CN112549892A - Secondary vibration reduction electrohydraulic active suspension with adjustable additional rigidity and damping and working method - Google Patents
Secondary vibration reduction electrohydraulic active suspension with adjustable additional rigidity and damping and working method Download PDFInfo
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- CN112549892A CN112549892A CN202011406683.2A CN202011406683A CN112549892A CN 112549892 A CN112549892 A CN 112549892A CN 202011406683 A CN202011406683 A CN 202011406683A CN 112549892 A CN112549892 A CN 112549892A
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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
- B60G17/0152—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 action on a particular type of suspension unit
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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
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/15—Fluid spring
- B60G2202/154—Fluid spring with an accumulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
- B60G2202/414—Fluid actuator using electrohydraulic valves
Abstract
The invention discloses a secondary vibration damping hydraulic-electric active suspension with adjustable additional rigidity and damping in the field of automobile suspensions and a working method thereof, wherein the suspension consists of a primary vibration damping structure consisting of a main power actuator and a spiral spring and a secondary vibration damping structure with adjustable damping rigidity, the main power actuator comprises an actuator hydraulic cylinder, an oil supplementing energy accumulator, a hydraulic pump/motor and a motor/generator, the secondary vibration damping structure comprises a spring hydraulic cylinder, an adjustable throttle valve, a spring energy accumulator, an electromagnetic valve and an air storage tank, the main power actuator is connected with an oil-gas spring in series, the suspension is provided with a primary vibration damping formed by the main power actuator and the spiral spring and a secondary vibration damping formed by the oil-gas spring, the accompanying inertia force of the equivalent inertia mass of the primary vibration damping structure is effectively reduced, and the working states of the adjustable throttle valve and the electromagnetic valve can be conveniently, and the rigidity and the damping of the secondary vibration damping structure are changed.
Description
Technical Field
The invention belongs to the field of automobile suspensions, and relates to an active suspension structure with adjustable rigidity and damping and a working method thereof, which are used for realizing active vibration reduction of an automobile.
Background
The active suspension has great advantages in the aspect of automobile vibration reduction, and can adjust the output force of the active power actuator according to the running condition of an automobile, so that the smoothness and the operation stability of the automobile are considered. At present, the main power actuator comprises a linear motor type, a hydraulic type, a rotating motor type and the like. The linear motor type has the simplest structure and the highest energy conversion efficiency, but has the defect of low continuous output power density. Hydraulic actuators are generally classified into flow rate adjustment type and pressure adjustment type, and require an external power source, so that they are large in size and high in energy consumption. The rotary motor type actuator mainly adopts mechanisms such as a ball screw, a gear rack, a hydraulic oil cylinder (a hydraulic motor or a pump) and the like to realize the conversion of linear and rotary motion, and amplifies the electric control force of the actuator, but also amplifies the equivalent inertia mass of the actuator. In order to relieve the problem that the equivalent inertia mass of a rotating motor type actuator adopting a ball screw is overlarge, a rubber bushing spring is coaxially and serially connected to the lower part of a main power actuator by an active suspension provided in the document with 201810431437.9 and the name of 'an active suspension adopting a rubber spring coaxial with the main power actuator', so that a two-stage vibration reduction rotating motor type active suspension structure scheme is formed.
Disclosure of Invention
The invention aims to solve the problems of the active suspension which is coaxially connected with a rubber bushing spring in series at the lower part of an active power actuator, provides a secondary damping electrohydraulic active suspension with adjustable additional rigidity damping, and simultaneously provides a working method of the active suspension.
