CN112477578B - Piezoelectric-electromagnetic composite energy feedback active suspension and control method thereof - Google Patents
Piezoelectric-electromagnetic composite energy feedback active suspension and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K5/00—Arrangement or mounting of internal-combustion or jet-propulsion units
- B60K5/12—Arrangement of engine supports
- B60K5/1208—Resilient supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K25/00—Auxiliary drives
- B60K25/10—Auxiliary drives directly from oscillating movements due to vehicle running motion, e.g. suspension movement
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K35/00—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit
- H02K35/02—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit with moving magnets and stationary coil systems
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/18—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing electrical output from mechanical input, e.g. generators
- H02N2/183—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing electrical output from mechanical input, e.g. generators using impacting bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K25/00—Auxiliary drives
- B60K25/10—Auxiliary drives directly from oscillating movements due to vehicle running motion, e.g. suspension movement
- B60K2025/103—Auxiliary drives directly from oscillating movements due to vehicle running motion, e.g. suspension movement by electric means
Abstract
The invention discloses a piezoelectric-electromagnetic composite energy feedback active suspension, which comprises: the active hydraulic suspension body and the integrated control loop; the hydraulic suspension body comprises a connecting bolt, a rubber main spring, a metal shell, a metal base, an upper inertia channel body, a lower inertia channel body, a decoupling film, a rubber bottom film, a throttling disc, an electromagnetic actuator, an electromagnetic shielding net and an energy feedback system; the energy feeding system comprises a first piezoelectric energy feeding system, a second piezoelectric energy feeding system and an electromagnetic energy feeding system. The first piezoelectric energy feedback mechanism comprises a compression nut, an upper composite material piezoelectric sheet, a substrate, a lower composite material piezoelectric sheet, a connecting bolt and a protective shell, and is a double-crystal cantilever type piezoelectric energy feedback structure; the second piezoelectric energy feedback mechanism comprises a composite material piezoelectric cylinder and a force transmission pressing block; the electromagnetic energy-feeding mechanism comprises a permanent magnet, a silicon steel sheet, an excitation coil and a sealing top cover. The invention also discloses a control method of the piezoelectric-electromagnetic composite energy feedback active suspension.
Description
Technical Field
The invention relates to the technical field of suspension vibration isolation of an automobile power assembly, in particular to a piezoelectric-electromagnetic composite energy feedback active suspension and a control method thereof.
Background
With the continuous improvement of road traffic environment and the development of cars towards large torque and light weight, the proportion of vibration and noise generated by the engine in the vibration noise of the whole car is greatly increased, and the engine vibration isolation technology is widely concerned. The rubber suspension and the hydraulic suspension can isolate vibration noise of the engine to a certain extent and transmit the vibration noise to the inside of the vehicle, but due to the characteristics of multiple vibration sources, wide frequency band and complex form of the engine, the traditional passive suspension has single rigidity and damping characteristic and cannot meet the vibration isolation requirements of various working conditions. Although the stiffness or damping characteristic of the semi-active suspension can be changed within a certain range, the semi-active suspension is sensitive to system structural parameters, needs strict design requirements and manufacturing process guarantee, is often only used for improving low-frequency vibration isolation performance, and cannot be adapted to complex working conditions. The active suspension can output power with equal amplitude and opposite direction with exciting force to counteract vibration by controlling the motion of the decoupling film, has excellent vibration isolation performance and is applied to high-end cars. However, the active mount needs to output power in real time, which results in large energy consumption and is repulsive to energy saving requirements. The existing energy-saving suspension is limited in energy-saving effect and cannot meet the requirement of active suspension work due to the fact that an energy-saving mechanism is simple and single and the vibration energy conversion rate is low. These drawbacks have limited the development of energy efficient active suspensions. Therefore, it is highly desirable to design an active mount with high energy recovery efficiency.
Disclosure of Invention
In the invention, the vibration energy is converted into electric energy which can be used for the active suspension to work and utilize through two sets of piezoelectric energy feedback mechanisms and one set of electromagnetic energy feedback mechanism, so that the effect of energy saving is achieved.
The invention designs and develops a control method of the piezoelectric-electromagnetic composite energy feedback active suspension, so that the active suspension can respond to the excitation more quickly and accurately, and the active vibration isolation effect is improved.
