CN110750063A - Damping adjusting device and method for mountain bike shock absorber - Google Patents
Damping adjusting device and method for mountain bike shock absorber Download PDFInfo
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Abstract
The invention relates to the technical field of shock absorber damping adjustment, and discloses a damping adjustment device and a method for a mountain bike shock absorber, wherein the device comprises a three-axis acceleration sensor, a controller, an angular displacement sensor and an actuator; the three-axis acceleration sensor is arranged on the mountain bike, the angular displacement sensor is arranged on an adjusting knob of the shock absorber, and the actuator is in transmission connection with a rotating shaft of the adjusting knob; the three-axis acceleration sensor is electrically connected with the controller and is used for detecting the horizontal acceleration and the vertical acceleration of the mountain bike; the angular displacement sensor is electrically connected with the controller and is used for detecting the real-time rotation angle of the adjusting knob; the controller is electrically connected with the actuator and used for sending an angle adjusting value to the actuator according to the horizontal acceleration, the vertical acceleration and the real-time rotating angle, and the actuator is used for adjusting the rotating angle of the adjusting knob according to the angle adjusting value. The invention has the technical effects of automatically adjusting the damping of the shock absorber and having high damping adjustment precision.
Description
Technical Field
The invention relates to the technical field of damping adjustment of shock absorbers, in particular to a damping adjustment device and method of a shock absorber of a mountain bike.
Background
In order to reduce the vibration degree of a frame during riding and enable the mountain bike to run more stably, thereby improving the maneuverability, riding comfort and safety of the mountain bike, a plurality of mountain bikes are provided with shock absorbers on front forks. In different road sections, the working effect of the shock absorber can be adjusted by adjusting the damping of the shock absorber, so that the mountain bike is in the most appropriate working state. However, the damping adjustment of the existing mountain bike shock absorber is realized by manually adjusting a compression damping adjusting knob located on a fork shoulder and a rebound damping adjusting knob located on a fork foot. Manual adjustment of shock absorber damping presents the following problems: the manual adjustment is not easy to control, and particularly for a new person entering a door, the adjustment difficulty is high, the adjustment is not skilled, the adjustment time is long, and the adjustment effect is poor; the damping adjustment needs to be carried out in the riding process, and even a skilled driver cannot necessarily adjust the damping correctly or accurately in the riding process; particularly, when a race or a ride is on a severe road section, a driver needs to concentrate on controlling the bicycle and cannot adjust the bicycle.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a damping adjusting device and a damping adjusting method for a mountain bike shock absorber, and solves the technical problems that the shock absorber in the prior art is high in damping adjusting difficulty, low in accuracy and incapable of being accurately adjusted in a riding process.
In order to achieve the technical purpose, the technical scheme of the invention provides a damping adjusting device of a mountain bike shock absorber, which comprises a three-axis acceleration sensor, a controller, an angular displacement sensor and an actuator, wherein the three-axis acceleration sensor is connected with the controller;
the three-axis acceleration sensor is arranged on the mountain bike, the angular displacement sensor is arranged on an adjusting knob of the shock absorber, and the actuator is in transmission connection with a rotating shaft of the adjusting knob; the three-axis acceleration sensor is electrically connected with the controller and is used for detecting the horizontal acceleration and the vertical acceleration of the mountain bike; the angular displacement sensor is electrically connected with the controller and is used for detecting the real-time rotation angle of the adjusting knob; the controller is electrically connected with the actuator and used for sending an angle adjusting value to the actuator according to the horizontal acceleration, the vertical acceleration and the real-time rotation angle, and the actuator is used for adjusting the rotation angle of the adjusting knob according to the angle adjusting value.
The invention also provides a damping adjustment method of the mountain bike shock absorber, which comprises the following steps:
detecting a horizontal acceleration and a vertical acceleration of the mountain bike;
detecting the real-time rotation angle of an adjusting knob of the shock absorber;
sending an angle adjusting value according to the horizontal acceleration, the vertical acceleration and the real-time rotation angle;
and adjusting the rotation angle of the adjusting knob according to the angle adjusting value.
