CN112373261A - Height smooth control method for commercial vehicle electric control air suspension - Google Patents
Height smooth control method for commercial vehicle electric control air suspension Download PDFInfo
- Publication number
- CN112373261A CN112373261A CN202011061066.3A CN202011061066A CN112373261A CN 112373261 A CN112373261 A CN 112373261A CN 202011061066 A CN202011061066 A CN 202011061066A CN 112373261 A CN112373261 A CN 112373261A
- Authority
- CN
- China
- Prior art keywords
- height
- vehicle
- duty ratio
- electromagnetic valve
- air suspension
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000000725 suspension Substances 0.000 title claims abstract description 25
- 238000007599 discharging Methods 0.000 claims description 8
- 238000009499 grossing Methods 0.000 abstract description 4
- 230000035939 shock Effects 0.000 abstract description 3
- 230000003068 static effect Effects 0.000 abstract description 3
- 238000011217 control strategy Methods 0.000 abstract description 2
- 230000001276 controlling effect Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 230000010355 oscillation Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a height smooth control method for an electric control air suspension of a commercial vehicle, which is characterized in that when the vehicle speed is zero, the duty ratio of a PWM control signal of an electromagnetic valve is determined by adopting a height tracking PD/PID control mode; when the vehicle speed is greater than zero, determining whether to automatically switch the vehicle target height according to the current target height of the vehicle and a first set condition; and determining whether to perform height stability adjustment according to a second set condition, wherein the height stability adjustment is to determine the duty ratio of a PWM control signal of the electromagnetic valve by adopting a height tracking PD/PID control mode. The invention designs a whole vehicle static and dynamic height smoothing closed-loop tracking control strategy, and controls the duty ratio of the PWM control signal of the electromagnetic valve by adopting different modes such as height tracking PD/PID/dead zone control, height switching control, height stable control and the like according to different running states of the vehicle, thereby solving the problems of vehicle height control such as overcharge, overdischarge and shock and improving the running smoothness and riding comfort of the vehicle.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a height smooth control method for an electric control air suspension of a commercial vehicle.
Background
The electric control air suspension system (ECAS) is composed of an ECU, a height sensor, an electromagnetic valve, an air pressure sensor, a remote controller and the like. The height sensor measures height signals between the chassis and the axle and transmits the height signals to the ECU, the ECU simultaneously receives other signals, such as vehicle speed, braking state, air bag pressure, a remote controller and the like, integrates all input information, and excites corresponding actions of the electromagnetic valve according to control parameters and height control indexes set in the ECU to form a closed-loop control system, so that inflation or deflation of each air bag is realized, and the chassis is adjusted to reach a target height.
The height adjustment is a complex dynamic process, the height smooth control is a remarkable characteristic of ECAS and is also an important index for measuring the performance of an ECAS system, the running smoothness of a vehicle and the riding comfort, the ECAS in the current market does not achieve the expected effect of the height smooth control, and the phenomenon of height control oscillation is mainly reflected in that the vehicle is easy to adjust again after the height overshoot occurs when the vehicle is in no load and then returns to the normal height; when the vehicle is fully loaded, the phenomenon of height imbalance caused by over-deflation is easy to occur. Therefore, a method for controlling the height of the electric control air suspension of the commercial vehicle smoothly is needed to overcome the uncertainty of the ECAS system control.
Disclosure of Invention
The invention aims to solve the defects of the background technology, and provides a high-smoothness control method for an electric control air suspension of a commercial vehicle, which is simple in method and high in reliability, so as to improve the driving smoothness and riding comfort of the vehicle.
The technical scheme adopted by the invention is as follows: a method for controlling height smoothness of an electric control air suspension of a commercial vehicle is characterized in that when the vehicle speed is zero, the duty ratio of a PWM control signal of an electromagnetic valve is determined by adopting a height tracking PD/PID control mode, the pulse length of air charging and discharging of the electromagnetic valve is controlled and adjusted, and the height smoothness control of the electric control air suspension is realized;
when the vehicle speed is greater than zero, whether the vehicle target height is automatically switched or not is determined according to the current target height of the vehicle and a first set condition, whether the height stability adjustment is carried out or not is determined according to a second set condition, the height stability adjustment is realized by determining the duty ratio of a PWM control signal of an electromagnetic valve in a height tracking PD/PID control mode, controlling and adjusting the length of the air charging and discharging pulse of the electromagnetic valve, and realizing the height smooth control of the electric control air suspension.