The technical scheme provided by the invention is as follows:
a piezoelectric-electromagnetic composite energy feedback active suspension, comprising:
the main spring is in a circular truncated cone shape, and a first accommodating cavity is formed in the center of the main spring;
a bimorph-structure disk piezoelectric plate supported on the upper portion of the main spring;
a cylindrical piezoelectric sheet fixed on the inner wall of the first accommodating cavity and forming a second accommodating cavity;
the force transmission pressing block is arranged in the second accommodating cavity in a matching manner;
one end of the connecting bolt sequentially penetrates through the bimorph circular piezoelectric plate and the force transmission pressing block, and the connecting bolt is fixedly connected with the bimorph circular piezoelectric plate;
a throttle plate fixed to one end of the connection bolt;
the annular permanent magnets are uniformly distributed at the end part of the throttle disc in the circumferential direction;
the metal shell is fixed at the bottom of the main spring, a first accommodating groove is formed in the bottom of the metal shell, and a clamping groove is formed in the side wall of the metal shell;
the upper inertia channel body is arranged in the first accommodating groove in a matching mode, and the upper inertia channel body is provided with a middle throttling hole and an inertia channel;
the silicon steel sheet is clamped in the clamping groove in a matching manner;
an excitation coil wound on the silicon steel sheet;
the metal bottom shell is detachably connected with the metal shell, and a second accommodating groove is formed in the top of the metal bottom shell;
the lower inertia channel body is arranged in the second accommodating groove in a matching mode, and the upper inertia channel body is provided with a middle throttling hole and an inertia channel;
a decoupling membrane disposed between the upper and lower inertial channel bodies and within the central orifice;
a bottom film disposed within the metal bottom case;
the electromagnetic actuator is fixedly arranged on the base of the metal bottom shell, and a driver push rod of the electromagnetic actuator is fixedly connected with the decoupling film;
wherein the upper inertia track body, the main spring and the metal housing form an upper liquid chamber, the lower inertia track body and the bottom film form a lower liquid chamber, and viscous liquids are filled in the upper liquid chamber, the lower liquid chamber and the inertia track.
Preferably, the bimorph circular piezoelectric plate includes:
an upper-layer composite piezoelectric sheet stacked by a plurality of layers of piezoelectric composites;
a lower-layer composite piezoelectric sheet stacked by a plurality of layers of piezoelectric composites;
and the metal substrate is clamped and fixed by the upper-layer composite material piezoelectric sheet and the lower-layer composite material piezoelectric sheet.
Preferably, a plurality of rectangular grooves are uniformly distributed in the radial direction of the bimorph circular piezoelectric plate.
Preferably, the method further comprises the following steps: and the carbon fiber electromagnetic shielding net covers the electromagnetic actuator.
A control method of a piezoelectric-electromagnetic composite energy feedback active suspension is characterized in that the piezoelectric-electromagnetic composite energy feedback active suspension is used for control, and the method comprises the following steps:
step one, determining the voltage of a storage battery according to a sampling period;
step two, when the voltage of the storage battery is smaller than a rated value, the electromagnetic actuator does not work; when the voltage of the storage battery reaches a rated value, the electromagnetic actuator works to generate actuating force.
Preferably, in the second step, the determining the actuation power includes:
FO＝BI0L0；
wherein α ═ hm/h1，A＝1-α3+α3β，β＝Em/Ep；
In the formula, FiAs an excitation force at the engine end, FOFor the initial actuation of the electromagnetic actuator, U1Is a first voltage, U2Is a second voltage, hmIs the thickness of the metal substrate, h1Total thickness of the piezoelectric disk sheet of bimorph structure, EmIs the Young's modulus of a metal substrate, EpIs the Young's modulus of the upper or lower composite piezoelectric plate, L is the equivalent length of the upper or lower composite piezoelectric plate, W is the equivalent width of the upper or lower composite piezoelectric plate, g31Piezoelectric voltage constant, epsilon, of composite piezoelectric material in the direction of deformationrIs a relative dielectric constant,. epsilon0Is vacuum dielectric constant, S is the stressed area of the cylindrical composite material piezoelectric sheet, d is the piezoelectric coefficient of the material in the deformation direction, h2Is the thickness of the cylindrical composite piezoelectric material sheet, theta is the included angle between the inclined plane and the vertical plane of the cylindrical composite piezoelectric material sheet, B is the magnetic field intensity, I0For the intensity of the current, L0The total length of the magnet exciting coil;
and when the relative error E is less than 0.1, obtaining the input current updated by the electromagnetic actuator in real time by adopting BP neural network PID control, and further controlling the real-time actuating power of the electromagnetic actuator to carry out active vibration isolation.
Preferably, the obtaining of the input current updated by the electromagnetic actuator in real time by using fuzzy control in the step 3 includes the following steps:
respectively converting the fuzzy quantization quantity of the transmission rate of the engine exciting force to the frame, the fuzzy quantization quantity of the main vibration frequency of the engine and the output current control signal into quantization levels in a fuzzy domain;
inputting the fuzzy quantization quantity of the transmission rate of the engine exciting force to the frame and the fuzzy quantization quantity of the main vibration frequency of the engine into a fuzzy control model, and dividing the fuzzy quantization quantity into 5 grades; the output of the fuzzy control model is the output current control signal which is divided into 5 grades;
the universe of the fuzzy quantization quantity of the transmission rate of the engine exciting force to the frame is [0, 6], and the universe of the fuzzy quantization quantity of the main vibration frequency of the engine is [0, 6 ]; the output current control signal has a discourse domain of [0, 6] and a scale factor of 2.5;
the fuzzy set of fuzzy quantization quantities of the transmission rate of the engine exciting force to the frame is { PZ, PS, PM, PB, PL }, the fuzzy set of fuzzy quantization quantities of the main vibration frequency of the engine is { PZ, PS, PM, PB, PL }, and the fuzzy set of the output current control signal is { PZ, PS, PM, PB, PL }; the membership functions are all trigonometric functions.
