CN110789287A - Adjustable additional air chamber air suspension system based on three-dimensional optical scanning and self-adaptive control method thereof - Google Patents
Adjustable additional air chamber air suspension system based on three-dimensional optical scanning and self-adaptive control method thereof Download PDFInfo
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- CN110789287A CN110789287A CN201910948853.0A CN201910948853A CN110789287A CN 110789287 A CN110789287 A CN 110789287A CN 201910948853 A CN201910948853 A CN 201910948853A CN 110789287 A CN110789287 A CN 110789287A
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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
- B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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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
- B60G17/019—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
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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
- B60G17/019—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
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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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
- B60G17/0525—Height adjusting or levelling valves
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- 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
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- 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
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/914—Height Control System
Abstract
The invention discloses an adjustable additional air chamber air suspension system based on three-dimensional optical scanning and an adaptive control method thereof, wherein the adjustable additional air chamber air suspension system comprises an automobile air suspension device, a three-dimensional optical road surface scanning and information processing system, a sensor group, an ECU (electronic control unit) controller and an air spring with adjustable volume; the three-dimensional optical road surface scanning and information processing system is arranged at the head part of the vehicle, acquires the road surface condition and transmits the road surface condition to the ECU controller; the sensor group collects vehicle state information in real time and transmits the vehicle state information to the ECU controller; the ECU controller processes road surface information and sensor group information in real time, and then controls the volume of the air spring in real time through calculation judgment and decision; the volume-adjustable air spring bears the load of a vehicle and adjusts the air volume according to the command of an ECU controller.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to an adjustable additional air chamber air suspension system based on three-dimensional optical scanning and a self-adaptive control method thereof.
Background
The automobile suspension system is a general term for a device which connects an automobile body and an axle and transmits force and moment, and has the main functions of bearing load and relieving impact. With the rapid development of automobile electronic control technology, the automobile suspension changes the situation that the traditional passive automobile suspension parameters cannot be changed once being determined. For example, the air suspension can realize the matching of suspension parameters under different road conditions by combining with an electronic control technology, and the suspension parameters are actively adjusted according to the road surface, so that the riding comfort of the automobile is improved.
Currently, electronically controlled suspension systems are classified as semi-active and fully active in terms of active and passive. The passive suspension mainly adjusts the rigidity of an elastic element or the damping of a shock absorber according to requirements. The full-active suspension as an active control suspension can timely adjust the reaction force of the suspension according to the motion of the automobile and the road condition, so that the automobile is always in the optimal damping state. The active suspension control system specifically comprises road sensing, vehicle body attitude and suspension parameter control. However, the current active suspension does not well realize the prediction of the road surface, detect the information condition of the road surface in advance, pre-set the suspension parameters in advance according to the driving speed and the road surface condition, and actively adjust the suspension parameters when the vehicle is driven to the road section. For example, a three-dimensional camera is selected to shoot the road surface to realize the prediction of the road surface, but the prediction method has obvious defects. Firstly, the road surface condition shot by the stereo camera is a video, the processing amount of the road surface information acquisition amount of the video is relatively large, certain hysteresis exists, and especially under the condition of full-speed operation, the processing of the road surface acquisition information amount to be processed is increased. Secondly, the road surface acquisition camera is high in pixel requirement, and focusing of the stereo camera is also a problem. On the other hand, the camera is easily interfered by the external environment. Particularly, in rainy days, the visibility is low, accumulated water exists on the road, when the vehicle runs through a water area of the road area, the lens is easily polluted by sewage, and the acquisition influence on the road surface condition is very obvious.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art and provides an adjustable additional air chamber air suspension system based on three-dimensional optical scanning and a self-adaptive control method thereof.
