CN112590486B - Air suspension system, control system and control method of pure electric vehicle - Google Patents

Air suspension system, control system and control method of pure electric vehicle Download PDF

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Publication number
CN112590486B
CN112590486B CN202011507518.6A CN202011507518A CN112590486B CN 112590486 B CN112590486 B CN 112590486B CN 202011507518 A CN202011507518 A CN 202011507518A CN 112590486 B CN112590486 B CN 112590486B
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air suspension
height
air
vehicle
vcu
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CN112590486A (en
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郝刘丹
严鉴铂
刘义
尹欣欣
王鹏
王婧宇
刘奇正
茹强
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Xian Fast Auto Drive Co Ltd
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Xian Fast Auto Drive Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B60G17/01908—Acceleration or inclination sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/052—Pneumatic spring characteristics
    • B60G17/0523—Regulating distributors or valves for pneumatic springs
    • B60G17/0528—Pressure regulating or air filling valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance
    • B60G2500/302—Height or ground clearance using distributor valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/914—Height Control System
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention discloses an air suspension system, a control system and a control method of a pure electric vehicle, and belongs to the field of air suspension systems. The control system comprises a vehicle control unit VCU, wherein the input end of the vehicle control unit VCU is respectively connected with a millimeter wave radar, an electronic gyroscope, an AMT controller TCU, a brake signal, a front height sensor, a rear right height sensor, a rear left height sensor, a front axle pressure sensor and a rear axle pressure sensor; the output end of the VCU of the vehicle control unit is respectively connected with an all-in-one controller, a front air suspension valve, a middle air suspension valve and a rear air suspension valve. According to the control system and the control method of the pure electric vehicle, the height of the vehicle frame is adjusted according to the international flatness index IRI fed back in real time, and the control system and the control method are suitable for different road environments; the height of the frame is controlled by adopting a fuzzy PID control method, so that the height of the air suspension frame is adjusted quickly and stably, and the user experience is optimized.

Description

Air suspension system, control system and control method of pure electric vehicle
Technical Field
The invention belongs to the field of air suspension systems, and particularly relates to an air suspension system, a control system and a control method of a pure electric vehicle.
Background
With the rapid progress of the automobile field, a good opportunity is created for the development of industries such as global energy, machinery and the like, the continuous development of social economy, traffic industry and the like is promoted, and meanwhile, infinite convenience is created for daily life of people. However, the conventional fuel oil automobile has the problems of energy consumption, environmental pollution and the like all the time, and has certain limitation on social development. In the present day that the environment is more severe and the international crude oil resources are more deficient, the pure electricity of the power system of the commercial vehicle becomes the inevitable trend of development.
In order to improve the mileage, the pure electric commercial vehicle is realized by increasing the number of battery packs, and is limited by the arrangement space of the whole vehicle and the size of a carriage, most of the newly added battery packs are arranged at the left side and the right side of the frame at present, so that the ground distance of the battery packs is smaller, and the battery packs are easily damaged by fragments of a road surface to cause serious consequences; high-voltage electrical appliances and high-voltage wire harnesses in the pure electric commercial vehicle are more, and water inlet or electric leakage is easily caused through a water pool to cause serious faults and possible personnel damage. Therefore, based on the consideration of the whole vehicle assembly and the driving comfort, higher requirements are put forward on the stability of the suspension system of the commercial vehicle.
The air suspension system adjusts the bearing capacity and height of the vehicle by controlling the inflation and the deflation of compressed air in the air bag. Compare traditional leaf spring suspension, the air hangs can keep chassis height unchangeable when going, and natural frequency is unchangeable almost, and the vehicle focus is unchangeable almost, consequently has good travelling comfort and security, can effectual protection goods, reduces the probability of goods damage, has certain guard action to the road simultaneously. The height of the air suspension can be adjusted through the air bag, the loading and unloading efficiency is improved, the abrasion of tires is reduced, the oil consumption is reduced, and the like. Meanwhile, the air suspension also has the characteristics of smaller occupied space, light dead weight and the like.