Preferably, the transmission rate of the engine exciting force to the vehicle frame is
The main vibration frequency of the engine is
And
the transfer rate of the engine exciting force to the frame is subjected to fuzzy quantitative calculation by the formula
The fuzzy quantization quantity calculation formula for the main vibration frequency of the engine is
Preferably, the step 3 of obtaining the input current updated by the electromagnetic actuator in real time by using the PID control of the BP neural network includes the following steps:
determining the input layer vector of the three-layer BP neural network as x ═ x according to the sampling period1,x2,x3,x4}; wherein x is1＝e(k)-e(k-1)，x2＝e(k)，x3＝e(k)-2e(k-1)+e(k-2)，x4＝I0；e＝Fi-FO；
Mapping the input layer to an implied layer;
obtain the output layer vector o ═ o1,o2,o3}，o1K being a PID controller parameterp，o2K being a PID controller parameteri，o3K being a PID controller parameterd；
And updating the control parameters of the PID controller, receiving the error signal by the PID controller, and calculating to obtain an output current control signal as follows:
Sc(k)＝Sc(k-1)+kP(e(k)-e(k-1))+kIe(k)+kD(e(k)-2e(k-1)+e(k-2))。
preferably, the activation function of the neurons in the output layer is a Sigmoid function,
the activation function of the hidden layer neuron selects a positive-negative symmetrical Simoid function:
compared with the prior art, the invention has the following beneficial effects:
1. according to the piezoelectric-electromagnetic composite energy feedback type active suspension, the energy feedback system is introduced on the basis of the active hydraulic suspension, mechanical energy of suspension vibration can be converted into usable electric energy and stored for the active suspension to work, the defect of high working energy consumption of the active suspension is overcome, and the green and energy-saving effects are achieved;
2. the piezoelectric-electromagnetic composite energy feedback type active suspension is combined with the piezoelectric effect and the electromagnetic induction principle, a piezoelectric-electromagnetic composite energy feedback system is designed, three sets of independent energy feedback subsystems are provided, vibration energy recovery is realized through various ways, and the piezoelectric-electromagnetic composite energy feedback type active suspension has the advantages of parallel connection, real-time performance, high efficiency and high energy recovery power, and can realize self-energy supply work of the active suspension under certain conditions;
3. the piezoelectric-electromagnetic composite energy feedback type active suspension is provided with two sets of piezoelectric energy feedback systems, wherein the first set of piezoelectric energy feedback system adopts a bicrystal cantilever beam type piezoelectric power generation structure, and the total deformation amount of the piezoelectric energy feedback system is greatly improved compared with that of tension-compression deformation due to the introduction of a second piece of piezoelectric crystal and the bending deformation of a piezoelectric material during working, and meanwhile, the second piezoelectric energy feedback system generates power in parallel by utilizing the tension-compression deformation, so that the power generation power is greatly improved;
4. the piezoelectric-electromagnetic composite energy feedback type active suspension has the advantages that a first set of piezoelectric energy feedback system adopts a double-crystal cantilever beam type power generation system, the structure is novel, simple and compact, the arrangement is easy, excessive production cost is not required to be increased, and the practicability is high;
5. the piezoelectric-electromagnetic composite energy feedback type active suspension has the advantages that piezoelectric materials used by a piezoelectric energy feedback system are piezoelectric sheets made of novel composite materials, so that the piezoelectric energy feedback system has better piezoelectric performance and improves energy feedback efficiency;
6. according to the piezoelectric-electromagnetic composite energy feedback type active suspension, the electromagnetic energy feedback system is additionally provided with the permanent magnet, the excitation coil, the silicon steel sheet and the sealing top cover only on the structure of the suspension body, the electromagnetic energy feedback system can be additionally arranged only by slightly changing a common suspension metal shell, the structure is compact, the design is novel, the energy feedback is reliable, and the silicon steel is adopted as a magnetic material, so that the magnetic conductivity is improved, and the electromagnetic induction generating capacity is increased;
7. the piezoelectric-electromagnetic composite energy feedback type active suspension can intelligently control a working mode, an electronic control unit detects the voltage of a storage battery in real time, the storage battery enters the active working mode when the voltage of the storage battery reaches a rated value, and the storage battery enters an energy storage mode, namely a passive working mode when the voltage of the storage battery is insufficient, so that the energy utilization is reasonable, and the regulation and control are fully automatic;
8. the piezoelectric-electromagnetic composite energy feedback type active suspension control algorithm adopts self-adaptive fuzzy PID control, uses fuzzy control to greatly change the actuating force when the deviation is large, has the characteristic of corresponding rapidness, adopts PID algorithm to slightly adjust the actuating force when the deviation is small, has the advantage of accurate control, introduces a BP neural network into the PID algorithm to carry out PID parameter self-setting in addition, enables a PID controller to be constantly adaptive to the current working state, and enables the vibration isolation performance of the active suspension to be more excellent through comprehensive control of various algorithms.
Drawings
Fig. 1 is a schematic structural diagram of a piezoelectric-electromagnetic composite energy feedback active suspension according to the present invention.
Fig. 2 is a schematic diagram of a circular plate structure of a bimorph structure of the first piezoelectric energy feedback system according to the present invention.
FIG. 3 is a schematic diagram of an integrated circuit connection.
FIG. 4 is a flow chart of a control algorithm.
FIG. 5 shows the transmission rate TAA membership function.
FIG. 6 is a membership function for the primary engine resonant frequency ω.
FIG. 7 shows the output current control signal SCA membership function.