The invention relates to a secondary damping electrohydraulic active suspension with adjustable additional rigidity damping, which adopts the technical scheme that: the damping device comprises a primary damping structure and a secondary damping structure, wherein the primary damping structure is composed of a main power actuator and a spiral spring, the secondary damping structure is adjustable in damping rigidity, the main power actuator comprises an actuator hydraulic cylinder, an oil supplementing energy accumulator, a hydraulic pump/motor and a motor/generator, and the secondary damping structure comprises a spring hydraulic cylinder, an adjustable throttle valve, a spring energy accumulator, an electromagnetic valve and an air storage tank; the actuator hydraulic cylinder is vertically arranged and internally provided with a first piston, the first piston divides the inside of the actuator hydraulic cylinder into an upper sealed oil cavity and a lower sealed oil cavity, the upper oil cavity of the actuator hydraulic cylinder is connected with an oil inlet and outlet of a hydraulic pump/motor through a first oil way, the other oil inlet and outlet of the hydraulic pump/motor is connected to the lower oil cavity of the actuator hydraulic cylinder through a second oil way, the second oil way is also connected with an oil supplementing energy accumulator, an input shaft of the hydraulic pump/motor is connected with an output shaft of a motor/generator, the center of the first piston is fixedly connected with the lower end of a first piston rod, the first piston rod vertically extends upwards from the inside of the actuator hydraulic cylinder and is fixedly connected with the lower part of a vehicle body, and a; the lower end of the cylinder body of the actuator hydraulic cylinder is fixedly connected with the upper end of the cylinder body of the spring hydraulic cylinder coaxially, a second piston is arranged inside the spring hydraulic cylinder, the second piston divides the inside of the spring hydraulic cylinder into an upper oil cavity and a lower air cavity which are sealed, the center of the second piston is fixedly connected with the upper end of a second piston rod, the second piston rod vertically extends outwards from the inside of the spring hydraulic cylinder downwards to fix a wheel, the upper oil cavity of the spring hydraulic cylinder is connected with a lower oil cavity of a spring energy accumulator through an oil circuit and an adjustable throttle valve, an upper air cavity of the spring energy accumulator is connected with an air storage tank through an electromagnetic valve through an air circuit.
The working method of the secondary vibration reduction electrohydraulic active suspension with adjustable additional rigidity and damping adopts the technical scheme that the working method comprises the following steps of:
step A: when the automobile load is more than or equal to half of the set full-load mass, the electromagnetic valve is closed, the adjustable throttle valve is in a set large-circulation opening state, the automobile vibrates upwards after running, hydraulic oil in an upper oil cavity in the compression spring hydraulic cylinder flows into a lower oil cavity of the spring energy accumulator through the adjustable throttle valve, gas in an upper air cavity of the spring energy accumulator is compressed, meanwhile, the hydraulic oil in the spring hydraulic cylinder pushes a spring hydraulic cylinder body and an actuator hydraulic cylinder body upwards, the coil spring transmits the motion to an automobile body, meanwhile, a first piston rod pushes a first piston downwards, the hydraulic oil in a lower oil cavity of the actuator hydraulic cylinder flows to the upper oil cavity of the actuator hydraulic cylinder, and enters the oil supplementing energy accumulator for;
and B: when the automobile load is more than or equal to half of the set full-load mass, the electromagnetic valve is closed, the adjustable throttle valve is in a set large-circulation opening state, after the automobile runs and wheels of the automobile face downwards, the volume of an upper oil cavity of the spring hydraulic cylinder is increased, a part of hydraulic oil in the lower oil cavity of the spring energy accumulator flows into the upper oil cavity of the spring hydraulic cylinder, a cylinder body of the spring hydraulic cylinder and a cylinder body of the actuator hydraulic cylinder move downwards to drive an automobile body to move downwards, and meanwhile, the hydraulic oil in the upper oil cavity of the actuator hydraulic cylinder is compressed to flow to;
and C: when the automobile load is less than half of the set full-load mass, the electromagnetic valve is switched on, the adjustable throttle valve is in a set small-flow-through opening state, and after the automobile runs, when the volume of an oil cavity on the spring hydraulic cylinder is changed, the pressure change of an air cavity on the spring energy accumulator is reduced.
After the technical scheme is adopted, the invention has the beneficial effects that:
1. the hydro-pneumatic spring is not only used as an additional damping mechanism, but also has a connection function, so when the main power actuator is connected with the hydro-pneumatic spring in series, the suspension is provided with a first-stage damping formed by the main power actuator and the spiral spring, and a second-stage damping formed by the hydro-pneumatic spring, and the accompanying inertia force of the equivalent inertia mass of the first-stage damping structure can be effectively reduced.
2. Compared with the secondary damping active suspension proposed in the patent application No. 201810431437.9, the hydro-pneumatic spring type secondary damping structure of the present invention does not need to consider the safety compression limit of the conventional coil spring or rubber spring, thereby reducing the size of the secondary damping structure installed between the vehicle body and the wheel.
3. The invention can conveniently adjust the working states of the adjustable throttle valve and the electromagnetic valve according to the load state of the automobile, thereby changing the structural rigidity and damping of secondary vibration reduction, having better vibration reduction function for the loading working condition of the automobile and improving the adaptability of the automobile.