Disclosure of Invention
The invention aims to overcome the defect of poor stability of a suspension bracket system of a pure electric vehicle, and provides an air suspension system, a control system and a control method of the pure electric vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
an air suspension system of a pure electric vehicle comprises a front height sensor, wherein the front height sensor is used for detecting the height between a vehicle frame and a shaft, and a detection signal of the front height sensor is sent to a VCU (vehicle control unit) through a signal line;
a front air suspension valve is arranged on a frame cross beam, a front air spring assembly is arranged on one shaft, an air inlet of the front air suspension valve is connected with an air storage tank assembly, an air outlet of the front air suspension valve is connected with the front air spring assembly, and the front air suspension valve is connected with a VCU (vehicle control unit) through a hard wire;
a hollow air spring assembly is arranged on the driving shaft, a hollow air suspension valve is arranged on the frame cross beam, an air inlet of the hollow air suspension valve is connected with the air storage tank assembly, an air outlet of the hollow air suspension valve is connected with the hollow air spring assembly, and the hollow air suspension valve is connected with a VCU (vehicle control unit) through a hard wire;
a rear right height sensor and a rear left height sensor are respectively arranged on two sides of a frame cross beam on the upper side of the driving shaft and used for sending detected signals to a VCU (vehicle control unit) through signal lines;
the rear axle is provided with a rear air spring assembly and a lifting air spring assembly, the frame cross beam is provided with a rear air suspension valve, an air inlet of the rear air suspension valve is connected with the air storage tank assembly, an air outlet of the rear air suspension valve is connected with the rear air spring assembly and the lifting air spring assembly, and the air suspension valve is connected with the VCU of the whole vehicle controller through a hard wire.
Further, the air compressor further comprises a front axle pressure sensor and a rear axle pressure sensor, wherein the front axle pressure sensor and the rear axle pressure sensor are respectively used for detecting pressure values of front and rear axle air circuits and feeding pressure signals back to the VCU, and the VCU controls the work of the air compressor according to the pressure values so that the air pressure values are in a preset range.
Furthermore, one end of the front height sensor is connected with the frame, and the other end of the front height sensor is arranged on an axle suspension system.
Further, the VCU controls the on-off of the front air suspension valve, the middle air suspension valve and the rear air suspension valve according to the feedback signal, so that the height of the corresponding air spring is adjusted.
The control system of the air suspension system of the pure electric vehicle comprises a vehicle control unit VCU, wherein the input end of the vehicle control unit VCU is respectively connected with a millimeter wave radar, an electronic gyroscope, an AMT controller TCU, a brake signal, a front height sensor, a rear right height sensor, a rear left height sensor, a front axle pressure sensor and a rear axle pressure sensor;
the output end of the VCU is connected with an all-in-one controller, a front air suspension valve, a middle air suspension valve and a rear air suspension valve respectively;
the output end of the all-in-one controller is connected with an air compressor, and the output end of the air compressor is connected with an air storage tank assembly;
the output end of the front air suspension valve is connected with a front air spring assembly;
the output end of the hollow air suspension valve is connected with a hollow air spring assembly;
and the output end of the rear air suspension valve is connected with a rear air spring assembly and a lifting air spring assembly.
Further, the millimeter wave radar is used for acquiring information such as the flatness of the road surface, the height and position of broken road blocks and the depth of a water pool, sending the acquired information to the vehicle control unit VCU, carrying out calculation and analysis on the vehicle control unit VCU, and controlling the opening and closing of the front, middle and rear air suspension valves according to analysis results, so that the height of the chassis is adjusted according to the height of the corresponding air spring.
Furthermore, the electronic gyroscope is used for acquiring information of the deflection, inclination and pitching states of the whole vehicle, feeding the acquired information back to the VCU of the whole vehicle controller, and the VCU of the whole vehicle controller performs analysis and calculation and adjusts the corresponding air spring assembly according to an analysis result, so that the gravity center position of the whole vehicle is stabilized.
The control method of the control system of the present invention includes:
the millimeter radar waves are used for identifying the road surface in the advancing direction of the vehicle as three-dimensional data, generating a road longitudinal section profile curve and sending the road longitudinal section profile curve to the VCU through a CAN line, the VCU carries out mathematical analysis on the longitudinal section curve to obtain an international flatness index IRI, the road surface bumping degree is divided into four grades, the IRI is more than or equal to a, the b is more than or equal to IRI and less than a, the c is more than or equal to IRI and less than b, and the IRI and less than c;
when the IRI is larger than or equal to a, the road jolt is serious, the VCU of the vehicle controller regulates the air suspension assembly to be soft through the air suspension valve, and the height of the vehicle frame is reduced to h 1;
when IRI is less than or equal to b and less than a, the VCU of the vehicle controller regulates air suspension through an air suspension valve, and the height of the vehicle frame is adjusted to h 2;
when IRI is less than or equal to c and less than b, the VCU of the vehicle controller regulates air suspension through an air suspension valve, and the height of the vehicle frame is adjusted to h 3;
when IRI is less than c, the VCU of the vehicle controller regulates air suspension through an air suspension valve, and the height of the vehicle frame is adjusted to h 4;
wherein h1, h2, h3 and h4 are calibrated values, h1 is the default lowest height of the frame, h4 is the default highest height of the frame, and h1 is greater than h2, less than h3 and less than h 4.