Compared with the prior art, the invention has the beneficial effects that: the invention firstly realizes the detection of the motion state of the mountain bike through the triaxial acceleration, detects the real-time rotation angle of the adjusting knob through the angular displacement sensor as the adjusted reference angle, the controller judges the angle adjusting value based on the current real-time rotation angle according to the current motion state of the mountain bike, and the actuator adjusts the adjusting knob according to the angle adjusting value, thereby realizing the automatic adjustment of the damping of the shock absorber in the riding process, freeing the two hands of the rider and leading the rider to be capable of riding with great concentration. The horizontal acceleration and the vertical acceleration detected by the triaxial acceleration sensor can objectively and accurately reflect the real-time motion state of the mountain bike, and provide accurate and objective adjusting basis for damping adjustment, so that the damping adjustment precision is improved.
Drawings
FIG. 1 is a circuit configuration diagram of an embodiment of a damping adjustment device of a shock absorber for a mountain bike according to the present invention;
FIG. 2 is a flowchart of an embodiment of a damping adjustment method for a shock absorber of a mountain bike according to the present invention.
Reference numerals:
1. the device comprises a three-axis acceleration sensor 2, a controller 3, an angular displacement sensor 4 and an actuator.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in fig. 1, embodiment 1 of the present invention provides a damping adjustment device for a shock absorber of a mountain bike, which includes a triaxial acceleration sensor 1, a controller 2, an angular displacement sensor 3 and an actuator 4;
the three-axis acceleration sensor 1 is arranged on the mountain bike, the angular displacement sensor 3 is arranged on an adjusting knob of a shock absorber, and the actuator 4 is in transmission connection with a rotating shaft of the adjusting knob; the three-axis acceleration sensor 1 is electrically connected with the controller 2 and is used for detecting the horizontal acceleration and the vertical acceleration of the mountain bike; the angular displacement sensor 3 is electrically connected with the controller 2 and is used for detecting the real-time rotation angle of the adjusting knob; the controller 2 is electrically connected with the actuator 4 and is used for sending an angle adjusting value to the actuator 4 according to the horizontal acceleration, the vertical acceleration and the real-time rotation angle, and the actuator 4 is used for adjusting the rotation angle of the adjusting knob according to the angle adjusting value.
The embodiment of the invention uses a three-axis acceleration sensor 1 to detect the acceleration of the mountain bike in the horizontal direction and the vertical direction, and the acceleration is used as an input signal of a controller 2, the controller 2 judges the current running state of the mountain bike according to the horizontal acceleration and the vertical acceleration, if the mountain bike is in a stable road section, namely the vertical acceleration is small, and the riding speed is stable, namely the horizontal acceleration is small, the damping value of a shock absorber needs to be adjusted to be a small value, the ground grabbing force is reduced, the riding speed is ensured, and the riding damping is reduced; if the mountain bike is in comparatively unsmooth and precipitous highway section, vertical acceleration is great promptly, and the speed of riding is undulant great because the reason that the road conditions is not good, and horizontal acceleration is great promptly, then need adjust the damping value of shock absorber to great value, and the land fertility is grabbed in the increase, guarantees the safety of riding. The above "larger" and "smaller" are relative concepts, and the specific adjustment value can be set according to the actual situation. For example, the corresponding relationship between the horizontal acceleration and the vertical acceleration in different ranges and the standard rotation angle value of the adjusting knob is established, and then the adjusting knob can be adjusted in real time according to the corresponding relationship. The angular displacement sensor 3 is used to detect a real-time rotation angle of the adjustment knob and provide an adjustment reference value for the angle adjustment value of the controller 2, for example, if the real-time rotation angle is smaller than a standard rotation angle value, the rotation angle is increased, and if the real-time rotation angle is larger than the standard rotation angle value, the rotation angle is decreased. The real-time rotation angle detected by the angular displacement sensor 3 simultaneously realizes adjustment feedback for the angle adjustment of the controller 2, and the adjustment is guaranteed to be in place. The controller 2 drives the actuator 4, the actuator 4 rotates to drive the adjusting knob to rotate, so that the real-time rotation angle of the adjusting knob is changed, and the damping of the shock absorber is adjusted.