Further, the height tracking PD/PID control method is: and determining the target height and the actual height of the vehicle according to the vehicle parameters, calculating the absolute value of the difference between the target height and the actual height, and determining the duty ratio of the PWM control signal of the electromagnetic valve according to the absolute value of the difference.
Further, when the absolute value of the difference value is smaller than or equal to a first threshold value, determining the duty ratio D of the PWM control signal of the electromagnetic valve as a first set duty ratio;
when the absolute value of the difference value is larger than a first threshold value and smaller than a second threshold value, determining the duty ratio D of the PWM control signal of the electromagnetic valve as a second set duty ratio by adopting a PID control mode;
when the absolute value of the difference value is larger than or equal to a second threshold value, determining the duty ratio D of the PWM control signal of the electromagnetic valve as a third set duty ratio by adopting a PD control mode;
the first set duty cycle, the second set duty cycle, and the third set duty cycle are sequentially increased.
Further, the first set duty ratio is 0, the second set duty ratio is 25% T or more and D less than 50% T, the third set duty ratio is 50% T or more and D or less than 90% T, and T is a control period of the electromagnetic valve.
Further, when the vehicle speed is greater than zero, if the current target height of the vehicle is height one and meets a first set condition, the target height of the vehicle is automatically switched to height three.
Further, the first set condition is that the vehicle speed is greater than or equal to a set threshold value, and the duration is greater than or equal to a first time threshold value.
Further, if the current target height of the vehicle is height three and the first setting condition is met, the target height of the vehicle is automatically changed to switching height one.
Further, the first set condition is that the vehicle speed is less than or equal to a set threshold value, and the duration is greater than or equal to a first time threshold value.
Further, when the vehicle speed is greater than zero, if a second set condition is met, adjusting the stability of the vehicle height; and if the second set condition is not met, the vehicle height stability is not adjusted.
Further, the second setting condition is: the absolute value of the difference between the target height and the actual height of the vehicle is greater than or equal to a third threshold, and the duration is greater than or equal to a second time threshold.
The invention designs a whole vehicle static and dynamic height smoothing closed-loop tracking control strategy, and controls the duty ratio of the PWM control signal of the electromagnetic valve by adopting different modes such as height tracking PD/PID/dead zone control, height switching control, height stable control and the like according to different running states of the vehicle, thereby solving the problems of vehicle height control such as overcharge, overdischarge and shock and improving the running smoothness and riding comfort of the vehicle.
Drawings
FIG. 1 is a schematic block diagram of an ECAS control system of the present invention.
FIG. 2 is a schematic diagram of the altitude tracking PID control of the present invention.
Fig. 3 is a schematic diagram of the height tracking PD control of the present invention.
Fig. 4 is a schematic diagram of the height switching control of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, it is a block diagram of an ECAS control system, the ECAS is a closed loop control system with feedback, the height smoothing control module is a key control module in the ECAS closed loop control system, receives the target height from the target height decision module and the actual height of the vehicle body detected by the height sensor, and controls the electromagnetic valve to inflate and deflate the air spring through the height smoothing control module, so as to realize the smooth control of the vehicle height.
Based on the ECAS control system, the invention provides a height smooth control method of an electric control air suspension of a commercial vehicle,
when the vehicle speed is zero, determining the duty ratio of a PWM control signal of the electromagnetic valve by adopting a height tracking PD/PID control mode, controlling and adjusting the pulse length of the electromagnetic valve for charging and discharging air to the air spring, and realizing the height smooth control of the electric control air suspension;
when the vehicle speed is greater than zero, whether the vehicle target height is automatically switched or not is determined according to the current target height of the vehicle and a first set condition, whether the height stability adjustment is carried out or not is determined according to a second set condition, the height stability adjustment is realized by determining the duty ratio of a PWM control signal of an electromagnetic valve in a height tracking PD/PID control mode, controlling and adjusting the length of the air charging and discharging pulse of the electromagnetic valve, and realizing the height smooth control of the electric control air suspension.