Further, the height of the frame is controlled by adopting a fuzzy PID control method, which specifically comprises the following steps:
1) comparing the height data acquired by the height sensor with the target height to obtain height deviation and height change rate;
2) taking the height deviation and the height change rate as input quantities of a fuzzy controller, carrying out fuzzy reasoning by the fuzzy controller by using a fuzzy rule, and inquiring a fuzzy matrix table to adjust parameters of the PID controller;
the fuzzy controller outputs the correction parameters of the pre-setting parameters, thereby obtaining three control parameters K of the PID controller P 、K I 、K D ：
Figure BDA0002845342360000051
In the formula, K P0 、K I0 、K D0 The parameter is a pre-setting parameter which is an initial value of a parameter solidified after the test and calibration of the actual working condition of the electric automobile; Δ K P 、ΔK I 、ΔK D For presetting a parameter K P0 、K I0 、K D0 The correction parameter of (1);
3) the PID controller controls the parameter K according to the set control parameter P 、K I 、K D Adjusting the PWM pulse width, controlling the on-off of an air suspension valve, adjusting the height of an air spring and further controlling the vehicleThe height of the shelf.
Compared with the prior art, the invention has the following beneficial effects:
the air suspension system of the pure electric vehicle can improve the running stability and comfort level of the whole vehicle, has high adjustability and convenient maintenance and debugging, and is suitable for different road environments.
According to the air suspension system, the control system and the control method of the pure electric vehicle, the height of the vehicle frame is adjusted according to the international flatness index IRI fed back in real time, and the air suspension system, the control system and the control method are suitable for different road environments; the height of the frame is controlled by adopting a fuzzy PID control method, so that the height of the air suspension frame is adjusted quickly and stably, and the user experience is optimized.
Drawings
FIG. 1 is a block diagram of a control system of the present invention;
FIG. 2 is a schematic structural view of the air suspension system of the present invention;
FIG. 3 is a schematic diagram of a fuzzy PID control method.
Wherein: 1-a front height sensor, 2-a front air spring assembly, 3-a front air suspension valve, 4-a front axle pressure sensor, 5-an air storage tank assembly, 6-a hollow air suspension valve, 7-a hollow air spring assembly, 8-a rear right height sensor, 9-a rear axle pressure sensor, 10-a rear air suspension valve, 11-a rear air spring assembly, 12-a lifting air spring assembly, 13-a vehicle control unit VCU and 14-a rear left height sensor.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
the invention provides an air suspension system, a control system and a control method of a pure electric vehicle.
Referring to fig. 1, fig. 1 is a block diagram of a control system of the present invention, which includes a vehicle control unit VCU, an input end of the vehicle control unit VCU is connected to a millimeter wave radar, an electronic gyroscope, an AMT controller TCU, a brake, a front height sensor, a rear right height sensor, a rear left height sensor, a front axle pressure sensor, and a rear axle pressure sensor, respectively, and an output end of the vehicle control unit VCU is connected to an all-in-one controller, a front air suspension valve, an air suspension valve, and a rear air suspension valve, respectively; the output end of the all-in-one controller is connected with an air compressor, and the output end of the air compressor is connected with an air storage tank assembly; the output end of the front air suspension valve is connected with a front air spring assembly; the output end of the hollow air suspension valve is connected with a hollow air spring assembly; the output end of the rear air suspension valve is respectively connected with the rear air spring assembly and the lifting air spring assembly.
The millimeter wave radar is used for acquiring the road flatness, the height and the position of broken road blocks and the depth of a water pool, the acquired information is sent to the VCU of the vehicle control unit, the VCU of the vehicle control unit performs calculation and analysis, and the front, middle and rear air suspension valves are controlled to be switched on and off according to analysis results, so that the height of the height adjusting chassis corresponding to the air springs is controlled, the vehicle can adapt to driving requirements under various road conditions, and meanwhile, the stability and the comfort level of the whole vehicle are improved.