The invention realizes the automatic adjustment of the shock absorber, does not need to manually adjust the shock absorber in the driving process, and reduces the complexity of the damping adjustment of the shock absorber of the mountain bike, thereby being easier to use. Simultaneously to the damped regulation of shock absorber based on the detection of triaxial acceleration sensor 1 to the mountain bike state of traveling to the realization improves travelling comfort and security when riding to different road conditions automatic adjustment shock absorber damping, makes the driver can be absorbed in accuse car and need not the distraction and adjusts the shock absorber, and the help driver improves the match score.
Preferably, the actuator 4 is a stepping motor.
After the controller 2 outputs the angle adjustment value, the actuator 4 is driven to change the angular displacement of the adjusting knob, so that the damping of the shock absorber can be changed, and the actuator 4 is realized by adopting a stepping motor in the embodiment. The rotation of the stepping motor drives the adjusting knob to rotate, so that the effect of damping adjustment is achieved. The transmission connection between the stepping motor and the adjusting knob can be realized by adopting the prior art, and the control logic of the controller 2 for the stepping motor can also be realized by adopting the prior art, which is not described in detail herein.
Preferably, the triaxial acceleration sensor 1 is electrically connected with the controller 2 sequentially through a low-pass filter circuit, an amplifying circuit and an analog-to-digital conversion circuit.
The low-pass filter circuit is used for filtering and conditioning detection data of the triaxial acceleration sensor 1 to avoid interference of clutter signals to detection results, and the amplifying circuit and the analog-to-digital conversion circuit respectively amplify and convert the detection data so as to facilitate processing of the controller 2. In this embodiment, the triaxial acceleration sensor 1 adopts a DYTRAN 3293A high-sensitivity triaxial acceleration sensor 1, and an amplifying circuit and a low-pass filter circuit are integrated therein, so that it is not necessary to additionally provide a low-pass filter circuit and an amplifying circuit. The controller 2 employs an MCU, i.e. the microcontroller 2, for example, ARM Cortex M4F may be employed. An analog-digital conversion module is integrated in the ARM Cortex M4F, so that an analog-digital conversion circuit is not required to be additionally arranged. In this embodiment, the angular displacement sensor 3 employs an AS5040 contactless magnetic rotary encoder, which outputs digital quantity without analog-to-digital conversion and can accurately measure an angle within 360 °.
Preferably, the number of the adjusting knobs is two, and the two adjusting knobs are respectively a compression damping knob and a rebound damping knob;
the number of the angular displacement sensors 3 is two, the two angular displacement sensors 3 are respectively a compression angular displacement sensor 3 and a rebound angular displacement sensor 3, the compression angular displacement sensors 3 are mounted on the compression damping knob and are used for detecting a real-time compression rotation angle of the compression damping knob, the rebound angular displacement sensors 3 are mounted on the rebound damping knob and are used for detecting a real-time rebound rotation angle of the rebound damping knob, and both the two angular displacement sensors 3 are electrically connected with the controller 2;
the number of the actuators 4 is two, the two actuators 4 are respectively a compression actuator 4 and a rebound actuator 4, the compression actuator 4 is in transmission connection with a rotating shaft of the compression damping knob, the rebound actuator 4 is in transmission connection with a rotating shaft of the rebound damping knob, and both the two actuators 4 are electrically connected with the controller 2; the controller 2 is used for sending a compression angle adjusting value to the compression actuator 4 according to the horizontal acceleration, the vertical acceleration and the real-time compression rotation angle, the compression actuator 4 is used for carrying out compression angle adjustment according to the compression angle adjusting value, the controller 2 is used for sending a rebound angle adjusting value to the rebound actuator 4 according to the horizontal acceleration, the vertical acceleration and the real-time rebound rotation angle, and the rebound actuator 4 is used for carrying out rebound angle adjustment according to the rebound angle adjusting value.
Generally, two adjusting knobs, namely a compression adjusting knob and a rebound adjusting knob, exist on the shock absorber, one of the adjusting knobs can be selected for control, and the two adjusting knobs can also be controlled simultaneously. In this embodiment, two adjusting knobs are controlled simultaneously, the compression adjusting knob is used for adjusting the compression damping of the shock absorber, and the rebound adjusting knob is used for adjusting the rebound damping of the shock absorber, so that more accurate damping adjustment is realized.