The technical scheme is as follows: the invention discloses an adjustable additional air chamber air suspension system based on three-dimensional optical scanning, which comprises an automobile air suspension device, a three-dimensional optical road surface scanning and information processing system, a sensor group, an ECU controller and an air spring with adjustable volume; the three-dimensional optical road surface scanning and information processing system is arranged at the head part of the vehicle, acquires the road surface condition and transmits the road surface condition to the ECU controller; the sensor group collects vehicle state information in real time and transmits the vehicle state information to the ECU controller; the ECU controller processes road surface information and sensor group information in real time, and then controls the volume of the air spring in real time through calculation judgment and decision; the volume-adjustable air spring bears the load of a vehicle and adjusts the air volume according to the command of an ECU controller.
The three-dimensional optical road surface scanning and information processing system comprises a three-dimensional optical scanning device, a point cloud optimization module, a road surface model reverse reconstruction and feature extraction module and a road surface information processing module, wherein the three-dimensional optical scanning device is used for predicting front road information, acquiring road surface model point cloud data, transmitting the acquired road surface point cloud data to the road surface reverse three-dimensional road surface model reconstruction module through the point cloud optimization module, then performing feature extraction on the reconstructed road surface model to further acquire road surface information, then converting and transmitting the extracted road surface information to the road surface information processing module, and the road surface information processing module transmits predicted and sensed road surface signals to an ECU (electronic control unit); the pavement information comprises pavement evenness, pavement damage degree and pavement strength.
Furthermore, the sensor group comprises a steering wheel angle sensor, a vehicle speed sensor, a throttle sensor, a vehicle height sensor and a pressure sensor, wherein the steering wheel angle sensor is arranged on a steering column between a steering column switch and the steering wheel; the vehicle speed sensor is arranged in the automobile driving axle housing; the throttle sensor is arranged on the throttle body; the vehicle height sensor is arranged between the vehicle body of the four wheels and the vehicle axle. The pressure sensor is arranged at the downstream of the suspension gas path opening and closing electromagnetic valve, and each sensor of the sensor group transmits the acquired signal to the ECU controller.
Furthermore, the volume-adjustable air spring comprises an air spring body and an auxiliary air chamber arranged on the air spring body through a connecting pipeline; the auxiliary air chamber comprises an air cylinder, a push rod, a threaded sleeve, a sleeve nut, a worm wheel, a transmission worm, a servo motor and a sliding guide rail; the piston is vertically arranged in the cylinder, one end of the push rod is transversely connected to the piston, and the other end of the push rod is connected with the outer ring of the first roller bearing; the inner ring of the first roller bearing is connected with the front end of the transmission worm, and the rear end of the transmission worm extends out of the cylinder cover and then is connected with the sliding block through the second roller bearing; at the joint of the transmission worm and the cylinder cover, the transmission worm is meshed with the threaded sleeve through threads; the threaded sleeve is fixed on the cylinder cover through a sleeve nut; the input power source is a servo motor which drives a turbine; the sliding block freely slides along the sliding guide rail to counteract the radial force in the worm transmission process;
the push rod and the outer ring of the first roller bearing and the worm and the inner ring of the first roller bearing are connected through interference fit and key connection respectively, and the keys are distributed in a double-key symmetrical 180-degree manner to transmit torque;
the additional air chamber adjusts the variable quantity and is driven by servo motor, promptly: when the ECUECU controller gives a volume adjustment amount delta V; by the formulae (1), (2) and (3)
ΔV＝A×ΔX (2)
ΔX＝n1×S＝n1×P×Z1(3)
The following can be obtained:
finally obtaining the number n of the rotation turns of the servo motor2Determining the pulse number of the servo motor;
wherein A is the area of the piston of the cylinder, and Deltax is the moving distance of the piston rod; s is the helical lead of the worm, P is the axial pitch of the screw, z1Number of screw heads, z2Number of turbine teeth, n1Number of turns of worm, n2The number of revolutions of the turbine.