The electronic gyroscope is used for detecting the states of the whole vehicle such as deflection, inclination and pitching, and feeding collected information back to the VCU of the whole vehicle controller, and the VCU of the whole vehicle controller performs analysis and calculation and adjusts the corresponding air spring assembly according to an analysis result, so that the gravity center position of the whole vehicle is stabilized, the side inclination is prevented, and the impact degree is reduced. For example, when the vehicle is bent at a high speed, the air spring of the outer wheel can be automatically hardened to reduce the rolling of the vehicle body, and when the vehicle is braked suddenly, the air spring of the front wheel can be strengthened to reduce the inertia forward tilting of the vehicle body.
Referring to fig. 2, fig. 2 is a schematic structural view of the air suspension system of the present invention, one end of a front height sensor 1 is connected to a vehicle frame, the other end is mounted on an axle suspension system for detecting the height of the vehicle frame and an axle, and a detection signal of the front height sensor 1 is sent to a vehicle control unit VCU13 through a signal line; the front air spring assembly 2 is arranged on a shaft; the front air suspension valve 3 is arranged on a frame cross beam, an air inlet of the front air suspension valve 3 is connected with the air storage tank assembly 5, an air outlet of the front air suspension valve 3 is connected with the front air spring assembly 2, and the vehicle control unit VCU13 controls the opening and closing of the front air suspension valve 3, so that the heights of the left air spring and the right air spring of the front air spring assembly 2 are controlled; the hollow gas spring assembly 7 is arranged on the driving shaft; the air suspension valve 6 is arranged on a frame cross beam, an air inlet of the air suspension valve 6 is connected with the air storage tank assembly 5, an air outlet of the air suspension valve 6 is connected with the air spring assembly 7, and the vehicle control unit VCU13 controls the on-off of the air suspension valve 6; the rear right height sensor 8 and the rear left height sensor 14 are respectively positioned at the left side and the right side of the frame cross beam on the upper side of the driving shaft, and send detected signals to the VCU13 of the whole vehicle controller; the rear air spring assembly 11 and the lifting air spring assembly 12 are arranged on a rear shaft; the rear air suspension valve 10 is arranged on a frame cross beam, an air inlet of the rear air suspension valve 10 is connected with the air storage tank assembly 5, an air outlet of the rear air suspension valve 10 is connected with the rear air spring assembly 11 and the lifting air spring assembly 12, and the vehicle control unit VCU13 controls the on-off of the rear air suspension valve 10; the front axle pressure sensor 4 and the rear axle pressure sensor 9 are respectively used for detecting pressure values of front and rear axle air circuits and feeding pressure signals back to the vehicle control unit VCU13, the vehicle control unit VCU13 controls the air compressor to work according to the pressure values, the air compressor works when the air pressure is lower than a lowest set value, and the air compressor stops working when the air pressure reaches a highest set value.
The control method of the invention comprises the following steps:
the millimeter radar waves are used for identifying the road surface in the advancing direction of the vehicle as three-dimensional data, generating a road longitudinal section profile curve and sending the road longitudinal section profile curve to the vehicle control unit VCU through a CAN line, and the vehicle control unit VCU performs mathematical analysis on the measured longitudinal section curve to obtain an international flatness index IRI;
in order to prevent the frequent on-off of an air suspension valve and the influence on the service life of an air compressor due to long-time work, the road bumping degree is divided into four grades, IRI is more than or equal to a, b is more than or equal to IRI and less than a, c is more than or equal to IRI and less than b, and IRI and less than c, wherein a, b and c are calibration values, and c is more than or equal to b and less than a; the road condition can be calibrated according to the actual running road condition, the number of bumping grades can also be set according to the actual running road condition of the whole vehicle, the road condition is more complex, and the smoothness and the comfort degree of the whole vehicle can be more finely controlled.