The damping adjusting device of the mountain bike shock absorber can realize damping adjustment of shock absorbers of different types of mountain bikes, but the damping adjusting device of the shock absorber can adjust damping in real time in the riding process, so that the shock absorber with smooth and smooth damping adjustment is preferred, and the shock absorber with smooth and smooth damping adjustment is matched with the damping adjusting device of the mountain bike shock absorber, so that a better damping adjusting effect can be achieved, and the riding experience of a user is enhanced.
Specifically, this embodiment provides a preferred shock absorber, and this shock absorber includes compression damping pipe, resilience damping pipe, fork shoulder and steerage tube, and compression damping pipe and resilience damping pipe are connected respectively in the both ends of fork shoulder, and the fork shoulder is connected with the steerage tube, and the steerage tube is used for being connected with the locomotive. The compression damping pipe comprises a compression inner pipe and a compression outer pipe, the compression outer pipe is sleeved on the compression inner pipe, a compression piston is slidably connected in the compression inner pipe, one end of the compression piston is fixed at one end of the compression outer pipe, the compression piston divides the compression damping pipe into two oil chambers, an oil hole is formed in a plug head of the compression piston, a compression adjusting knob is connected with the oil hole and used for adjusting the opening degree of the oil hole and controlling the flowing speed of oil, so that the expansion speed of the compression damping pipe is controlled, and the purpose of controlling the compression damping of the compression damping pipe is achieved. The resilience damping tube comprises a resilience outer tube and a resilience inner tube, the resilience outer tube sleeve is arranged on the resilience inner tube, the top of the resilience inner tube is sealed, the bottom of the resilience inner tube is connected with an air chamber oil seal, the air chamber oil seal is used for preventing gas leakage from influencing resilience effects, the resilience inner tube is connected with a resilience piston in a sliding manner, an air chamber is formed between the resilience inner tube and the resilience piston, the top of the resilience inner tube is provided with an air hole, a resilience adjusting knob is connected with the air hole and used for adjusting the opening degree of the air hole, gas compression is controlled, resilience speed is controlled. The top of resilience inner tube is connected with buffer spring, buffer spring is connected with the rebound piston, realize the automobile body through buffer spring is indirect to the promotion of rebound piston, thereby realize the air chamber compression through buffer spring is indirect, make the air chamber compression become more gentle, extension spring one end fixed connection rebound piston bottom, the other end and rebound inner tube bottom are connected, when the air chamber is compressed, extension spring is in tensile state, make the resilience can be rapider, play the cushioning effect. Utilize extension spring and buffer spring to realize the elastic compression and the resilience of air chamber in this embodiment to make the damped regulation of kick-backing more smooth and gentle, too big fluctuation can not appear, reduce the great vibration among the damping accommodation process, improve the user comfort level of riding. The damping adjusting device of the mountain bike shock absorber provided by the invention has better effect when being matched with the shock absorber.
Example 2
As shown in fig. 2, an embodiment 2 of the present invention provides a damping adjustment method for a mountain bike shock absorber, including the following steps:
s1, detecting the horizontal acceleration and the vertical acceleration of the mountain bike;
s2, detecting the real-time rotation angle of an adjusting knob of the shock absorber;
s3, sending an angle adjusting value according to the horizontal acceleration, the vertical acceleration and the real-time rotation angle;
and S4, adjusting the rotation angle of the adjusting knob according to the angle adjusting value.
The damping adjustment method of the mountain bike shock absorber provided by the embodiment of the invention corresponds to the damping adjustment device of the mountain bike shock absorber, so that the technical effect of the damping adjustment device of the mountain bike shock absorber is the same as that of the damping adjustment method of the mountain bike shock absorber, and the details are not repeated.