FIG. 8 is a diagram of input and output surfaces of the fuzzy control system.
Fig. 9 is a schematic diagram of a BP neural network structure.
FIG. 10 is a Sigmoid function of the activation function of the neurons of the output layer.
FIG. 11 is a Simoid function, the activation function for hidden layer neurons.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
As shown in fig. 1 and fig. 2, the present invention provides a piezoelectric-electromagnetic composite energy feedback active suspension, which includes an active hydraulic suspension body and an integrated control circuit;
the active hydraulic suspension body consists of a connecting bolt 1, a rubber main spring 24, a metal shell 19, a metal base 17, an upper inertia channel body 20, a lower inertia channel body 18, a decoupling film 11, a rubber bottom film 13, a throttling disc 23, an electromagnetic actuator 15, an electromagnetic shielding net 14 and an energy feedback system;
specifically, the rubber main spring 24 is in a truncated cone shape and is connected to the metal shell 19 in a vulcanized manner; the metal shell 19 and the metal base 17 are fixedly connected through bolts, and a sealing gasket is arranged on the connecting surface to ensure the sealing property; the rubber basement membrane 13 is vulcanized on the inner wall of the metal base 17; the upper inertia passage body 20 and the lower inertia passage body 18 are supported and press-fixed in the inner grooves of the metal base 17 and the metal housing 19; the upper inertia channel body 20, the rubber main spring 24 and the metal shell 19 enclose an upper liquid chamber, and the lower inertia channel body 18 and the rubber bottom film 13 form a lower liquid chamber; the upper inertia passage body 20 and the lower inertia passage body 18 are respectively provided with a middle throttle hole and an inertia passage with a circular section, wherein viscous liquid can freely flow between the upper liquid chamber and the lower liquid chamber through the inertia passages; in this embodiment, the viscous liquid may be selected, as a preference, from ethylene glycol; the decoupling film 11 is clamped between the upper inertia channel body 20 and the lower inertia channel body 18 and can move up and down in the throttling hole along with viscous liquid or under the drive of the electromagnetic actuator 15; the throttle disc 23 is arranged in the upper liquid chamber and fixed at the tail part of the connecting bolt 1 by a nut, and is arranged in the upper liquid chamber, and the turbulent flow effect of the throttle disc can be used for reducing the high-frequency dynamic hardening of the suspension; the rubber limit buffer block 21 is fixed at the bottom of the throttle disc 23 and used for limiting and buffering; the electromagnetic actuator 15 is fixed on the metal base 17 through a bolt, meanwhile, a carbon fiber electromagnetic shielding net 14 is covered outside the electromagnetic actuator 15 to block electromagnetic mutual interference, and a lead extends out from the tail end and is connected with an external circuit; in this embodiment, it is preferable that the active hydraulic mount body is connected to the engine and the frame by connecting bolts.
The energy feedback system consists of a first piezoelectric energy feedback system, a second piezoelectric energy feedback system and an electromagnetic energy feedback system; specifically, the first piezoelectric energy feedback system is composed of a compression nut 2, an upper-layer composite material piezoelectric sheet 3, a substrate 4, a lower-layer composite material piezoelectric sheet 5, a connecting bolt 1 and a protective shell 25; the second piezoelectric energy-feedback system consists of a cylindrical composite material piezoelectric sheet 7 and a force transmission block 6; the electromagnetic energy-feeding system consists of a permanent magnet 22, a silicon steel sheet 10, an excitation coil 9 and a sealing top cover 8;
preferably, in this embodiment, the composite piezoelectric sheet is an intelligent piezoelectric fiber composite (MFC), and is formed by blending piezoelectric fibers with rectangular cross-sections and cross electrodes with epoxy polymer, and has the characteristics of high strength, high toughness, flexibility, thin thickness, light weight, high piezoelectric constant and electromechanical coupling coefficient, and the like;
in the first piezoelectric energy feedback system, the upper-layer composite material piezoelectric sheet 3 and the lower-layer composite material piezoelectric sheet 5 are completely the same, are disc-shaped and are formed by stacking a plurality of layers of ultrathin piezoelectric composite materials; the upper layer composite material sheet 3 and the lower layer composite material sheet 5 sandwich the substrate 4, and are tightly bonded with the substrate 4 by conductive adhesive to form a double-crystal structure circular plate; the substrate 4 is a phosphor bronze plate with an oxide layer on the surface thereof ground after heat treatment; sleeving a connecting bolt in a circular hole in a circular plate of a double-crystal structure, and opening grooves with rectangular sections at intervals of 30 degrees of a central angle along the radial direction to form 12 groups of cantilever beams so as to improve the power generation power and reduce the influence of bending rigidity on the rigidity of a hydraulic suspension main spring; the rectangular groove is not opened to the tail end of the double-crystal circular plate completely, and a part of circular surface which is not grooved in area is reserved to increase the bending strength and prolong the fatigue life; the outer end circular surface of the grooved bicrystal structure circular plate is firmly bonded with the protective shell, the inner circumference of the bicrystal structure circular plate, namely 12 groups of cantilever beam suspension ends, is clamped by the connecting bolt 1 and the compression nut 2, so that the bicrystal structure circular plate moves up and down along with the connecting bolt 1 to generate alternating bending deformation, positive charge and negative charge are alternately generated on the surface of the composite material piezoelectric plate, and differential pressure is formed on the upper surface and the lower surface to output alternating current outwards and generate a first voltage signal; the principle is that the piezoelectric material in the double-crystal cantilever beam structure is farthest from the neutral layer, and the material mechanics shows that the change of the piezoelectric material is large, so that more electric energy is output; in this embodiment, it is preferable that the deformation degree of the circular plate of the bimorph structure is adjusted by adjusting the thickness of the connecting bolt base and the fixing position of the force transmission nut so as to adapt to different suspension strokes.