Drawings
FIG. 1 is a schematic structural diagram of a secondary damping electrohydraulic active suspension with adjustable additional stiffness damping according to the present invention;
in the figure: 1. a vehicle body; 2. a coil spring; 3. a first oil passage; 4. a hydraulic pump/motor; 5. a motor/generator; 6. a second oil passage; 7. an oil-supplementing accumulator; 8. a spring hydraulic cylinder; 9. a vent; 10. a wheel; 11. a second piston rod; 12. a second piston; 13. an adjustable throttle valve; 14. a spring accumulator; 15. a gas storage tank; 16. an electromagnetic valve; 17. an actuator hydraulic cylinder; 18. a first piston; 19. a first piston rod; 20. a coil spring.
Detailed Description
As shown in fig. 1, the orientations that specify the present invention are: the wheels 10 are "below" and the body 1 is "above".
The secondary damping hydraulic-electric type active suspension with adjustable additional rigidity and damping is arranged between a wheel 10 and a vehicle body 1 above the wheel and consists of a primary damping structure consisting of a main power actuator and a spiral spring 20 and a secondary damping structure with adjustable damping rigidity, wherein the main power actuator comprises an actuator hydraulic cylinder 17, an oil supplementing energy accumulator 7, a hydraulic pump/motor 4 and a motor/generator 5; the secondary damping structure comprises a spring hydraulic cylinder 8, an adjustable throttle 13, a spring accumulator 14, an electromagnetic valve 16 and an air storage tank 15.
The actuator hydraulic cylinder 17 is vertically arranged, and a first piston 18 is arranged in the actuator hydraulic cylinder, and is divided into an upper sealed oil chamber and a lower sealed oil chamber by the first piston 18, and hydraulic oil is filled in the oil chambers. The first piston 18 is movable up and down within the actuator cylinder 17. The upper oil cavity of the actuator hydraulic cylinder 17 is connected to an oil inlet and outlet of the hydraulic pump/motor 4 through the first oil path 3, the other oil inlet and outlet of the hydraulic pump/motor 4 is connected to the lower oil cavity of the actuator hydraulic cylinder 17 through the second oil path 6, the second oil path 6 is additionally connected with an oil supplementing accumulator 7, and the input shaft of the hydraulic pump/motor 4 is connected with the output shaft of the motor/generator 5 through a coupler. The hydraulic pump/motor 4, the electric motor/generator 5 and the oil charge accumulator 7 are all located on the outside side of the actuator cylinder 17. The center of the first piston 18 is fixedly connected with the lower end of a first piston rod 19, and the first piston rod 19 vertically extends upwards from the inside of the actuator cylinder 17 to the outside of the actuator cylinder 17, extends to the vehicle body 1 and is fixedly connected with the lower part of the vehicle body 1. A coil spring 20 is coaxially sleeved outside the first piston rod 19 between the vehicle body 1 and the actuator cylinder 17. The upper end and the lower end of the spiral spring 20 are respectively connected with a spring mounting seat 2, the upper spring mounting seat 2 is sleeved outside the first piston rod 19 and fixedly connected and mounted at the lower part of the vehicle body 1, and the lower spring mounting seat 2 is fixedly connected to the upper end face of the cylinder body of the actuator hydraulic cylinder 17. The first piston 18, the coil spring 20, the first piston rod 19 and the actuator cylinder 17 have the same central axis therebetween.
The lower end of the cylinder body of the actuator hydraulic cylinder 17 is fixedly connected with the upper end of the cylinder body of the spring hydraulic cylinder 8, the lower end face of the cylinder body of the actuator hydraulic cylinder 17 and the upper end face of the cylinder body of the spring hydraulic cylinder 8 are coaxially and fixedly connected, and the lower end face of the cylinder body of the actuator hydraulic cylinder 17 and the upper end face of the cylinder body of the spring.
The inside of spring hydraulic cylinder 8 is equipped with second piston 12, and spring hydraulic cylinder 8 is divided into two sealed cavities of upper oil pocket and lower gas pocket by second piston 12, and the intracavity is hydraulic oil on the upper oil pocket, and the intracavity is gaseous down. The second piston 12 can move up and down along the spring cylinder 8. The center of the second piston 12 is fixedly connected with the upper end of a second piston rod 11, the second piston rod 11 vertically extends downwards from the inside of the spring hydraulic cylinder 8 outwards to fix the center of the wheel 10, and the wheel 10 rolls on the ground. The upper oil chamber of the spring hydraulic cylinder 8 is connected to the lower oil chamber of the spring accumulator 14 through an oil passage via an adjustable throttle valve 13, and the upper air chamber of the spring accumulator 14 is connected to an air storage tank 15 through an air passage via an electromagnetic valve 16. Meanwhile, a vent 9 is arranged on the side wall of the lower air cavity of the spring hydraulic cylinder 8 and is communicated with the external atmosphere through the vent 9.