Preferably, the sending of the angle adjustment value according to the horizontal acceleration, the vertical acceleration and the real-time rotation angle specifically comprises:
integrating the horizontal acceleration to obtain a horizontal velocity:
integrating the vertical acceleration to obtain a vertical speed, and integrating the vertical speed to obtain a vertical displacement, namely the amplitude of the mountain bike in the vertical direction;
obtaining the extreme value moment of generating the amplitude extreme value, calculating the time difference between two adjacent amplitude extreme values, and calculating the vibration frequency according to the time difference;
calculating an angle adjustment value according to the horizontal speed, the amplitude, the vibration frequency and the initial rotation angle of the adjusting knob:
where ω is an angle adjustment value, f is a vibration frequency, and vxHorizontal velocity, axFor horizontal acceleration, ω0Is an initial rotation angle, C0、C1、C2、C3Are all adjustment coefficients, n0、n1、n2、n3Are all adjustment indexes.
In this embodiment, the controller 2 calculates the angle adjustment value according to the amplitude, the vibration frequency, and the horizontal velocity data. Integrating the continuous acceleration to obtain a speed value at any moment; and integrating the continuous speed values to obtain the displacement value at any moment. Thus, there are:
wherein,vxrepresenting horizontal speed, i.e. speed of the mountain bike while driving; a represents amplitude; v. of0xRepresenting horizontal initial velocity, v0yRepresenting the vertical initial velocity, v0xAnd v0yTypically 0; a isxRepresents horizontal acceleration, ayRepresents vertical acceleration; t is t0Denotes the initial time, t1Representing a real-time instant. By continuously integrating the vertical acceleration, a continuous amplitude-time curve can be obtained. And calculating the time difference between the two adjacent amplitude extreme values to calculate the real-time vibration frequency f of the vehicle body.
The position of the adjusting knob at the maximum damping value is set as 0 point, the adjusting quantity is positive during anticlockwise adjustment, and the adjusting quantity is negative during clockwise adjustment. Each adjustment coefficient and each adjustment index are constants, and each adjustment coefficient and each adjustment index can be set through manual debugging, for example, manual adjustment is performed according to road conditions, an adjustment knob is adjusted to a proper position, and then detection data of the three-axis acceleration sensor 1 and the angular displacement sensor 3 are brought into a formula for adjusting an angle value
And calculating to obtain the values of each adjusting coefficient and each adjusting index, and setting each adjusting coefficient and each adjusting index according to the calculation result to realize the automatic adjustment of the damping.
Preferably, the number of the adjusting knobs is two, and the two adjusting knobs are respectively a compression damping knob and a rebound damping knob;
detecting the real-time rotation angle of an adjusting knob of the shock absorber; sending an angle adjusting value according to the horizontal acceleration, the vertical acceleration and the real-time rotation angle; adjusting the rotation angle of the adjusting knob according to the angle adjustment value specifically comprises:
detecting a real-time compression rotation angle of the compression damping knob and a real-time rebound rotation angle of the rebound damping knob;
sending a compression angle adjusting value according to the horizontal acceleration, the vertical acceleration and the real-time compression rotation angle, and sending a rebound angle adjusting value according to the horizontal acceleration, the vertical acceleration and the real-time rebound rotation angle;
and adjusting the compression angle according to the compression angle adjusting value, and adjusting the rebound angle according to the rebound angle adjusting value.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (7)
1. A damping adjusting device of a mountain bike shock absorber is characterized by comprising a three-axis acceleration sensor, a controller, an angular displacement sensor and an actuator;
the three-axis acceleration sensor is arranged on the mountain bike, the angular displacement sensor is arranged on an adjusting knob of the shock absorber, and the actuator is in transmission connection with a rotating shaft of the adjusting knob; the three-axis acceleration sensor is electrically connected with the controller and is used for detecting the horizontal acceleration and the vertical acceleration of the mountain bike; the angular displacement sensor is electrically connected with the controller and is used for detecting the real-time rotation angle of the adjusting knob; the controller is electrically connected with the actuator and used for sending an angle adjusting value to the actuator according to the horizontal acceleration, the vertical acceleration and the real-time rotation angle, and the actuator is used for adjusting the rotation angle of the adjusting knob according to the angle adjusting value.