In the second piezoelectric energy feedback system, the cylindrical composite material piezoelectric sheet 7 is formed by stacking a plurality of layers of ultrathin composite material piezoelectric sheets and then bending the stacked piezoelectric sheets to be adhered to the inner circular hole wall of the rubber main spring 24; the outer circle surface of the force transmission pressing block 6 is bonded with the cylindrical composite material piezoelectric sheet 7, the upper end of the force transmission pressing block supports the connecting bolt 1, and the lower end of the force transmission pressing block is fixedly connected with the throttle disc 23 through a nut; when the force transfer pressing block 6 vibrates up and down along with the connecting bolt 1, the force transfer pressing block stretches and compresses the cylindrical composite material piezoelectric sheet 7 to cause the cylindrical composite material piezoelectric sheet 7 to generate alternating positive strain in a direction vertical to the cylinder surface, so that positive charges and negative charges are alternately generated on the surface of the cylindrical composite material piezoelectric sheet 7, and pressure difference is formed between the upper surface and the lower surface to output alternating current outwards and generate a second voltage signal; preferably, in this embodiment, the outer surface of the force-transmitting pressing block 6 is in an inverted truncated cone shape, and the circumference of the upper circular surface is chamfered, wherein the chamfer angle and the size are such that the force-transmitting pressing block 6 does not contact the lower surface of the lower-layer composite material piezoelectric plate 5 when the connecting bolt 1 is located at the upward maximum movable stroke position;
in the electromagnetic energy feedback system, the annular permanent magnet 22 is circumferentially and fixedly arranged on the outer circular surface of the throttle disc 23; the silicon steel sheet 10 is cylindrical, is fixed by a clamping groove on the inner wall of the metal shell 19 and the sealing top cover 8, and forms a closed cavity with the inner wall of the metal shell 19 for guiding, concentrating and strengthening the magnetic field of the permanent magnet; the excitation coil 9 surrounds a cavity formed by the silicon steel sheet 10 and the metal shell 19 to form a closed loop with an external circuit; the sealing top cover 8 is arranged on the top of the metal shell 19 and the silicon steel sheet 10 and is used for fixing the silicon steel sheet 10 and the sealing excitation coil 9; when the engine vibrates, the connecting bolt 1 drives the permanent magnet 22 on the throttle disc 23 to move up and down, the excitation coil 9 is fixed in the metal shell 19 and does not move, the annular permanent magnet 22 and the excitation coil 9 generate relative up and down movement, alternating induced electromotive force and alternating induced current are generated in the excitation coil 9 when the magnetic field intensity changes according to Faraday's law of electromagnetic induction, and alternating current is output outwards; preferably, in the present embodiment, the annular permanent magnet 22 should be as close to the silicon steel sheet 10 as possible to reduce the magnetic gap and reduce the liquid flow resistance by opening the orifice plate 23, if the arrangement space allows.
The integrated control loop consists of a rectifier, a voltage stabilizer, a storage battery, an electronic control unit, a controllable current source and a relay; the input end of the rectifier is respectively connected with the first piezoelectric energy feeding system, the second piezoelectric energy feeding system and the electromagnetic energy feeding system so as to convert the alternating current into direct current capable of charging the storage battery; the voltage stabilizer is connected in series behind the rectifier and converts the instantaneous unstable voltage input by the energy feedback system into stable voltage to charge the storage battery; the storage battery is connected in series with the voltage stabilizer and then is charged by stable voltage, stores the electric energy generated by the energy feedback system and provides energy for the work of the active suspension; the electronic control unit is internally stored with the control algorithm, the input end of the electronic control unit is connected with the engine speed sensor, the energy feedback system piezoelectric sensor, the output feedback sensor and the storage battery voltage sensor, the sensing signal is analyzed and calculated by the electronic control unit to obtain an output signal, and the electronic control unit is connected with the controllable current source and the relay at the output end of the electronic control unit and respectively outputs a current control signal and a relay on-off signal; the controllable current source receives the electric energy supplied by the storage battery and generates required variable amplitude variable frequency current to be supplied to the electromagnetic relay; the input end of the relay is connected with the controllable current source, and the output end of the relay is connected with the electromagnetic actuator to control the on-off of the loop, so that the work of the electromagnetic actuator is controlled. The electromagnetic actuator outputs actuating power outwards through the suspension liquid by controlling the vibration of the decoupling film, and meanwhile, the actuating power is amplified in the transmission process due to the fact that the area of the decoupling film is smaller than the equivalent area of the main spring, and therefore energy consumption is saved.
