MOS switch to trigger a driving module (21) to be opened, and the super capacitor (20) charges a storage battery (25).
Furthermore, the first sealing ring (8) and the second sealing ring (11) are both made of rubber materials.
Furthermore, the six-phase flux linkage linear motor has the advantage of multiple phases due to the structural design, if a certain phase missing fault occurs in the operation process of the six-phase linear motor, the complete failure of a suspension system cannot be caused, and large motor thrust can be still output due to the residual phase work of the six-phase linear motor to ensure the active work of the suspension system. Meanwhile, if the six-phase linear motor is damaged in multiple phases and completely fails, the three-phase linear motor which is originally designed to be in the energy feedback state can work in the active state to provide active force to ensure the working stability of the suspension system.
Further, as shown in fig. 2, the primary permanent magnet of the three-phase permanent magnet synchronous linear motor and the secondary permanent magnet of the three-phase permanent magnet synchronous linear motor move relatively to cut the magnetic induction line, and generate induced electromotive force
Figure BDA0002298122550000091
Wherein k iseThe back electromotive force coefficient of the three-phase permanent magnet synchronous linear motor is 68.4 V.s.m-1，
Figure BDA0002298122550000092
The relative motion speed of a primary permanent magnet of the three-phase permanent magnet synchronous linear motor and a secondary permanent magnet of the three-phase permanent magnet synchronous linear motor is the relative motion speed of the primary permanent magnet of the three-phase permanent magnet synchronous linear motor, electromotive force generated by the three-phase permanent magnet synchronous linear motor is stored into the super capacitor through the rectifying circuit, the super capacitor voltage sensor transmits a detected voltage signal of the super capacitor to the actuator controller, when the voltage of the super capacitor reaches a certain limit value, the actuator controller controls the MOS switch to trigger the driving module to be opened, and the super capacitor charges the storage battery, so.
Example two
As shown in fig. 3, a method for controlling a dual linear motor energy regenerative active suspension actuator includes the following steps:
firstly, data acquisition and transmission;
secondly, calculating ideal main power under the control of endocrine composite PID;
and thirdly, adjusting the actuator in real time.
As shown in fig. 4, the calculation steps of the ideal principal power under the endocrine-compound PID control are as follows:
the method comprises the following steps: real-time acquisition of sprung mass acceleration by sprung mass acceleration sensor
Figure BDA0002298122550000093
Control strategy according to PID
Figure BDA0002298122550000094
Obtaining the initial ideal control force Fi-1Wherein e (t) is the measured value of the acceleration of the sprung mass
Figure BDA0002298122550000101
The difference from 0; kpIs a proportional gain element coefficient, KiAs integral gain element coefficient, KdIs a differential gain element coefficient;
step two: calculating an endocrine control link according to the initial ideal force obtained by PID control, wherein the endocrine control is divided into primary control and secondary control, the primary control is proportional control, and the PID control outputs Fi-1，Fi-1Acceleration of sprung mass
Figure BDA0002298122550000102
The deviation of (a) is input, the aim is to dynamically eliminate the control deviation, and the first-stage control outputs ideal force ofWherein K1The proportionality coefficient is greater than 0 and is the proportionality coefficient of the first-level controller; output F of two-stage control and one-stage controli-2As input, while controlling the output F in one stagei-2Acceleration of sprung mass
Figure BDA0002298122550000105
The secondary control adopts PID control again to achieve the purpose of feedback regulation to maintain the stability of the control system, and the output of the secondary control is as follows:
Figure BDA0002298122550000104
the output of the final secondary control is used as the final ideal force of the suspension system, the actual control force u is output through the actuator, the endocrine control is compounded on the basis of the traditional PID control, the sprung mass acceleration information is used as feedback to participate in regulation, the control effect of the suspension system is further ensured, and Kp′、Kd′、Ki′The coefficients of the proportional, integral and differential gain links in the two-stage PID control are respectively.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (7)