Different bumping degrees correspond to different air spring hardnesses, namely the heights of the air suspension controlled vehicle frames h1, h2, h3 and h4 are corresponded, wherein h1 is the default lowest height of the vehicle frame, h4 is the default highest height of the vehicle frame, h1 is more than h2, more than h3, more than h4, h1, h2, h3 and h4 are calibrated values, and the air suspension controlled vehicle can be calibrated according to actual road conditions
When the road bump is severe, namely IRI is more than or equal to a, the VCU13 of the vehicle controller regulates the air suspension assembly to be soft through the air suspension valve, and the height of the vehicle frame is reduced to h1 to improve the comfort; when IRI is less than or equal to b and less than a, the VCU13 of the vehicle controller regulates air suspension through an air suspension valve, and the height of the vehicle frame is adjusted to h 2; when IRI is less than or equal to c and less than b, the VCU13 of the vehicle controller regulates air suspension through an air suspension valve, and the height of the vehicle frame is adjusted to h 3; when IRI < c, the VCU13 of the vehicle controller regulates air suspension through an air suspension valve, and the height of the vehicle frame is adjusted to h 4.
In order to quickly and stably adjust the height of the air suspension frame, the height of the frame is controlled by adopting a fuzzy PID control method, referring to FIG. 3, FIG. 3 is a schematic diagram of the fuzzy PID control method, and the control steps are as follows:
1) collecting height data and target height h by a height sensor a Comparing to obtain height deviation and height change rate;
2) taking the height deviation and the height change rate as input quantities of a fuzzy controller, carrying out fuzzy reasoning by the fuzzy controller by using a fuzzy rule, and inquiring a fuzzy matrix table to adjust parameters of the PID controller; the fuzzy controller outputs the correction parameters of the pre-setting parameters, thereby obtaining three control parameters K of the PID controller P 、K I 、K D ：
Figure BDA0002845342360000091
In the formula K P0 、K I0 、K D0 The parameter is a pre-setting parameter which is an initial value of a parameter solidified after the test and calibration of the actual working condition of the electric automobile; Δ K P 、ΔK I 、ΔK D For pre-setting parameter K P0 、K I0 、K D0 The correction parameter of (1);
3) the PID controller controls the parameter K according to the set control parameter P 、K I 、K D And adjusting the PWM pulse width, controlling the on-off of an air suspension valve, and adjusting the height of an air spring so as to control the height of the frame.
The touch screen of the central console of the whole vehicle is provided with an automatic mode, a manual mode and a debugging mode, wherein the manual mode can realize the height adjustment of the air spring through the touch screen, when the air spring passes through a water pool or a road surface obstacle is high and cannot be avoided, the air suspension system can be manually adjusted to enable the chassis to reach the highest state, and if the lowest position of the vehicle frame is still lower than the obstacle, the whole vehicle can give an alarm in advance to remind a driver. The manual mode is provided with a scene selection, and a fixed frame height can be selected for a scene with a fixed driving route. The touch-sensitive screen control is connected to host computer accessible bluetooth, the convenient debugging maintenance.
The air suspension system has an auxiliary function, and the tractor provided with the air suspension system can quickly realize the hanging and the unhooking through the height adjustment of the air bag, so that the transportation efficiency is improved. When the device is used for freight vehicles, the height of the chassis can be adjusted more conveniently when the vehicles are butted with a loading and unloading platform, so that the cargoes can be loaded and unloaded quickly. The invention is provided with the lifting air bag, and when the lifting air bag is started on a difficult road surface, the driving shaft is allowed to be overloaded temporarily, so that the whole vehicle can pass through the current road quickly.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims (2)

1. A control method of a control system of an air suspension system of a pure electric vehicle is characterized by comprising the following steps:
the millimeter radar waves are used for identifying the road surface in the advancing direction of the vehicle as three-dimensional data, generating a road longitudinal section profile curve and sending the road longitudinal section profile curve to the VCU through a CAN line, the VCU carries out mathematical analysis on the longitudinal section curve to obtain an international flatness index IRI, the road surface bumping degree is divided into four grades, the IRI is more than or equal to a, the b is more than or equal to IRI and less than a, the c is more than or equal to IRI and less than b, and the IRI and less than c;
when the IRI is larger than or equal to a, the road jolt is serious, the VCU of the vehicle controller regulates the air suspension assembly to be soft through the air suspension valve, and the height of the vehicle frame is reduced to h 1;
when IRI is less than or equal to b and less than a, the VCU of the vehicle controller regulates air suspension through an air suspension valve, and the height of the vehicle frame is adjusted to h 2;
when IRI is less than or equal to c and less than b, the VCU of the vehicle controller regulates air suspension through an air suspension valve, and the height of the vehicle frame is adjusted to h 3;