The invention also provides a control method of the piezoelectric-electromagnetic composite energy feedback type active suspension, which comprises the following steps:
the specific working steps are as follows:
step 3.1, the electronic control unit sends the first voltage signal U1A second voltage signal U2By the formula
Calculating the exciting force F transmitted from the engine endi；
Wherein α ═ hm/h1，hmIs the thickness of the metal substrate, h1The total thickness of the circular plate with the double-crystal structure; a is 1-alpha3+α3β，β＝Em/Ep，EmIs the Young's modulus of a metal substrate, EpThe Young modulus of the upper layer/lower layer composite material piezoelectric plate is obtained; l, W are respectively the equivalent length and the equivalent width of the upper layer/lower layer composite material piezoelectric sheet; g31Is the piezoelectric voltage constant of the composite piezoelectric material in the deformation direction; epsilonrIs a relative dielectric constant,. epsilon0Is a vacuum dielectric constant; s is the stress area of the cylindrical composite piezoelectric sheet; d is the piezoelectric coefficient of the material in the deformation direction; h is2The thickness of the cylindrical composite piezoelectric material sheet; theta is an included angle between the inclined plane of the cylindrical composite piezoelectric sheet and the vertical plane; by the formula FO＝BI0L0Obtaining the output force F of the actuatorO(ii) a Wherein B is the magnetic field strength, I0For the intensity of the current, L0The total length of the exciting coil.
Step 3.2, the electronic control unit passes the formula
Obtaining relative error signal E, and judging relative error by selection moduleWhether the difference signal value E is greater than 0.1;
and 3.3, if the relative error signal value E is greater than 0.1, switching on a fuzzy control algorithm by a selection module:
the electronic control unit is based on formula
And formula
Calculating to obtain the transfer rate T of the engine exciting force to the frameAAnd engine dominant frequency ω; wherein N is the number of engine cylinders; c is the number of strokes of the engine;
the electronic control unit transmits the obtained input quantity, namely the transmission rate T of the engine exciting force to the frameAAnd engine principal vibration frequency omega through a quantization formula
And
fuzzification processing is carried out to obtain a fuzzy quantization quantity MTAAnd MωAll discourse domains on the fuzzy set are [0, 6]](ii) a Output quantity, i.e. output current control signal SC(k) The universe of discourse on the fuzzy set is [0, 6]]The scale factor is
The input and output linguistic variables of the fuzzy controller are respectively { PZ, PS, PM, PB, PL }, wherein PZ is positive zero, PS is positive small, PM is positive middle, PB is positive big, and PL is positive big; selecting triangular membership functions as membership functions of input and output variables; wherein, as an optimization, the fuzzy quantization formula can be adjusted in a small scale according to the actual vehicle model;
based on the obtained blur quantization amount MTAAnd MωComparing the fuzzy lookup tables stored in the controller, performing fuzzy reasoning by using a Mandani minimum-maximum method, and performing defuzzification processing on fuzzy output by using a gravity center methodTo obtain an output current control signal SC(k)；
Fuzzy control table
And 3.4, if the relative error signal value E is less than 0.1, connecting a selection module with a neural network PID algorithm:
the BP neural network module adopts a 4-5-3 structure, and the electronic control unit is F according to a formulai-FO， x1＝e(k)-e(k-1)，x2＝e(k)，x3＝e(k)-2e(k-1)+e(k-2)，x4＝I0Calculating to obtain x1,x2,x3,x4As input to the neural network input layer; the Sigmoid function is selected as the activation function of the neuron in the output layer,
the activation function of the hidden layer neuron selects a positive-negative symmetrical Simoid function:
calculating the weight coefficients of the hidden layer and the output layer according to a BP neural network embedded learning algorithm formula (the same formula is not repeated); wherein the performance index function is selected to be
The inertia coefficient eta is 0.8; the inertia coefficient is alpha is 0.05; the initial weight coefficients are all 1, K is obtained from an output layer after weighted calculation of the neural BP neural networkP、KI、KDA value;
updating the control parameters of the PID controller, the PID controller receiving the error signal, and passing through the formula Sc(k)＝Sc(k-1)+kP(e(k)-e(k-1))+kIe(k)+kD(e (k) -2e (k-1) + e (k-2)) to obtain an output current control signal Sc(k) (ii) a Wherein, KP、KI、KDIs a proportion systemNumber, integral coefficient and differential coefficient;
step 3.5, the electronic control unit inputs the output current control signal into the controllable current source, inputs the relay on-off signal into the relay, the relay is switched on, and the controllable current source controls the current I with the corresponding magnitude at the momentOThe output flows into the electromagnetic actuator through the relay, the electromagnetic actuator is controlled to output corresponding actuating power, the last moment output actuating power is updated to k moment output actuating power, and active vibration isolation is carried out;
the working principle of the piezoelectric-electromagnetic composite energy feedback type active suspension comprises the following steps:
when an automobile is idling or running, the ignition working process of an engine can generate amplitude-variable frequency-variable vibration, a connecting bolt of a piezoelectric-electromagnetic composite energy feedback active suspension device generates vertical vibration along with an engine shell, the connecting bolt drives a bimorph structure plate in a first piezoelectric energy feedback device to generate alternating bending deformation through pulling and pressing movement, so that energy feedback current is generated and stored in a storage battery through a rectifying circuit, meanwhile, the connecting bolt drives a force transmission pressing block to move, so that a cylindrical composite material piezoelectric sheet in a second piezoelectric energy feedback device generates deformation to generate energy feedback current through positive stress vertical to the surface, the current is also stored in the storage battery through a rectifying circuit, when a throttling disc fixedly connected to a tail end rod of the connecting bolt vertically vibrates along with the connecting bolt, a permanent magnet fixed on the periphery of the throttling disc generates a changing magnetic field due to the change of the vertical position, and the magnetic induction can be known according to Faraday's law of electric induction, the exciting coil surrounding the suspended metal shell generates induction current and additional damping, the induction current is stored in the storage battery through the rectifying circuit, and in addition, the additional damping generated by the electromagnetic energy feedback device can also attenuate vibration transmitted from the end of the engine.