1. The utility model provides a two linear electric motor present ability formula initiative suspension actuator, includes actuator body and control system, its characterized in that, the actuator body includes actuator shell body (2), base (7), member (10), six looks magnetic linkage linear electric motor and the synchronous linear electric motor of three-phase permanent magnetism, control system includes initiative control system and energy recuperation system.
The three-phase permanent magnet synchronous linear motor comprises a primary permanent magnet (3) of the three-phase permanent magnet synchronous linear motor, a secondary permanent magnet (4) of the three-phase permanent magnet synchronous linear motor, a magnetic isolation material (6) and a secondary protective layer (16), wherein the primary permanent magnet (3) of the three-phase permanent magnet synchronous linear motor is embedded and installed in an actuator outer shell (2), the upper end and the lower end of the primary permanent magnet (3) of the three-phase permanent magnet synchronous linear motor are provided with the magnetic isolation material (6) and are arranged in a staggered mode, the secondary permanent magnet (4) of the three-phase permanent magnet synchronous linear motor is embedded and installed in a base (7), and the secondary protective layer (16) is installed;
six looks flux linkage linear electric motor includes magnetic shield (5), six looks flux linkage linear electric motor secondary (12), permanent magnet (13), armature winding (14), excitation winding (15), magnetic shield (5) are inlayed at base (7) inner wall, six looks flux linkage linear electric motor secondary (12) are arranged near magnetic shield (5), permanent magnet (13) interval arrangement is on member (10) outer wall, armature winding (14) and excitation winding (15) staggered arrangement are on member (10) outer wall.
The welding has lug (1) on actuator shell body (2) for be connected with vehicle spring load mass, lug (9) under the bottom welding of member (10) for be connected with vehicle unsprung mass, the first sealing washer (8) of two linear electric motor present ability formula initiative suspension actuator are arranged between actuator shell body (2) and base (7), the second sealing washer (11) of two linear electric motor present ability formula initiative suspension actuator are arranged between base (7) and member (10).
2. A dual linear motor regenerative active suspension actuator as defined in claim 1, wherein: the number of the secondary permanent magnets (4) of the three-phase permanent magnet synchronous linear motor is 10-12, the primary of the six-phase flux linkage linear motor is 6 poles, and the secondary (12) of the six-phase flux linkage linear motor is 21 poles.
3. A dual linear motor regenerative active suspension actuator as defined in claim 1, wherein: the actuator outer shell (2), the base (7) and the rod piece (10) can move pairwise relatively.
4. A dual linear motor regenerative active suspension actuator as defined in claim 1, wherein: the actuator controller (24) adopts a DSP28335 digital signal processor, the input end of the actuator controller (24) is connected with a sprung mass acceleration sensor (23) for detecting sprung mass acceleration and a super-capacitor voltage sensor (22) for detecting super-capacitor voltage, the output end of the actuator controller (24) is connected with a controllable constant current source circuit (17) for controlling the output current of the three-phase permanent magnet synchronous linear motor, an MOS switch trigger driving module (21) for controlling the super capacitor (20) to charge the storage battery (25) and a six-phase magnetic linkage linear motor for actively controlling the actuator, the controllable constant current source circuit (17), the three-phase permanent magnet synchronous linear motor (18), the rectifying circuit (19), the super capacitor (20), the MOS switch trigger driving module (21), the storage battery (9) inverter circuit and the six-phase flux linkage linear motor (26) are sequentially connected.