The electromagnetic valve 16 is a two-position two-way electromagnetic valve, the hydraulic pump/motor 4 adopts a bidirectional gear pump, the rotor shaft of the electric motor/generator 5 is connected with the driving shaft of the hydraulic pump/motor 4, the electric motor/generator 5 adopts a permanent magnet synchronous motor, and the winding of the electric motor/generator 5 is connected with a power electronic system. The vertical height of the spring hydraulic cylinder 8 is half of the vertical height of the actuator hydraulic cylinder 17.
The oil supplementing accumulator 7 and the spring accumulator 14 are bag type accumulators, gas and oil are isolated by air bags, and inert gas with certain pressure, such as nitrogen, is filled in the air bags. The upper part of the spring energy accumulator 14 is an air cavity which is connected with an electromagnetic valve 16 through an air port, and the lower part is an oil chamber which is communicated with an upper oil cavity of the spring hydraulic cylinder 8 through an adjustable throttle valve 13. The other port of the solenoid valve 16 is connected to the air reservoir 15, and the spring accumulator 14 is arranged alongside the air reservoir 15.
The primary vibration damping structure consisting of the main power actuator and the spiral spring 20 is connected below the vehicle body 1; the spring hydraulic cylinder 8, the adjustable throttle 13, the spring energy accumulator 14, the electromagnetic valve 16, the air storage tank 15 and relevant connecting oil ways form an oil-gas spring with adjustable rigidity and damping, and a secondary damping structure is formed and connected above the wheel 10 and below the primary damping structure.
When the automobile is in operation, when the automobile load is more than or equal to half of the set full-load mass, the electromagnetic valve 16 is controlled to be in a closed state, the throttle valve 13 can be adjusted to be in a set opening state with large circulation, at this time, if the automobile is stationary, the automobile body 10 is supported on the cylinder body of the actuator hydraulic cylinder 17 in the vertical direction through the spiral spring 20, the cylinder body of the spring hydraulic cylinder 8 is fixedly connected with the cylinder body of the actuator hydraulic cylinder 17 coaxially through the hydraulic oil in the spring hydraulic cylinder 8, the second piston 12 and the second piston rod 11, and is supported on the wheel 10 on the road surface, no hydraulic oil flows in the actuator working oil path formed by the upper oil chamber of the actuator hydraulic cylinder 17, the first oil path 3, the hydraulic pump/motor 4, the second oil path 6, the oil-supplementing accumulator 7 and the lower oil chamber of the actuator hydraulic cylinder 17, so that the first piston 18 is, The hydraulic oil pressure of a secondary damping working oil path formed by the adjustable throttle valve 13, the lower oil chamber of the spring energy accumulator 14 and the related oil path is balanced with the gas pressure in the upper gas chamber of the spring energy accumulator 14, so that no hydraulic oil flows in the secondary damping working oil path, and the gas pressures in the spring hydraulic cylinder 8 and the gas chamber of the spring energy accumulator 14 are the same.
When the automobile load is more than or equal to a set half of the full-load mass, the electromagnetic valve 16 is closed, and the adjustable throttle valve 13 is in a large-flow opening state. At this time, when the automobile is running, the wheel 10 vibrates due to the uneven road surface, and this vibration is transmitted to the vehicle body 1 via the second piston rod 11, the second piston 12, the hydraulic oil in the spring cylinder 8, the cylinder body of the actuator cylinder 17, the coil spring 20, the first piston 18, and the first piston rod 19.