Furthermore, the ECU controller comprises an upper layer controller and a lower layer controller, wherein the upper layer controller processes the three-dimensional optical road surface scanning and information processing system, and the collected road surface information is transmitted to the lower layer controller; and according to the road information and the sensor group signals, the lower layer controller calculates and judges decisions and generates control instructions, and finally the volume of the volume-adjustable air spring is adjusted in real time.
The invention also discloses a self-adaptive control method of the adjustable additional air chamber air suspension system based on three-dimensional optical scanning, which sequentially comprises the following steps:
(1) establishing a volume-adjustable air suspension vehicle system mathematical model
Based on Lagrange method, a reference model and an actual model of the volume-adjustable air suspension vehicle system are established and are respectively converted into a transfer function form for description, namely
In the formula: n(s) and D(s) are constant coefficient polynomials expressed by a system model transfer function; kmA reference model gain; kpGain for the actual model; s Laplace transform complex variable;
(2) adaptive control law for determining volume-adjustable air suspension vehicle system
Based on a mathematical model of the air suspension vehicle system with adjustable volume, the design idea of a local parameter optimization method is applied to convert the closed-loop adaptive control system model of the air suspension vehicle into a time domain operator form to describe a differential equation set for representation, namely the model is characterized by
In the formula: kcIs an adaptive control law; r (t) is the system input quantity; e (t) the difference between the reference model output and the actual model output;is a time domain operator; t time variable; k, gain of the volume-adjustable actuating mechanism;
(3) stability of closed-loop adaptive control system for investigation volume-adjustable air suspension vehicle
At t ═ t0Step input R (t) with the amplitude value of R is given to the system at the initial moment, and the stability of the system is converted into the stability of output deviation e (t);
obtaining a differential equation of the deviation e (t) by using the differential equation set in the step (2)
An expression, the stability is tested by using the Laus Router stability criterion;
(4) and a control program is prepared
And (3) on the premise of ensuring the stability of the system, compiling the system model in the step (1) and the adaptive control law in the step (2) by applying a computer C language, and downloading the control program into an ECU controller memory after successful compiling and linking.
Has the advantages that: the method comprises the steps of forecasting front road information through a three-dimensional optical road surface scanning and information processing system, obtaining road surface model point cloud data, transmitting the obtained road surface point cloud data to a road surface reverse three-dimensional road surface model reconstruction module through a point cloud optimization module, then extracting characteristics of the reconstructed road surface model to further obtain road surface information, judging road surface conditions, forecasting the front road surface, transmitting a forecasting result to an ECU (electronic control unit) controller, carrying out calculation judgment decision by combining a sensor group signal ECU controller, and transmitting a control instruction to a suspension actuating mechanism, so that the suspension rigidity can adapt to vehicle driving requirements.
The method has the advantages that after the deviation differential equation e (t) is obtained, the roots of the characteristic equations corresponding to the differential equation do not need to be solved, and the zero solution stability of the system can be judged only by judging the signs of the roots, so that the judgment of the system stability is simpler and more practical due to the application of the Laus stability criterion. Meanwhile, the root of the differential equation does not need to be solved, so that the time required for processing the result is reduced, and the corresponding speed of the system is improved.
Drawings
FIG. 1 is a diagram of the overall system of the present invention;
FIG. 2 is a schematic diagram of the adjustable volume air spring of the present invention;
FIG. 3 is a block diagram of an air suspension adaptive closed-loop control system of the present invention;
fig. 4 is a flow chart of the air suspension adaptive ECU controller development in the present invention.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
As shown in fig. 1, the adjustable additional air chamber air suspension system based on three-dimensional optical scanning of the present invention comprises an automotive air suspension device, a three-dimensional optical road surface scanning and information processing system, a sensor group, an ECU controller 8, and a volume adjustable air spring; the three-dimensional optical road surface scanning and information processing system is arranged at the head part of the vehicle, and is used for collecting the road surface condition and transmitting the road surface condition to the ECU controller 8; the sensor group collects vehicle state information in real time and transmits the vehicle state information to the ECU controller 8; the ECU controller 8 processes road surface information and sensor group information in real time, and then controls the volume of the air spring in real time through calculation judgment and decision; the volume-adjustable air spring bears the load of a vehicle and adjusts the air volume according to the instruction of the ECU controller 8.