1. The height tracking PD/PID control mode process comprises the following steps: determining the target height and the actual height of the vehicle according to the vehicle parameters, calculating the absolute value of the difference between the target height and the actual height, and determining the duty ratio of the PWM control signal of the electromagnetic valve according to the absolute value of the difference, which is as follows:
the target height decision module receives the control switch signal, the pressure sensor signal and the remote controller signal, synthesizes the vehicle running state, decides and outputs a target height, the target height consists of 5 targets of height I, height II, height III, height rise and height fall, and the three gears of the height I, the height II and the height III respectively correspond to a vehicle body middle position, a vehicle body high position and a vehicle body low position.
The height sensor detects the height change signal of the vehicle body in real time, and the actual height is output through the height signal detection and processing module.
The height difference D _ val is the target height H _ act — the actual height H _ tgt.
Three controls can be performed according to the height difference:
1) height dead zone control: when the height difference value D _ val approaches | D _ val | ≦ D _ val1 (a first threshold), the difference value falls within the height control dead zone range to stop control, i.e., the duty ratio D of the solenoid valve PWM control signal is 0 at this time. The value D _ val1 is set to 1-4mm, preferably 2mm, by comprehensively considering factors such as controlled object characteristics, bench tests and vehicle test data analysis, i.e. the allowable error range of air spring height tracking control is generally about +/-2 mm, and the value can be adjusted according to actual conditions such as different vehicle types and different controlled object characteristics. The height control dead zone is set to overcome the phenomena of air spring overcharge and overdischarge caused by time lag of an air circuit system, the inertia force of a spring load mass and the damping force of a shock absorber, and the phenomenon of oscillation of the height of a vehicle body near the target height caused by repeated adjustment of an air spring is eliminated.
2) Height PID control: when the height difference value is small, namely D _ val1 < | D _ val | < D _ val2, the first threshold value D _ val1 and the second threshold value D _ val2 are both standard quantities, the sizes of the first threshold value D _ val1 and the second threshold value D _ val2 are related to vehicle load, air pressure and the like, PID control is adopted, integral I control is introduced as shown in FIG. 2, so that static error is eliminated, and control accuracy is improved. And the PID control output is a PWM control signal duty ratio for controlling the pulse length of the electromagnetic valve for inflation and deflation, and controlling the electromagnetic valve to be opened for inflation or controlling the electromagnetic valve to be closed for deflation. Because the height difference value is small, the air flow which needs to flow through the electromagnetic valve is also small, a small duty ratio D is output, the range of the duty ratio D can be more than or equal to 25% T (the value is determined by the response characteristic of the electromagnetic valve) and less than 50% T, T is the control period of the electromagnetic valve, and the actual height is slowly adjusted to the target height.
3) Height PD control: when the height difference value is larger, namely D _ val2 is less than or equal to | D _ val |, the threshold value D _ val2 is a standard quantity, the size of the standard quantity is related to factors such as vehicle load, air pressure and the like, PD control is adopted, and integral I control is cancelled as shown in figure 3, so that the problems that the stability of the system is reduced and the overshoot is increased due to integral action are avoided. The PD control output is the pulse length of the charging and discharging of the control electromagnetic valve, namely the duty ratio of a PWM control signal for controlling the electromagnetic valve to be opened for charging or controlling the electromagnetic valve to be closed for discharging. Because the height difference is large, the air flow required to flow through the electromagnetic valve is also large, in order to quickly respond, a large duty ratio D is output, the range of the duty ratio D can be that D is more than or equal to 50% and less than or equal to 90% and T is the control period of the electromagnetic valve, so that the air spring can be quickly adjusted.