At the moment that the wheels 10 start to vibrate upwards when the automobile runs, the automobile body 1 cannot move in time, the wheels 10 move upwards to drive the second piston rods 11 and the second pistons 12 to move upwards, hydraulic oil in the upper oil cavities in the spring hydraulic cylinders 8 is compressed through the second piston rods 11 and the second pistons 12, and a part of hydraulic oil in the spring hydraulic cylinders 8 flows into the lower oil cavities of the spring energy accumulators 14 through the adjustable throttle valves 13 to drive gas in the upper air cavities of the spring energy accumulators 14 to be compressed and the pressure of the gas to rise; meanwhile, the hydraulic oil pressure in the spring hydraulic cylinder 8 which is synchronously increased with the gas pressure in the gas cavity on the spring energy accumulator 14 breaks the balance of the whole suspension system, pushes the cylinder body of the spring hydraulic cylinder 8 and the cylinder body of the actuator hydraulic cylinder 17 upwards, this is in contrast to a hydro-electric active suspension with only a primary damping structure that directly connects the wheel 10 to the cylinder of the actuator cylinder 17 without secondary damping, because the hydraulic oil in the spring hydraulic cylinder 8 flows to the spring energy accumulator 14 through the regulating valve 13, the vibration input including displacement, speed and acceleration, which is input to the cylinder body of the actuator hydraulic cylinder 17 by the wheel 10, is attenuated, the inertial force accompanying the equivalent inertial mass of the main power actuator, which is generated by the rotating parts of the motor/generator 5 and the hydraulic pump/motor 4, is reduced, and the effect of reducing the required control force of the main power actuator is achieved. The cylinder body of the actuator hydraulic cylinder 17 moves upwards, the spiral spring 20 compresses upwards, the compressed spiral spring 20 transfers the motion to the vehicle body 1, meanwhile, the first piston rod 19 pushes the first piston 18 downwards, so that hydraulic oil in the lower oil cavity of the actuator hydraulic cylinder 17 is compressed to generate pressure, the hydraulic oil in the lower oil cavity of the actuator hydraulic cylinder 17 flows to the upper oil cavity of the actuator hydraulic cylinder 17 through the second oil path 6, the hydraulic pump/motor 4 and the first oil path 3, and the sectional area of the upper oil cavity and the lower oil cavity of the actuator hydraulic cylinder 17 is small in size and large in size due to the existence of the first piston rod 19, so that a part of the hydraulic oil enters the oil supplementing energy accumulator 7 to. If the current vibration reduction of the vehicle body 1 needs to be the speed of delaying the compression of the coil spring 20, that is, when a semi-active control force needs to be provided, the motor/generator 5 is controlled to be in a power generation working state, the hydraulic oil flowing from the lower oil chamber to the upper oil chamber of the actuator hydraulic cylinder 17 drives the hydraulic pump/motor 4 to rotate, so as to drive the motor/generator 5 to generate power, and simultaneously, the speed of the upward movement of the first piston rod 19 and the compression of the coil spring 20 are delayed, so that the semi-active primary vibration reduction of the vehicle body 1 is. If the current vibration reduction requirement of the vehicle body 1 is to accelerate the compression speed of the coil spring 20, when the active control force is required to be provided, the motor/generator 5 is controlled to be in an electric working state, the motor/generator 5 drives the hydraulic pump/motor 4 to work, the hydraulic oil in the lower oil cavity of the actuator hydraulic cylinder 17 flows into the upper oil cavity, the upward movement speed of the first piston rod 19 and the compression speed of the coil spring 20 are accelerated, and the active primary vibration reduction of the vehicle body 1 is realized.
At the moment when the wheels 10 start to vibrate downwards when the automobile runs, the automobile body 1 is not ready to move, the wheels 10 drive the second piston 12 to move downwards through the second piston rod 11, so that the volume of an upper oil cavity of the spring hydraulic cylinder 8 is enlarged, a part of hydraulic oil in the lower oil cavity of the spring energy accumulator 14 flows into the upper oil cavity of the spring hydraulic cylinder 8 through the adjustable throttle valve 13, the gas pressure in the upper gas cavity of the spring energy accumulator 14 is reduced, the balance of the whole suspension system is broken through by the hydraulic oil pressure in the upper oil cavity of the spring hydraulic cylinder 8 synchronously reduced with the gas pressure in the gas cavity of the spring energy accumulator 14, so that the cylinder body of the spring hydraulic cylinder 8 and the cylinder body of the actuator hydraulic cylinder 17 move downwards, compared with a hydraulic-electric active suspension with only one-level damping structure and directly connecting the wheels 10 to the cylinder body of the actuator hydraulic cylinder 17 without secondary damping, because a part of the hydraulic oil in the lower oil cavity of, the downward vibration of the cylinder body of the spring hydraulic cylinder 8 and the cylinder body of the actuator hydraulic cylinder 17 is delayed, so that the vibration input of the cylinder body of the actuator hydraulic cylinder 17 including displacement, speed and acceleration is attenuated, the inertial force accompanying the equivalent inertial