The piezoelectric-electromagnetic composite energy feedback type active suspension has two working modes, namely a passive working mode and an active working mode: when the suspension works, the control unit collects a voltage signal of the storage battery, and when the voltage of the storage battery is less than 12V, the suspension is in a passive working mode; will be in active mode when the battery voltage reaches the rated value of 12V;
when the suspension works passively, the suspension is equivalent to a hydraulic suspension; when the suspension is actively operated, the electronic control unit analyzes and processes the obtained engine rotating speed signal, the first voltage signal, the second voltage signal and the output current feedback signal according to a self-adaptive fuzzy-neural network PID control algorithm, calculates to obtain a relay on-off signal and an output current control signal at the moment k, inputs the control current into the electromagnetic actuator to generate corresponding actuating force to counteract the exciting force transmitted from the engine end, thereby achieving the effect of reducing the vibration transfer rate, reducing the influence of the engine vibration on the interior of the vehicle and improving the driving comfort;
the energy feedback system can continuously keep high-efficiency energy feedback no matter in a passive/active working mode, and the effects of energy conservation, emission reduction and vibration energy recycling are achieved.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (10)
1. A piezoelectric-electromagnetic composite energy feedback active suspension is characterized by comprising:
the main spring is in a circular truncated cone shape, and a first accommodating cavity is formed in the center of the main spring;
a bimorph-structure disk piezoelectric plate supported on the upper portion of the main spring;
a cylindrical piezoelectric sheet fixed on the inner wall of the first accommodating cavity and forming a second accommodating cavity;
the force transmission pressing block is arranged in the second accommodating cavity in a matching manner;
one end of the connecting bolt sequentially penetrates through the bimorph circular piezoelectric plate and the force transmission pressing block, and the connecting bolt is fixedly connected with the bimorph circular piezoelectric plate;
a throttle plate fixed to one end of the connection bolt;
the annular permanent magnets are uniformly distributed at the end part of the throttle disc in the circumferential direction;
the metal shell is fixed at the bottom of the main spring, a first accommodating groove is formed in the bottom of the metal shell, and a clamping groove is formed in the side wall of the metal shell;
the upper inertia channel body is arranged in the first accommodating groove in a matching mode, and the upper inertia channel body is provided with a middle throttling hole and an inertia channel;
the silicon steel sheet is clamped in the clamping groove in a matching manner;
an excitation coil wound on the silicon steel sheet;
the metal bottom shell is detachably connected with the metal shell, and a second accommodating groove is formed in the top of the metal bottom shell;
the lower inertia channel body is arranged in the second accommodating groove in a matching mode, and the upper inertia channel body is provided with a middle throttling hole and an inertia channel;
a decoupling membrane disposed between the upper and lower inertial channel bodies and within the central orifice;
a bottom film disposed within the metal bottom case;
the electromagnetic actuator is fixedly arranged on the base of the metal bottom shell, and a driver push rod of the electromagnetic actuator is fixedly connected with the decoupling film;
wherein the upper inertia track body, the main spring and the metal housing form an upper liquid chamber, the lower inertia track body and the bottom film form a lower liquid chamber, and viscous liquids are filled in the upper liquid chamber, the lower liquid chamber and the inertia track.
2. The piezoelectric-electromagnetic composite energy feedback active suspension as claimed in claim 1, wherein the bimorph circular piezoelectric plate comprises:
an upper-layer composite piezoelectric sheet stacked by a plurality of layers of piezoelectric composites;
a lower-layer composite piezoelectric sheet stacked by a plurality of layers of piezoelectric composites;
and the metal substrate is clamped and fixed by the upper-layer composite material piezoelectric sheet and the lower-layer composite material piezoelectric sheet.
3. The piezoelectric-electromagnetic composite energy feedback active suspension as claimed in claim 1 or 2, wherein a plurality of rectangular grooves are uniformly distributed in the radial direction of the bimorph circular piezoelectric plate.
4. The piezo-electric-electromagnetic composite active mount of claim 3, further comprising: and the carbon fiber electromagnetic shielding net covers the electromagnetic actuator.
5. A control method of a piezoelectric-electromagnetic composite energy feedback active suspension, which is characterized in that the piezoelectric-electromagnetic composite energy feedback active suspension as claimed in any one of claims 1-4 is used for control, and comprises the following steps:
step one, determining the voltage of a storage battery according to a sampling period;
step two, when the voltage of the storage battery is smaller than a rated value, the electromagnetic actuator does not work; when the voltage of the storage battery reaches a rated value, the electromagnetic actuator works to generate actuating force.