2. Altitude switching control
Considering that the altitude I and the altitude III are automatically switched based on the speed during the running of the vehicle as shown in fig. 4, the speed setting threshold is generally defined as 80km/h ± 5km/h, and the vehicle speeds are appropriately increased or decreased according to different vehicle types, and the software can be set as a calibration quantity. There may be a case where the vehicle speed fluctuates up and down in the vicinity, and if the vehicle speed is not controlled, the height of the vehicle body is repeatedly and automatically switched, so that the driving performance of the vehicle is deteriorated, the service life of the electromagnetic valve is affected, and the gas consumption is increased. In order to solve the problem, a speed threshold value and a time threshold value are added in the automatic switching and adjusting process of the height of the vehicle body, when the vehicle speed fluctuates around the threshold value, the speed threshold value is set to be +/-5 km/h, the duration threshold value is set to be 5s, and the two values can be set as standard quantities. The specific handover criteria are as follows:
when the current target height of the vehicle is at the standard height III, the function of automatically restoring the vehicle body height to the standard height I is triggered only when the vehicle speed is lower than a set threshold value, such as 75k m/h, and the duration time exceeds a first time threshold value, such as 5 s.
When the current target height of the vehicle is at the standard height I, the function of automatically restoring the vehicle body height to the standard height III is triggered only when the vehicle speed is higher than a set threshold value, such as 85k m/h, and the duration time exceeds a first time threshold value, such as 5 s.
3. Highly stable control
When the vehicle is in the standard height and stably runs, the vehicle deviates from the current standard height due to road excitation, spring load mass change and the like, and when the deviation range exceeds the allowable height deviation, the electromagnetic valve is excited to perform vehicle height stability adjustment so as to maintain the vehicle height at the standard height. However, if the control is not performed, the system is frequently adjusted for inflation and deflation, which further affects the service life of the ECAS system and increases the gas consumption, and the repeated adjustment of the vehicle height also affects the riding comfort of the passengers due to the response delay of the pneumatic system. The above-mentioned problem is avoided here by setting reasonable conditions, i.e. the height stability adjustment is only made when the conditions are met. In order to avoid excessive height control, the vehicle height stability adjustment is not performed at the time, considering that the duration of the two operating conditions is generally short and the response delay of the pneumatic system is also caused because the mass transfer causes the vehicle to deviate from the current standard height, and if the height stability adjustment is performed at the time, the height correction is required again when the vehicle returns to the normal driving state.
The conditions for adjusting the height stability of the vehicle body are as follows: d _ val3 ≦ D _ val |, the threshold D _ val3 is a nominal amount, D _ val3 is greater than D _ val1, the duration exceeds a time threshold (60 s may be generally taken), and the time threshold is set to the nominal amount.
The vehicle height stability adjusting process is the process of the height tracking PD/PID control manner, and is not described in detail herein.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. A method for controlling height smoothness of an electric control air suspension of a commercial vehicle is characterized by comprising the following steps:
when the vehicle speed is zero, determining the duty ratio of a PWM control signal of the electromagnetic valve by adopting a height tracking PD/PID control mode, controlling and adjusting the pulse length of the charging and discharging of the electromagnetic valve, and realizing the height smooth control of the electric control air suspension;
when the vehicle speed is greater than zero, whether the vehicle target height is automatically switched or not is determined according to the current target height of the vehicle and a first set condition, whether the height stability adjustment is carried out or not is determined according to a second set condition, the height stability adjustment is realized by adopting a height tracking PD/PID control mode to determine the duty ratio of a PWM control signal of an electromagnetic valve, controlling and adjusting the pulse length of the charging and discharging of the electromagnetic valve, and realizing the height smooth control of the electric control air suspension.
2. The method for controlling the height smoothness of the electric control air suspension of the commercial vehicle according to claim 1, characterized in that: the height tracking PD/PID control mode is as follows: and determining the target height and the actual height of the vehicle according to the vehicle parameters, calculating the absolute value of the difference between the target height and the actual height, and determining the duty ratio of the PWM control signal of the electromagnetic valve according to the absolute value of the difference.