mass of the main power actuator generated by the rotating parts of the motor/generator 5 and the hydraulic pump/motor 4 is reduced, and the effect of reducing the required control force of the main power actuator is further achieved. When actuator pneumatic cylinder 17 cylinder body downstream, downwardly extending coil spring 20, and then drive automobile body 1 downstream, make the hydraulic oil in the oil chamber on actuator pneumatic cylinder 17 compressed to produce pressure simultaneously, lead the hydraulic oil in the oil chamber on actuator pneumatic cylinder 17 to flow to actuator pneumatic cylinder 17 lower oil pocket through first oil circuit 3, hydraulic pump/motor 4, second oil circuit 6, and a part of hydraulic oil flows to the lower oil pocket of actuator pneumatic cylinder 17 from oil supply energy storage ware 7 simultaneously. At this time, if the current vibration reduction of the vehicle body 1 needs to delay the relaxation speed of the coil spring 20, that is, when a semi-active control force needs to be provided, the motor/generator 5 is controlled to be in a power generation working state, the hydraulic oil flowing from the upper oil chamber to the lower oil chamber of the actuator hydraulic cylinder 17 drives the hydraulic pump/motor 4 to rotate, so as to drive the motor/generator 5 to generate power, and simultaneously, the downward movement of the first piston rod 19 and the relaxation speed of the coil spring 20 are delayed, so that the semi-active primary vibration reduction of the vehicle body 1 is realized. If the current vibration reduction of the vehicle body 1 needs to accelerate the relaxation speed of the spiral spring 20, that is, when active control force needs to be provided, the motor/generator 5 is controlled to be in an electric working state, the hydraulic pump/motor 4 is driven to work, hydraulic oil in an oil cavity of the actuator hydraulic cylinder 17 is driven to flow to a lower oil cavity, meanwhile, the downward movement of the first piston rod 19 and the relaxation speed of the spiral spring 20 are accelerated, and the vehicle body 1 is subjected to active primary vibration reduction.
If the vehicle load is less than half of the set full-load mass, the electromagnetic valve 16 is controlled to be in the on state, the adjustable throttle valve 13 is in the set small-flow-through opening state, and the working process of the wheel 10 under the action of the road surface unevenness is the same as that of the vehicle load when the vehicle load is greater than or equal to half of the set full-load mass, but the only difference is that: because the electromagnetic valve 16 is in a connection state, the spring energy accumulator 14 is connected with the air storage tank 15, when the volume of an oil cavity on the spring hydraulic cylinder 8 is changed, the pressure change of an air cavity on the spring energy accumulator 14 is reduced, namely the rigidity of a secondary vibration damping structure is reduced, and the natural frequency of the vibration of the wheel 10 is reduced; meanwhile, because the adjustable throttle valve 13 is in a state of small opening, the damping force between the upper oil cavity of the spring hydraulic cylinder 8 and the oil cavity of the spring energy accumulator 14 is increased, namely, the damping of the secondary vibration damping structure is increased, and the damping ratio of the vibration of the wheel 10 is improved.
In order to determine the first-stage damping spring stiffness and the second-stage damping of the secondary damping electrohydraulic active suspension, the volume of a spring accumulator, the charging pressure and the volume of an air storage tank, the method is determined by adopting a method in a document with the Chinese patent application number of 201810431986.6 and the name of a coordinated design method of the structure and control parameters of the secondary damping electrohydraulic active suspension. The method comprises the following steps: the first step is as follows: the stiffness of the primary damping spring, the secondary damping under the full-load working condition and the stiffness coefficient of the secondary damping under the full-load working condition are determined under the full-load working condition of the automobile, and then the volume and the inflation pressure of the spring accumulator 14 are determined according to an accumulator design method. The second step is that: under the no-load working condition of the automobile, the rigidity of the primary damping spring determined in the first step is maintained to be unchanged, the secondary damping under the no-load working condition and the rigidity coefficient of the secondary damping under the no-load working condition are determined, and then the volume of the gas storage tank 15 is determined according to the design method of the energy accumulator while the volume of the spring energy accumulator 14 and the charging pressure are maintained to be unchanged. The third step: when the total mass of the automobile is close to the full-load mass, the secondary vibration damping is selected as a determined value under the first-step full-load working condition, and the electromagnetic valve 16 is controlled to cut off the gas communication between the spring energy accumulator 14 and the gas storage tank 15; when the total mass of the automobile is close to the no-load mass, the secondary vibration damping is selected as a determined value under the second no-load working condition, and the electromagnetic valve 16 is controlled to maintain the gas circulation between the spring energy accumulator 14 and the gas storage tank 15.