5. A dual linear motor regenerative active suspension actuator as defined in claim 1, wherein: the active control system refers to that an actuator controller (24) directly controls a six-phase flux linkage linear motor (26) to output active thrust to damp vibration; the energy recovery system comprises an electromotive force generated by a three-phase permanent magnet synchronous linear motor (18) and stored in a super capacitor (20) through a rectifying circuit (19), a super capacitor voltage sensor (22) transmits a detected voltage signal of the super capacitor (20) to an actuator controller (24), when the voltage of the super capacitor reaches a certain limit value, the actuator controller (24) controls an MOS switch to trigger a driving module (21) to be opened, and the super capacitor (20) charges a storage battery (25).
6. A method of controlling a dual linear motor regenerative active suspension actuator as defined in claim 1, the method comprising the steps of:
firstly, data acquisition and transmission;
secondly, calculating ideal main power under the control of endocrine composite PID;
and thirdly, adjusting the actuator in real time.
7. The method for controlling the actuator of the active suspension with double linear motors fed back according to claim 6, wherein the calculation of the ideal main power under the endocrine hybrid PID control comprises the following steps:
the method comprises the following steps: real-time acquisition of sprung mass acceleration by sprung mass acceleration sensor
Figure FDA0002298122540000031
Control strategy according to PID
Figure FDA0002298122540000032
Obtaining the initial ideal control force Fi-1Wherein e (t) is the measured value of the acceleration of the sprung massThe difference from 0; kpIs a proportional gain element coefficient, KiAs integral gain element coefficient, KdIs a differential gain element coefficient;
step two: calculating an endocrine control link according to the initial ideal force obtained by PID control, wherein the endocrine control is divided into primary control and secondary control, the primary control is proportional control, and the PID control outputs Fi-1，Fi-1Acceleration of sprung mass
Figure FDA0002298122540000034
The deviation of (a) is input, the first-stage control outputs ideal force of
Figure FDA0002298122540000035
Wherein K1The proportionality coefficient is greater than 0 and is the proportionality coefficient of the first-level controller; output F of two-stage control and one-stage controli-2As input, while controlling the output F in one stagei-2Acceleration of sprung mass
Figure FDA0002298122540000036
The secondary control adopts PID control again to achieve the purpose of feedback regulation to maintain the stability of the control system, and the output of the secondary control is as follows:the output of the final secondary control is used as the final ideal force of the suspension system, the actual control force u is output through the actuator, the endocrine control is compounded on the basis of the traditional PID control, and the spring carrier is usedThe magnitude acceleration information participates in the regulation as feedback, Kp′、Kd′、Ki′The coefficients of the proportional, integral and differential gain links in the two-stage PID control are respectively.
CN201911210973.7A 2019-12-02 2019-12-02 Double-linear-motor energy-feedback type active suspension actuator and control method thereof Active CN110744982B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911210973.7A CN110744982B (en) 2019-12-02 2019-12-02 Double-linear-motor energy-feedback type active suspension actuator and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911210973.7A CN110744982B (en) 2019-12-02 2019-12-02 Double-linear-motor energy-feedback type active suspension actuator and control method thereof