3. The method for controlling the height smoothness of the electric control air suspension of the commercial vehicle according to claim 2, characterized in that: when the absolute value of the difference value is smaller than or equal to a first threshold value, determining the duty ratio D of the PWM control signal of the electromagnetic valve as a first set duty ratio;
when the absolute value of the difference value is larger than a first threshold value and smaller than a second threshold value, determining the duty ratio D of the PWM control signal of the electromagnetic valve as a second set duty ratio by adopting a PID control mode;
when the absolute value of the difference value is larger than or equal to a second threshold value, determining the duty ratio D of the PWM control signal of the electromagnetic valve as a third set duty ratio by adopting a PD control mode;
the first set duty cycle, the second set duty cycle, and the third set duty cycle are sequentially increased.
4. The method for controlling the height smoothness of an electrically controlled air suspension of a commercial vehicle according to claim 3, wherein: the first set duty ratio is 0, the second set duty ratio is more than or equal to 25% T and less than 50% T, the third set duty ratio is more than or equal to 50% T and less than or equal to D and less than or equal to 90% T, and T is the control period of the electromagnetic valve.
5. The method for controlling the height smoothness of the electric control air suspension of the commercial vehicle according to claim 1, characterized in that: when the vehicle speed is greater than zero, if the current target height of the vehicle is height one and meets a first set condition, the target height of the vehicle is automatically switched to height three.
6. The method for controlling the height smoothness of an electrically controlled air suspension of a commercial vehicle according to claim 5, wherein: the first set condition is that the vehicle speed is greater than or equal to a set threshold value, and the duration is greater than or equal to a first time threshold value.
7. The method for controlling the height smoothness of the electric control air suspension of the commercial vehicle according to claim 1, characterized in that: and if the current target height of the vehicle is the height three and the first set condition is met, automatically setting the target height of the vehicle as the switching height one.
8. The method for controlling the height smoothness of an electrically controlled air suspension of a commercial vehicle according to claim 7, wherein: the first set condition is that the vehicle speed is less than or equal to a set threshold value, and the duration is greater than or equal to a first time threshold value.
9. The method for controlling the height smoothness of the electric control air suspension of the commercial vehicle according to claim 1, characterized in that: when the vehicle speed is greater than zero, if a second set condition is met, adjusting the stability of the vehicle body height; and if the second set condition is not met, the vehicle height stability is not adjusted.
10. The method for controlling the height smoothness of an electronically controlled air suspension of a commercial vehicle according to claim 1 or 9, wherein: the second setting condition is as follows: the absolute value of the difference between the target height and the actual height of the vehicle is greater than or equal to a third threshold, and the duration is greater than or equal to a second time threshold.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011061066.3A CN112373261A (en) | 2020-09-30 | 2020-09-30 | Height smooth control method for commercial vehicle electric control air suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011061066.3A CN112373261A (en) | 2020-09-30 | 2020-09-30 | Height smooth control method for commercial vehicle electric control air suspension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112373261A true CN112373261A (en) | 2021-02-19 |
Family
ID=74580982
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011061066.3A Pending CN112373261A (en) | 2020-09-30 | 2020-09-30 | Height smooth control method for commercial vehicle electric control air suspension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112373261A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211927A (en) * | 2022-01-20 | 2022-03-22 | 同济大学 | Electromagnetic valve control method, device and equipment based on air suspension and storage medium |
| CN117360146A (en) * | 2022-06-29 | 2024-01-09 | 比亚迪股份有限公司 | Vehicle height adjusting method and device, electronic equipment and vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1796166A (en) * | 2004-12-28 | 2006-07-05 | 丰田自动车株式会社 | Height controlling apparatus |