The three-dimensional optical road surface scanning and information processing system is installed at the front end (such as a front bumper) of an automobile and comprises a three-dimensional optical scanning device 1, a point cloud optimization module 2, a road surface model reverse reconstruction and reconstruction model feature extraction module 3 and a road surface information processing module 4. The three-dimensional optical road surface scanning and information processing system collects road surface conditions in real time, obtains road surface point cloud data, carries out reverse road surface modeling after processing, and provides road surface information for the ECU controller 8.
The sensor group comprises a steering wheel angle sensor 5, a vehicle speed sensor 6, a throttle position sensor 7, a pressure sensor 9 and a vehicle height sensor 14-1, and is used for acquiring vehicle state information in real time; the ECU controller 8 can process road surface information and corresponding sensor information of the sensor group in real time, and then generates a control instruction through calculation judgment and decision to control the volume of the air spring in real time; the adjustable volume air spring carries the vehicle load and can adjust its air volume according to the command of the ECU controller 8.
As shown in FIG. 1, the whole system of the present invention includes two major parts, upper layer prediction and processing, and lower layer control and execution. The upper layer prediction and processing part comprises a three-dimensional optical scanning device 1, a point cloud optimization module 2, a reverse three-dimensional pavement model reconstruction module 3 and a pavement model information processing module 4; the lower control layer comprises an ECU controller 8, an air suspension unit, an air source and an air storage tank switching electromagnetic valve, an air filter and an air dryer are arranged between the air source and the air storage tank, dust in compressed air is removed by the arrangement of the air source and the air storage tank, and the purity of the air in the air storage tank is guaranteed. The air suspension unit comprises an air spring body, a volume-adjustable additional air chamber, a sprung mass, a pressure sensor, a vehicle height sensor air suspension stop valve and a suspension air path opening and closing electromagnetic valve.
The air path part of the system adopts a front-back parallel connection mode, the front air suspension and the back air suspension are arranged in parallel, and two air storage tank opening and closing electromagnetic valves are arranged at the right ends of the air storage tanks, so that the opening and closing of the parallel air paths can be realized.
The air source unit in the lower layer control and execution comprises a motor 19, an air filter 20, an air dryer 18, an air storage tank 17, a first air storage tank on-off solenoid valve 16 and a first air storage tank on-off solenoid valve 21.
The working principle is as follows: the ECU controller 8 sends out an instruction according to the road surface information and the sensor group information, the motor 19 starts to work, air is compressed, the compressed air enters the air filter 20, and dust and other micro particle impurities in the air are removed in the process; the filtered air enters the air dryer 18, in which process the air is dehumidified; the filtered and dried clean air is stored in the air tank 17. The first gas tank on-off solenoid valve 16 and the first gas tank on-off solenoid valve 21 are opened, respectively, and the gas enters the first parallel circuit 1-1 and the second parallel circuit 2-2, respectively.
In the embodiment, a left front air suspension is taken as an example, when the suspension electromagnetic valve 15 receives a signal sent by the ECU controller 8, the suspension electromagnetic valve 15 is opened, gas enters the air spring body 11-1 (namely, the main air chamber of the air spring), the air spring enters an inflation state, the stop valve 13 is opened, the volume of the additional air chamber 12-1 with adjustable volume is reduced, further, the servo motor drives the turbine 13A to rotate anticlockwise, the turbine 13A drives the transmission worm 12A to rotate anticlockwise and is meshed with the threaded sleeve 11A to move to the left, the push rod 6A is further pushed to drive the piston 5A to move to the left, so that the volume of the additional air chamber is reduced, and therefore, the height of. The vehicle height sensor 14-1 detects the height of the vehicle body, when the suspension electromagnetic valve 15 is closed after reaching a proper position, the air storage tank opening and closing electromagnetic valve 16 is closed, the vehicle height adjustment is completed, and the suspension parameter characteristic adjustment is completed. The volume is variable to add additional chambers 12-1 for subsequent compensation.