2. The mountain bike damper damping adjustment device as claimed in claim 1, wherein the actuator is a stepping motor.
3. The damping adjustment device of a mountain bike shock absorber as claimed in claim 1, wherein the triaxial acceleration sensor is electrically connected to the controller sequentially through a low pass filter circuit, an amplifier circuit and an analog-to-digital conversion circuit.
4. The damping adjustment device of a mountain bike shock absorber as claimed in claim 1, wherein the number of the adjustment knobs is two, and the two adjustment knobs are respectively a compression damping knob and a rebound damping knob;
the number of the angular displacement sensors is two, the two angular displacement sensors are respectively a compression angular displacement sensor and a rebound angular displacement sensor, the compression angular displacement sensors are mounted on the compression damping knob and are used for detecting a real-time compression rotation angle of the compression damping knob, the rebound angular displacement sensors are mounted on the rebound damping knob and are used for detecting a real-time rebound rotation angle of the rebound damping knob, and the two angular displacement sensors are electrically connected with the controller;
the number of the actuators is two, the two actuators are respectively a compression actuator and a rebound actuator, the compression actuator is in transmission connection with a rotating shaft of the compression damping knob, the rebound actuator is in transmission connection with a rotating shaft of the rebound damping knob, and both the actuators are electrically connected with the controller; the controller is used for sending a compression angle adjusting value to the compression actuator according to the horizontal acceleration, the vertical acceleration and the real-time compression rotation angle, the compression actuator is used for carrying out compression angle adjustment according to the compression angle adjusting value, the controller is used for sending a rebound angle adjusting value to the rebound actuator according to the horizontal acceleration, the vertical acceleration and the real-time rebound rotation angle, and the rebound actuator is used for carrying out rebound angle adjustment according to the rebound angle adjusting value.
5. A damping adjusting method of a mountain bike shock absorber is characterized by comprising the following steps:
detecting the horizontal acceleration and the vertical acceleration of the mountain bike;
detecting the real-time rotation angle of an adjusting knob of the shock absorber;
sending an angle adjusting value according to the horizontal acceleration, the vertical acceleration and the real-time rotation angle;
and adjusting the rotation angle of the adjusting knob according to the angle adjusting value.
6. The method for damping adjustment of a mountain bike shock absorber according to claim 5, wherein an angle adjustment value is sent according to the horizontal acceleration, the vertical acceleration and the real-time rotation angle, specifically:
integrating the horizontal acceleration to obtain a horizontal velocity:
integrating the vertical acceleration to obtain a vertical speed, and integrating the vertical speed to obtain a vertical displacement, namely the amplitude of the mountain bike in the vertical direction;
obtaining the extreme value moment of generating the amplitude extreme value, calculating the time difference between two adjacent amplitude extreme values, and calculating the vibration frequency according to the time difference;
calculating an angle adjustment value according to the horizontal speed, the amplitude, the vibration frequency and the initial rotation angle of the adjusting knob:
where ω is an angle adjustment value, f is a vibration frequency, and vxHorizontal velocity, axFor horizontal acceleration, ω0Is an initial rotation angle, C0、C1、C2、C3Are all adjustment coefficients, n0、n1、n2、n3Are all adjustment indexes.
7. The method of claim 5, wherein the number of the adjusting knobs is two, and the two adjusting knobs are respectively a compression damping knob and a rebound damping knob;
detecting the real-time rotation angle of an adjusting knob of the shock absorber; sending an angle adjusting value according to the horizontal acceleration, the vertical acceleration and the real-time rotation angle; adjusting the rotation angle of the adjusting knob according to the angle adjustment value specifically comprises:
detecting a real-time compression rotation angle of the compression damping knob and a real-time rebound rotation angle of the rebound damping knob;
sending a compression angle adjusting value according to the horizontal acceleration, the vertical acceleration and the real-time compression rotation angle, and sending a rebound angle adjusting value according to the horizontal acceleration, the vertical acceleration and the real-time rebound rotation angle;
and adjusting the compression angle according to the compression angle adjusting value, and adjusting the rebound angle according to the rebound angle adjusting value.
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| CN201911032009.XA CN110750063A (en) | 2019-10-28 | 2019-10-28 | Damping adjusting device and method for mountain bike shock absorber |
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