| CN103587369A (en) * | 2013-10-17 | 2014-02-19 | 江苏大学 | Multimode switching control method for ride height of electronic-control air suspension |
| CN104960396A (en) * | 2015-07-08 | 2015-10-07 | 吉林大学 | Whole-vehicle height control method based on electric-control air hanging bracket adopting layered structure |
| CN105082920A (en) * | 2015-08-05 | 2015-11-25 | 江苏大学 | Cooperative control system and method for damping-adjustable and vehicle body height-adjustable interconnection air suspension |
| CN106427452A (en) * | 2016-11-09 | 2017-02-22 | 辽宁工业大学 | Load disturbance delaying and aerating and de-aerating coordination control method for electronic control pneumatic suspension |
| CN111422018A (en) * | 2020-04-17 | 2020-07-17 | 东风商用车有限公司 | Self-adaptive air suspension system of commercial vehicle and control method |
-
2020
- 2020-09-30 CN CN202011061066.3A patent/CN112373261A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1796166A (en) * | 2004-12-28 | 2006-07-05 | 丰田自动车株式会社 | Height controlling apparatus |
| CN103587369A (en) * | 2013-10-17 | 2014-02-19 | 江苏大学 | Multimode switching control method for ride height of electronic-control air suspension |
| CN104960396A (en) * | 2015-07-08 | 2015-10-07 | 吉林大学 | Whole-vehicle height control method based on electric-control air hanging bracket adopting layered structure |
| CN105082920A (en) * | 2015-08-05 | 2015-11-25 | 江苏大学 | Cooperative control system and method for damping-adjustable and vehicle body height-adjustable interconnection air suspension |
| CN106427452A (en) * | 2016-11-09 | 2017-02-22 | 辽宁工业大学 | Load disturbance delaying and aerating and de-aerating coordination control method for electronic control pneumatic suspension |
| CN111422018A (en) * | 2020-04-17 | 2020-07-17 | 东风商用车有限公司 | Self-adaptive air suspension system of commercial vehicle and control method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211927A (en) * | 2022-01-20 | 2022-03-22 | 同济大学 | Electromagnetic valve control method, device and equipment based on air suspension and storage medium |
| CN114211927B (en) * | 2022-01-20 | 2024-01-30 | 同济大学 | Electromagnetic valve control method, device, equipment and storage medium based on air suspension |
| CN117360146A (en) * | 2022-06-29 | 2024-01-09 | 比亚迪股份有限公司 | Vehicle height adjusting method and device, electronic equipment and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112373261A (en) | Height smooth control method for commercial vehicle electric control air suspension | |
| US7637517B2 (en) | Vehicle height adjustment system | |
| US5113345A (en) | System for controlling active suspensions of a vehicle | |
| US5144559A (en) | System for controlling active suspensions of a vehicle | |
| US20070284158A1 (en) | Method and system for controlling charge and discharge amounts of a main battery for a hybrid car | |
| US9598126B2 (en) | Automatic auxiliary axle control system | |
| KR101142732B1 (en) | Method for the load-dependent regulation of the air volume in a pneumatic spring system | |
| JPS61287808A (en) | Suspension control device for vehicle | |
| CN111448086B (en) | Method for determining axle load on vehicle and device therefor | |
| JP2006232268A (en) | Air suspension system with supply air restriction valve | |
| CN109649106A (en) | Air suspension height control system and control method | |
| CN104015581A (en) | Method for adjusting and controlling vehicle height of electrical control air suspension | |
| JPS6274703A (en) | Vehicle suspension control device | |
| JP2007533520A (en) | Air suspension system with air shut-off valve | |
| CN112477863B (en) | Vehicle, torque output method and device | |
| CN116176204A (en) | Commercial vehicle electric control air suspension height control method based on self-adaptive fuzzy PID algorithm | |
| CN109353178B (en) | System and method for controlling overall vehicle attitude of electric control air suspension | |
| US20180250999A1 (en) | Suspension system and method for controlling suspension system | |
| CN104553663A (en) | Air suspension system and control method thereof | |
| US11498384B2 (en) | Method and device for operating a pneumatic system with a compressed air supply unit and an air spring unit, pneumatic system comprising a compressed air supply unit and an air spring unit, and vehicle | |
| CN114619824A (en) | Vehicle body control method, control device, electronic device, and storage medium | |
| JPS6082421A (en) | Car-height adjuster | |
| KR100435345B1 (en) | Suspension system for seat of vehicle | |
| CN117360139A (en) | ECAS system vehicle body control method based on fuzzy control | |
| JP2003063228A (en) | Vehicle height adjusting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210219 |