As shown in fig. 2, the volume-adjustable air spring includes an air spring body 11-1, a stop valve 13, a suspension air passage opening and closing solenoid valve 15, and a volume-adjustable air chamber 12-1 (i.e., an auxiliary air chamber). The volume-adjustable air chamber 12-1 comprises a cylinder 4A, a piston 5A, a push rod 6A, a first roller bearing 7A, a sleeve nut 10A, a threaded sleeve 11A, a cylinder cover 9A, a transmission worm 12A, a turbine 13A, a second roller bearing 14A, a slider 15A and a sliding guide rail 16A.
The volume-adjustable air spring comprises an air spring body and an auxiliary air chamber arranged on the air spring body through a connecting pipeline; the auxiliary air chamber comprises an air cylinder 4A, a push rod, a threaded sleeve, a sleeve nut, a worm wheel, a transmission worm, a servo motor and a sliding guide rail; the piston 5A is vertically arranged in the cylinder 4A, one end of the push rod 6A is transversely connected to the piston 5A, and the other end of the push rod 6A is connected with the outer ring of the first roller bearing 7A; the inner ring of the first roller bearing 7A is connected with the front end of a transmission worm 12A, and the rear end of the transmission worm 12A extends out of a cylinder cover 9A and then is connected with a sliding block 15A through a second roller bearing 14A; at the joint of the transmission worm 12A and the cylinder cover 9A, the transmission worm 12A is in threaded engagement with the threaded sleeve 11A; the threaded sleeve 11A is fixed to the cylinder head 9A by a sleeve nut 10A; the input power source is a servo motor which drives a turbine 13A; the slide block 15A slides freely along the slide guide rail 16A to counteract the radial force of the transmission worm 12A in the transmission process;
the push rod 6A and the outer ring of the first roller bearing 7A as well as the transmission worm 12A and the inner ring of the first roller bearing 7A are connected through interference fit and key connection respectively, and the keys are distributed by adopting double keys for transmitting torque in a 180-degree symmetrical mode.
The air suspension adaptive closed-loop control of the adjustable additional air chamber air suspension system based on three-dimensional light scanning is shown in fig. 3. In the figure, the position of the upper end of the main shaft,
expressed as an air suspension vehicle system model transfer function; kmReferencing model gains for an air suspension vehicle system; kpGain for an actual model of an air suspension vehicle system; s complex variable; an air spring volume adaptive mechanism; r(s) is road surface excitation collected by a sonar system; e(s) the difference between the reference model output and the actual model output.
Adaptive control of the gain K of an air suspension system when the vehicle is subjected to a road disturbance R(s) during its travelpMay vary such that its dynamics deviate from the dynamics of the reference model, KpThe change in (c) is not measurable. To overcome the defect that KpIs controlled by setting an adjustable gain K in the control systemCTo suppress the influence of the change, it is desirable to make KcAnd KpAlways with the gain K of the reference modelmAre consistent with each other. How to design the air spring volume adaptive mechanism to adjust K in real timeCNamely, how to design the adaptive control law of the air spring volume is the problem to be solved next.
As shown in fig. 4, the adaptive control method of the adjustable additional air chamber air suspension system based on three-dimensional optical scanning comprises the following steps:
1) establishing volume-adjustable air suspension vehicle system mathematical model
Based on Lagrange method, a reference model and an actual model of the volume-adjustable air suspension vehicle system are established and further respectively converted into a transfer function form for description, namely
In the formula: n(s) and D(s) are constant coefficient polynomials expressed by a system model transfer function; kmA reference model gain; kpGain for the actual model; s laplace transform complex variables.