6. The method for controlling a piezo-electric-electromagnetic hybrid energy-feedback active suspension according to claim 5, wherein in the second step, determining the actuation force comprises:
step 1, after collecting a first voltage generated by the circular plate piezoelectric sheet with the double-crystal structure and a second voltage generated by the cylindrical piezoelectric sheet, determining an excitation force at an engine end and an initial actuating force of the electromagnetic actuator:
FO＝BI0L0；
wherein α ═ hm/h1，A＝1-α3+α3β，β＝Em/Ep；
In the formula, FiAs an excitation force at the engine end, FOFor the initial actuation of the electromagnetic actuator, U1Is a first voltage, U2Is a second voltage, hmIs the thickness of the metal substrate, h1Total thickness of the piezoelectric disk sheet of bimorph structure, EmIs the Young's modulus of a metal substrate, EpIs the Young's modulus of the upper or lower composite piezoelectric plate, L is the equivalent length of the upper or lower composite piezoelectric plate, W is the equivalent width of the upper or lower composite piezoelectric plate, g31Piezoelectric voltage constant, epsilon, of composite piezoelectric material in the direction of deformationrIs a relative dielectric constant,. epsilon0Is vacuum dielectric constant, S is the stressed area of the cylindrical composite material piezoelectric sheet, d is the piezoelectric coefficient of the material in the deformation direction, h2Is the thickness of the cylindrical composite piezoelectric material sheet, theta is the included angle between the inclined plane and the vertical plane of the cylindrical composite piezoelectric material sheet, B is the magnetic field intensity, I0For the intensity of the current, L0The total length of the magnet exciting coil;
step 2, obtaining a relative error E:
step 3, when the relative error E is larger than 0.1, obtaining the input current updated by the electromagnetic actuator in real time by adopting fuzzy control, and further controlling the real-time actuating power of the electromagnetic actuator to carry out active vibration isolation; and
and when the relative error E is less than 0.1, obtaining the input current updated by the electromagnetic actuator in real time by adopting BP neural network PID control, and further controlling the real-time actuating power of the electromagnetic actuator to carry out active vibration isolation.
7. The method for controlling the piezoelectric-electromagnetic composite energy feedback active suspension according to claim 6, wherein the step 3 of obtaining the input current updated by the electromagnetic actuator in real time by using fuzzy control comprises the following steps:
respectively converting the fuzzy quantization quantity of the transmission rate of the engine exciting force to the frame, the fuzzy quantization quantity of the main vibration frequency of the engine and the output current control signal into quantization levels in a fuzzy domain;
inputting the fuzzy quantization quantity of the transmission rate of the engine exciting force to the frame and the fuzzy quantization quantity of the main vibration frequency of the engine into a fuzzy control model, and dividing the fuzzy quantization quantity into 5 grades; the output of the fuzzy control model is the output current control signal which is divided into 5 grades;
the universe of the fuzzy quantization quantity of the transmission rate of the engine exciting force to the frame is [0, 6], and the universe of the fuzzy quantization quantity of the main vibration frequency of the engine is [0, 6 ]; the output current control signal has a discourse domain of [0, 6] and a scale factor of 2.5;
the fuzzy set of fuzzy quantization quantities of the transmission rate of the engine exciting force to the frame is { PZ, PS, PM, PB, PL }, the fuzzy set of fuzzy quantization quantities of the main vibration frequency of the engine is { PZ, PS, PM, PB, PL }, and the fuzzy set of the output current control signal is { PZ, PS, PM, PB, PL }; the membership functions are all trigonometric functions.
8. The method of claim 7, wherein the transmission rate of the engine exciting force to the frame is
The main vibration frequency of the engine is
And
the transfer rate of the engine exciting force to the frame is subjected to fuzzy quantitative calculation by the formula
Carrying out a mode on the main vibration frequency of the engineThe formula for calculating the paste quantification amount is
Wherein the engine speed signal ne(ii) a N is the number of engine cylinders; and C is the number of engine strokes.
9. The method for controlling the piezoelectric-electromagnetic composite energy feedback active suspension according to claim 6, wherein the step 3 of obtaining the input current updated by the electromagnetic actuator in real time by using BP neural network PID control comprises the following steps:
determining the input layer vector of the three-layer BP neural network as x ═ x according to the sampling period1,x2,x3,x4}; wherein x is1＝e(k)-e(k-1)，x2＝e(k)，x3＝e(k)-2e(k-1)+e(k-2)，x4＝I0；e＝Fi-FO；
Mapping the input layer to an implied layer;
obtain the output layer vector o ═ o1,o2,o3}，o1K being a PID controller parameterp，o2K being a PID controller parameteri，o3K being a PID controller parameterd；
And updating the control parameters of the PID controller, receiving the error signal by the PID controller, and calculating to obtain an output current control signal as follows:
Sc(k)＝Sc(k-1)+kP(e(k)-e(k-1))+kIe(k)+kD(e(k)-2e(k-1)+e(k-2))。
10. the piezoelectric-electromagnetic composite energy feedback active suspension control method according to claim 9, wherein the Sigmoid function is selected as the activation function of neurons in the output layer,
the activation function of the hidden layer neuron selects a positive-negative symmetrical Simoid function:
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