when IRI is less than c, the VCU of the vehicle controller regulates air suspension through an air suspension valve, and the height of the vehicle frame is adjusted to h 4;
wherein h1, h2, h3 and h4 are all calibrated values, h1 is the default lowest height of the frame, h4 is the default highest height of the frame, and h1 is greater than h2, greater than h3 and less than h 4;
the control system of the air suspension system of the pure electric automobile comprises a vehicle control unit VCU, wherein the input end of the vehicle control unit VCU is respectively connected with a millimeter wave radar, an electronic gyroscope, an AMT controller TCU, a brake signal, a front height sensor, a rear right height sensor, a rear left height sensor, a front axle pressure sensor and a rear axle pressure sensor;
the output end of the VCU of the vehicle controller is respectively connected with an all-in-one controller, a front air suspension valve, a middle air suspension valve and a rear air suspension valve;
the output end of the all-in-one controller is connected with an air compressor, and the output end of the air compressor is connected with an air storage tank assembly;
the output end of the front air suspension valve is connected with a front air spring assembly;
the output end of the hollow air suspension valve is connected with a hollow air spring assembly;
the output end of the rear air suspension valve is connected with a rear air spring assembly and a lifting air spring assembly;
the air suspension system comprises a front height sensor, the front height sensor is used for detecting the height between the vehicle frame and one shaft, and a detection signal of the front height sensor is sent to the VCU of the whole vehicle controller through a signal wire;
a front air suspension valve is arranged on a frame cross beam, a front air spring assembly is arranged on one shaft, an air inlet of the front air suspension valve is connected with an air storage tank assembly, an air outlet of the front air suspension valve is connected with the front air spring assembly, and the front air suspension valve is connected with a VCU (vehicle control unit) through a hard wire;
a hollow air spring assembly is arranged on the driving shaft, a hollow air suspension valve is arranged on the frame cross beam, an air inlet of the hollow air suspension valve is connected with the air storage tank assembly, an air outlet of the hollow air suspension valve is connected with the hollow air spring assembly, and the hollow air suspension valve is connected with a VCU (vehicle control unit) through a hard wire;
a rear right height sensor and a rear left height sensor are respectively arranged on two sides of a frame cross beam on the upper side of the driving shaft and used for sending detected signals to a VCU (vehicle control unit) through signal lines;
a rear air spring assembly and a lifting air spring assembly are arranged on the rear shaft, a rear air suspension valve is arranged on the frame cross beam, an air inlet of the rear air suspension valve is connected with the air storage tank assembly, an air outlet of the rear air suspension valve is connected with the rear air spring assembly and the lifting air spring assembly, and the air suspension valve is connected with a VCU (vehicle control unit) through a hard wire;
the millimeter wave radar is used for acquiring the road surface flatness, the height and the position of road surface fragments and the depth information of the water pool, sending the acquired information to the VCU of the vehicle control unit, carrying out calculation and analysis on the VCU of the vehicle control unit, and controlling the opening and closing of the front, middle and rear air suspension valves according to the analysis result so as to control the height of the chassis adjusted by the height of the corresponding air spring;
the electronic gyroscope is used for acquiring information of the deflection, inclination and pitching states of the whole vehicle, feeding the acquired information back to the VCU of the vehicle controller, and the VCU of the vehicle controller performs analysis and calculation and adjusts the corresponding air spring assembly according to an analysis result, so that the gravity center position of the whole vehicle is stabilized.
2. The control method according to claim 1, characterized in that the height of the vehicle frame is controlled by a fuzzy PID control method, specifically:
1) comparing the height data acquired by the height sensor with the target height to obtain height deviation and height change rate;
2) taking the height deviation and the height change rate as input quantities of a fuzzy controller, carrying out fuzzy reasoning by the fuzzy controller by using a fuzzy rule, and inquiring a fuzzy matrix table to adjust parameters of the PID controller;
the fuzzy controller outputs the correction parameters of the pre-setting parameters, thereby obtaining three control parameters K of the PID controller P 、K I 、K D ：
Figure FDA0003682210100000031
In the formula, K P0 、K I0 、K D0 The parameter is pre-set and is the initial parameter solidified after the test and calibration of the actual working condition of the electric automobileA value; Δ K P 、ΔK I 、ΔK D For pre-setting parameter K P0 、K I0 、K D0 The correction parameter of (1);
3) the PID controller controls the parameter K according to the set control parameter P 、K I 、K D And adjusting the PWM pulse width, controlling the on-off of an air suspension valve, and adjusting the height of an air spring so as to control the height of the frame.
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