2) Determining adaptive control law for variable volume air suspension vehicle systems
Based on the air suspension vehicle system model in the step 1), the design concept of a local parameter optimization method is applied to convert the air suspension vehicle closed-loop adaptive control system model into a time domain operator form to describe a differential equation set for representation, namely the air suspension vehicle closed-loop adaptive control system model is characterized by
In the formula: kcIs an adaptive control law; r (t) is the system input quantity; e (t) the difference between the reference model output and the actual model output;
is a time domain operator; t time variable; k volume adjustable actuator gain.
3) Stability of closed-loop adaptive control system for investigation volume-adjustable air suspension vehicle
To examine the stability of the system, t is the value t0And (3) giving a step input R (t) with the amplitude of R to the system at the initial moment, and converting the stability of the system into the stability of an output deviation e (t).
Obtaining a deviation differential equation by using the differential equation set in the step 2)The stability is tested using the laus (Routh) stability criterion.
4) Programming control program
And (3) on the premise of ensuring the stability of the system, compiling a control program by applying a computer C language to the system model in the step (1) and the adaptive control law in the step (2), and downloading the control program into a memory of an ECU (electronic control unit) controller 8 after the compiling and linking are successful.
Claims (6)
1. An adjustable additional air chamber air suspension system based on three-dimensional optical scanning is characterized in that: the device comprises an automobile air suspension device, a three-dimensional optical road surface scanning and information processing system, a sensor group, an ECU controller and an air spring with adjustable volume; the three-dimensional optical road surface scanning and information processing system is arranged at the head part of the vehicle, acquires the road surface condition and transmits the road surface condition to the ECU controller; the sensor group collects vehicle state information in real time and transmits the vehicle state information to the ECU controller; the ECU controller processes road surface information and sensor group information in real time, and then controls the volume of the air spring in real time through calculation judgment and decision; the volume-adjustable air spring bears the load of a vehicle and adjusts the air volume according to the command of an ECU controller.
2. The adjustable additional plenum air suspension system based on three-dimensional light scanning of claim 1, wherein: the three-dimensional optical road surface scanning and information processing system comprises a three-dimensional optical scanning device, a point cloud optimization module, a road surface model reverse reconstruction and feature extraction module and a road surface information processing module, wherein the three-dimensional optical scanning device is used for predicting front road information, acquiring road surface model point cloud data, transmitting the acquired road surface point cloud data to the road surface reverse three-dimensional road surface model reconstruction module through the point cloud optimization module, then performing feature extraction on the reconstructed road surface model to further acquire road surface information, then converting and transmitting the extracted road surface information to the road surface information processing module, and the road surface information processing module is used for transmitting predicted and sensed road surface signals to an ECU (electronic control unit); the pavement information comprises pavement evenness, pavement damage degree and pavement strength.
3. The adjustable additional plenum air suspension system based on three-dimensional light scanning of claim 1, wherein: the sensor group comprises a steering wheel angle sensor, a vehicle speed sensor, a throttle sensor, a vehicle height sensor and a pressure sensor, wherein the steering wheel angle sensor is arranged on a steering column between a steering column switch and the steering wheel; the vehicle speed sensor is arranged in the automobile driving axle housing; the throttle sensor is arranged on the throttle body; the vehicle height sensor is arranged between the vehicle body of the four wheels and the vehicle axle. The pressure sensor is arranged at the downstream of the suspension gas path opening and closing electromagnetic valve; and the sensor group transmits the acquired signals to the ECU controller.