Claims (8)
1. A secondary damping liquid-electricity type active suspension with adjustable additional rigidity and damping is characterized in that: the damping device comprises a primary damping structure and a secondary damping structure, wherein the primary damping structure is composed of a main power actuator and a spiral spring (20), the primary damping structure is adjustable in damping rigidity, the main power actuator comprises an actuator hydraulic cylinder (17), an oil supplementing energy accumulator (7), a hydraulic pump/motor (4) and a motor/generator (5), and the secondary damping structure comprises a spring hydraulic cylinder (8), an adjustable throttle valve (13), a spring energy accumulator (14), an electromagnetic valve (16) and an air storage tank (15); the hydraulic actuator cylinder (17) is vertically arranged and internally provided with a first piston (18), the first piston (18) divides the inside of the hydraulic actuator cylinder (17) into an upper sealed oil cavity and a lower sealed oil cavity, the upper oil cavity of the hydraulic actuator cylinder (17) is connected with an oil inlet and outlet of a hydraulic pump/motor (4) through a first oil way (3), the other oil inlet and outlet of the hydraulic pump/motor (4) is connected to the lower oil cavity of the hydraulic actuator cylinder (17) through a second oil way (6), the second oil way (6) is also connected with an oil supplementing energy accumulator (7), an input shaft of the hydraulic pump/motor (4) is connected with an output shaft of a motor/generator (5), the center of the first piston (18) is fixedly connected with the lower end of a first piston rod (19), the first piston rod (19) vertically extends upwards from the inside of the hydraulic actuator cylinder (17) and then is fixedly connected, a spiral spring (20) is coaxially sleeved outside a first piston rod (19) between the vehicle body (1) and the actuator hydraulic cylinder (17); the lower end of a cylinder body of an actuator hydraulic cylinder (17) is coaxially and fixedly connected with the upper end of a cylinder body of a spring hydraulic cylinder (8), a second piston (12) is arranged inside the spring hydraulic cylinder (8), the second piston (12) divides the inside of the spring hydraulic cylinder (8) into an upper oil cavity and a lower air cavity, the center of the second piston (12) is fixedly connected with the upper end of a second piston rod (11), the second piston rod (11) vertically extends outwards from the inside of the spring hydraulic cylinder (8) to form a rear fixed wheel (10), the upper oil cavity of the spring hydraulic cylinder (8) is connected with the lower oil cavity of a spring energy accumulator (14) through an oil way and an adjustable throttle valve (13), the upper air cavity of the spring energy accumulator (14) is connected with an air storage tank (15) through an electromagnetic valve (16), and the lower air cavity of the spring hydraulic cylinder.
2. The secondary variable stiffness hydromechanical active suspension as claimed in claim 1, wherein: the secondary damping structure is connected to the wheel (10) and below the primary damping structure.
3. The secondary variable stiffness hydromechanical active suspension as claimed in claim 1, wherein: the upper end and the lower end of the spiral spring (20) are respectively connected with a spring mounting seat (2), the spring mounting seat (2) at the upper part is sleeved outside the first piston rod (19) and is fixedly connected with the lower part of the vehicle body (1), and the spring mounting seat (2) at the lower part is fixedly connected with the upper end surface of the cylinder body of the actuator hydraulic cylinder (17).
4. The secondary variable stiffness hydromechanical active suspension as claimed in claim 1, wherein: the vertical height of the spring hydraulic cylinder (8) is half of the vertical height of the actuator hydraulic cylinder (17).
5. The secondary variable stiffness hydromechanical active suspension as claimed in claim 1, wherein: the oil supplementing energy accumulator (7) and the spring energy accumulator (14) are both bag type energy accumulators, gas is isolated from oil liquid through an air bag, and inert gas is filled in the air bag.