Publications (2)

Publication Number Publication Date
CN110744982A true CN110744982A (en) 2020-02-04
CN110744982B CN110744982B (en) 2022-08-02

Family

ID=69285275

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911210973.7A Active CN110744982B (en) 2019-12-02 2019-12-02 Double-linear-motor energy-feedback type active suspension actuator and control method thereof

Country Status (1)

Country Link
CN (1) CN110744982B (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5293969A (en) * 1991-02-14 1994-03-15 Atsugi Unisia Corporation Electromagnetic suspension device
DE10306500A1 (en) * 2003-02-17 2004-08-26 Bayerische Motoren Werke Ag Wheel suspension especially active wheel suspension of vehicle uses electric linear motor that works as permanent excited synchronous motor and whose rotor is built by electrical coils
JP2005254941A (en) * 2004-03-11 2005-09-22 Kayaba Ind Co Ltd Self-diagnosing device of active suspension
CN104044426A (en) * 2014-06-10 2014-09-17 江苏大学 Stiffness-variable electromagnetic energy feedback suspension
CN105584310A (en) * 2016-01-07 2016-05-18 江苏大学 Variable-rigidity semi-active suspension
CN108306571A (en) * 2018-01-11 2018-07-20 江苏大学 A kind of five fault-tolerant Direct Thrust Control Strategies of phase permanent-magnetism linear motor one-phase open circuit
US20190185083A1 (en) * 2016-08-16 2019-06-20 Jiangsu University Damper of semi-active energy regenerative suspension based on hybrid excitation and its size determination method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5293969A (en) * 1991-02-14 1994-03-15 Atsugi Unisia Corporation Electromagnetic suspension device
DE10306500A1 (en) * 2003-02-17 2004-08-26 Bayerische Motoren Werke Ag Wheel suspension especially active wheel suspension of vehicle uses electric linear motor that works as permanent excited synchronous motor and whose rotor is built by electrical coils
JP2005254941A (en) * 2004-03-11 2005-09-22 Kayaba Ind Co Ltd Self-diagnosing device of active suspension
CN104044426A (en) * 2014-06-10 2014-09-17 江苏大学 Stiffness-variable electromagnetic energy feedback suspension
CN105584310A (en) * 2016-01-07 2016-05-18 江苏大学 Variable-rigidity semi-active suspension
US20190185083A1 (en) * 2016-08-16 2019-06-20 Jiangsu University Damper of semi-active energy regenerative suspension based on hybrid excitation and its size determination method
CN108306571A (en) * 2018-01-11 2018-07-20 江苏大学 A kind of five fault-tolerant Direct Thrust Control Strategies of phase permanent-magnetism linear motor one-phase open circuit

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
寇发荣等: "车辆电磁复合馈能悬架控制与馈能研究", 《中国科技论文》 *

Also Published As

Publication number Publication date
CN110744982B (en) 2022-08-02

Similar Documents

Publication Publication Date Title
KR102450051B1 (en) Active suspension with on-demand energy
CN100486824C (en) Energy storage driving pendant in motor
CN208134000U (en) A kind of adjustable energy feedback type vehicle active suspension electromagnetic vibration control device of damping
US20020172060A1 (en) Apparatus for converting vibration energy into electric power
CN110978929A (en) Combined energy-regenerative vehicle semi-active suspension actuator and control method thereof
CN105751847A (en) Control method for multi-mode shock absorber of vehicle
Xu et al. Hydraulic transmission electromagnetic energy-regenerative active suspension and its working principle
CN109795278B (en) Multi-mode coordination switching control method for vehicle hybrid suspension actuator
CN105857003B (en) A kind of improvement capricorn bettle method of feed energy suspension system
CN103847454B (en) A kind of vehicle suspension electromagnetic damping vibration absorber
WO2020232740A1 (en) Two-degree-of-freedom electromagnetic energy feedback suspension based on dual-winding hybrid magnetic circuit linear rotation permanent magnet motor actuator
CN108331878B (en) Series energy feedback type hybrid active suspension actuator and control method thereof
CN103722996A (en) Hydraulic buffer energy recovering system based on electric energy storage element and hydraulic buffer energy recovering control method based on electric energy storage element
CN100375683C (en) Energy feed back type electro magnetic shock attenuation device for vehicle suspension
CN103925324B (en) The dual-tube shock absorber device of a kind of straight line motor and damped series
CN106394157B (en) A kind of control method for coordinating of electromagnetic suspension vibration isolation and energy regenerative
CN110744982B (en) Double-linear-motor energy-feedback type active suspension actuator and control method thereof
TWI313652B (en) Regenerative braking system for restoring renewable energy from electric vehicles and control method thereof
CN201781389U (en) Dual-power hub-type DC motor structure
CN208914919U (en) A kind of suspension system dual feed can control system
JP2016141205A (en) Suspension control device
CN2678939Y (en) Energy feedback type electromagnetic viberation damper for vehicle suspension
Yu et al. A Comprehensive Review of Permanent Magnet Synchronous Linear Motors in automotive electromagnetic suspension system
CN109130758B (en) Suspension system bidirectional energy feedback control system and method
Kou et al. Study on force tracking control of electro-hydraulic active suspension

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
GR01 Patent grant
GR01 Patent grant