4. The adjustable additional plenum air suspension system based on three-dimensional light scanning of claim 1, wherein: the volume-adjustable air spring comprises an air spring body and an auxiliary air chamber arranged on the air spring body through a connecting pipeline; the auxiliary air chamber comprises an air cylinder, a push rod, a threaded sleeve, a sleeve nut, a worm wheel, a transmission worm, a servo motor and a sliding guide rail; the piston is vertically arranged in the cylinder, one end of the push rod is transversely connected to the piston, and the other end of the push rod is connected with the outer ring of the first roller bearing; the inner ring of the first roller bearing is connected with the front end of the transmission worm, and the rear end of the transmission worm extends out of the cylinder cover and then is connected with the sliding block through the second roller bearing; at the joint of the transmission worm and the cylinder cover, the transmission worm is meshed with the threaded sleeve through threads; the threaded sleeve is fixed on the cylinder cover through a nut; the input power source is a servo motor which drives a turbine; the sliding block freely slides along the sliding guide rail to counteract the radial force in the worm transmission process;
the push rod and the outer ring of the first roller bearing and the transmission worm and the inner ring of the first roller bearing are connected through interference fit and key connection respectively, and the keys are distributed in a double-key symmetrical 180-degree manner to transmit torque;
the additional air chamber adjusts the variable quantity and is driven by servo motor, promptly: when the ECU controller gives a volume adjustment quantity delta V; by the formulae (1), (2) and (3)
ΔV＝A×ΔX (2)
ΔX＝n1×S＝n1×P×Z1(3)
The following can be obtained:
finally obtaining the number n of the rotation turns of the servo motor2Determining the pulse number of the servo motor;
wherein A is the area of the piston of the cylinder, and Deltax is the moving distance of the piston rod; s is the helical lead of the worm, P is the axial pitch of the screw, z1Number of screw heads, z2Number of turbine teeth, n1Number of turns of worm, n2The number of revolutions of the turbine.
5. The adjustable additional plenum air suspension system based on three-dimensional light scanning of claim 1, wherein: the ECU controller comprises an upper layer controller and a lower layer controller, wherein the upper layer controller processes the three-dimensional optical road surface scanning and information processing system, and collected road surface information is transmitted to the lower layer controller; and according to the road information and the sensor group signals, the lower layer controller calculates and judges decisions and generates control instructions, and finally the volume of the volume-adjustable air spring is adjusted in real time.
6. An adaptive control method of the adjustable additional air chamber air suspension system based on three-dimensional light scanning according to any one of claims 1-5, characterized in that: the method sequentially comprises the following steps:
(1) establishing a volume-adjustable air suspension vehicle system mathematical model
Based on Lagrange method, a reference model and an actual model of the volume-adjustable air suspension vehicle system are established and are respectively converted into a transfer function form for description, namely
In the formula: n(s) and D(s) are constant coefficient polynomials expressed by a system model transfer function; kmA reference model gain; kpGain for the actual model; s Laplace transform complex variable;
(2) adaptive control law for determining volume-adjustable air suspension vehicle system
Based on a mathematical model of the air suspension vehicle system with adjustable volume, the design idea of a local parameter optimization method is applied to convert the closed-loop adaptive control system model of the air suspension vehicle into a time domain operator form to describe a differential equation set for representation, namely the model is characterized by
In the formula: kcIs an adaptive control law; r (t) is the system input quantity; e (t) the difference between the reference model output and the actual model output;
is a time domain operator; t time variable; k, gain of the volume-adjustable actuating mechanism;
(3) stability of closed-loop adaptive control system for investigation volume-adjustable air suspension vehicle
At t ═ t0Step input R (t) with the amplitude value of R is given to the system at the initial moment, and the stability of the system is converted into the stability of output deviation e (t);
obtaining a differential equation of the deviation e (t) by using the differential equation set in the step (2)
An expression, the stability is tested by using the Laus Router stability criterion;
(4) and a control program is prepared
And (3) on the premise of ensuring the stability of the system, compiling the system model in the step (1) and the adaptive control law in the step (2) by applying a computer C language, and downloading the control program into an ECU controller memory after successful compiling and linking.
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