6. A method of operating a secondary suspension with adjustable added stiffness damping as claimed in claim 1, comprising the steps of:
step A: when the automobile load is more than or equal to half of the set full-load mass, the electromagnetic valve (16) is closed, the adjustable throttle valve (13) is in a set large-flow opening state, after the automobile runs, wheels (10) vibrate upwards, hydraulic oil in an upper oil cavity in the compression spring hydraulic cylinder (8) flows to a lower oil cavity of the spring energy accumulator (14) through the adjustable throttle valve (13), gas in the upper oil cavity of the spring energy accumulator (14) is compressed, meanwhile, the hydraulic oil in the spring hydraulic cylinder (8) pushes a cylinder body of the spring hydraulic cylinder (8) and a cylinder body of an actuator hydraulic cylinder (17) upwards, the spiral spring (20) transmits the movement to the automobile body (1), meanwhile, a first piston rod (19) pushes a first piston (18) downwards, and the hydraulic oil in a lower oil cavity of the actuator hydraulic cylinder (17) flows to the upper oil cavity and enters the oil supplement energy accumulator (7;
and B: when the automobile load is more than or equal to half of the set full-load mass, the electromagnetic valve (16) is closed, the adjustable throttle valve (13) is in a set large-circulation opening state, after the automobile runs and the wheels (10) are downward, the volume of an upper oil cavity of the spring hydraulic cylinder (8) is increased, a part of hydraulic oil in a lower oil cavity of the spring energy accumulator (14) flows into the upper oil cavity of the spring hydraulic cylinder (8), a cylinder body of the spring hydraulic cylinder (8) and a cylinder body of the actuator hydraulic cylinder (17) move downward to drive the automobile body (1) to move downward, and meanwhile, the hydraulic oil in the upper oil cavity of the actuator hydraulic cylinder (17) is compressed to flow to the,
and C: when the automobile load is less than half of the set full-load mass, the electromagnetic valve (16) is switched on, the adjustable throttle valve (13) is in a set small-flow opening state, and after the automobile runs, when the volume of an oil cavity on the spring hydraulic cylinder (8) is changed, the pressure change of an air cavity on the spring energy accumulator (14) is reduced.
7. The method for operating a secondary damping hydro-electric active suspension with adjustable additional stiffness damping as claimed in claim 6, wherein: in the step A, the motor/generator (5) is controlled to be in a power generation state, hydraulic oil flowing to an upper oil cavity from a lower oil cavity of an actuator hydraulic cylinder (17) drives a hydraulic pump/motor (4) to rotate, and the motor/generator (5) is driven to generate power; the motor/generator (5) is controlled to be in an electric working state, the motor/generator (5) drives the hydraulic pump/motor (4) to work, and hydraulic oil in a lower oil cavity of the actuator hydraulic cylinder (17) flows into an upper oil cavity.
8. The method for operating a secondary damping hydro-electric active suspension with adjustable additional stiffness damping as claimed in claim 6, wherein: in the step B, the motor/generator (5) is controlled to be in a power generation working state, hydraulic oil flowing from the oil cavity to the lower oil cavity of the hydraulic cylinder (17) of the actuator drives the hydraulic pump/motor (4) to rotate, and the motor/generator (5) is driven to generate power; the electric motor/generator (5) is controlled to be in an electric working state, and the hydraulic pump/motor (4) works to drive hydraulic oil in an oil cavity of the hydraulic cylinder (17) of the actuator to flow to a lower oil cavity.
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| CN113386512A (en) * | 2021-06-11 | 2021-09-14 | 尨腾汽车科技(南京)有限公司 | Three-mass four-parameter adjustable two-stage vibration reduction passive suspension and working method thereof |
| CN113619342A (en) * | 2021-06-11 | 2021-11-09 | 尨腾汽车科技(南京)有限公司 | Intermediate frequency anti-resonance frequency adjustable three-level vibration reduction passive suspension and working method thereof |
| CN113942355A (en) * | 2021-11-08 | 2022-01-18 | 尨腾汽车科技(南京)有限公司 | Height and rigidity adjustable self-powered active suspension and working method thereof |
| CN114211925A (en) * | 2021-12-30 | 2022-03-22 | 尨腾汽车科技(南京)有限公司 | Self-powered active suspension single-head oil cylinder equal-damping equal-inertia-capacity oil way and working method thereof |
| CN115045889A (en) * | 2022-08-15 | 2022-09-13 | 烟台山河液压部件有限公司 | Shock attenuation hydraulic cylinder |
| CN115325074A (en) * | 2022-10-12 | 2022-11-11 | 江苏路博减振技术有限公司 | Serial-type hydraulic damping structure |
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| CN113619342A (en) * | 2021-06-11 | 2021-11-09 | 尨腾汽车科技(南京)有限公司 | Intermediate frequency anti-resonance frequency adjustable three-level vibration reduction passive suspension and working method thereof |
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