CN112895833B - Suspension actuator and method for controlling suspension actuator - Google Patents
Suspension actuator and method for controlling suspension actuator Download PDFInfo
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- CN112895833B CN112895833B CN202110162788.6A CN202110162788A CN112895833B CN 112895833 B CN112895833 B CN 112895833B CN 202110162788 A CN202110162788 A CN 202110162788A CN 112895833 B CN112895833 B CN 112895833B
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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
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
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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
Abstract
The application discloses suspension actuator and suspension actuator's control method, wherein, suspension actuator includes: an actuator body; and the control assembly is used for determining a target working mode of the suspension actuator according to the actual road adhesion coefficient, and controlling the execution action of the actuator body according to the current working mode so as to adjust the rigidity and the damping of the suspension to the parameter value adaptive to the actual road adhesion coefficient. From this, solved and can not discern road surface adhesion coefficient in order to guarantee travelling comfort and security of vehicle under different operating modes, the little installation space of actuator integrated nature is big, and energy conversion device is single makes the problem that energy recuperation efficiency is on the low side, has improved vibration energy recuperation efficiency greatly, has guaranteed the economic performance of vehicle when improving vehicle operation stability ability.
Description
Technical Field
The present disclosure relates to vehicle technologies, and in particular, to a suspension actuator and a control method of the suspension actuator.
Background
Suspension systems are important components of automobiles and their main function is to carry the body and dampen body vibrations, which determine the ride and handling stability of the vehicle. Most of current automotive suspensions are passive suspensions, but the fixed structure parameters of the passive suspensions are difficult to adapt to changeable driving road conditions, and the hydraulic shock absorbers of the traditional passive suspensions on the existing vehicles dissipate part of kinetic energy of the vehicle bodies in a heat mode when the vibration of the vehicle bodies is attenuated, and the dissipated energy accounts for about 10% of the energy consumption of the whole vehicles.
However, although the active suspension utilizes the controllable actuator, the stiffness and the damping of the suspension can be changed in real time according to the road condition to improve the smoothness and the handling stability of the vehicle, the active suspension consumes certain energy when in application, the fuel economy of the vehicle is reduced, and although part of the vibration energy of the suspension can be recovered while the smoothness and the handling stability of the vehicle are improved, a single energy conversion device enables the energy recovery efficiency to be lower, which is needed to be solved urgently.
Content of application
The application provides a suspension actuator and suspension actuator's control method to solve and can not discern road surface adhesion coefficient in order to guarantee travelling comfort and security of vehicle under different operating modes, the little installation space of actuator integrated nature is big, and the single problem that makes energy recuperation efficiency low on the side of energy conversion device has improved vibration energy recuperation efficiency greatly, has guaranteed the economic performance of vehicle when improving vehicle operation stability ability.
An embodiment of the first aspect of the present application provides a suspension actuator, including:
an actuator body; and
and the control component is used for determining a target working mode of the suspension actuator according to the actual road adhesion coefficient and controlling the actuator body to perform actions according to the current working mode so as to adjust the rigidity and the damping of the suspension to the parameter values which are matched with the actual road adhesion coefficient.
Optionally, the actuator body includes:
the piston type cylinder comprises a cylinder barrel and an upper sealing end cover connected with an opening in the top of the cylinder barrel, wherein a hollow piston rod which penetrates out of the upper sealing end cover upwards is arranged in the cylinder barrel, the bottom of the hollow piston rod is connected with a lower sealing end cover of the cylinder barrel, a piston consisting of an upper stepped shaft and a lower stepped shaft is fixed on the hollow piston rod, and a piston coil is embedded between the upper stepped shaft and the lower stepped shaft;
the motor mounting seat and the first direct current brushless motor are mounted on the motor mounting seat, and the top of the hollow piston rod is connected with the hollow piston rod;
the sleeve is connected with a part which is arranged in the hollow piston rod and penetrates out of the cylinder barrel after penetrating out of the lower sealing end cover of the cylinder barrel downwards;
the lower guide seat is used for guiding the hollow piston rod to move up and down along the sleeve, and is arranged between the lower port of the hollow piston rod and the sleeve;
and the upper guide seat is used for guiding the hollow piston rod to move up and down along the cylinder barrel, and is arranged in the lower port of the hollow piston rod and between the cylinder barrels.
Optionally, a ball screw is sleeved in the sleeve, the ball screw penetrates out of the sleeve upwards and then penetrates out of a ball screw nut, the ball screw nut is fixedly connected to the top of the sleeve through a ball nut fixing bolt, a stepped shaft portion used for being connected with a rotor of the first dc brushless motor is arranged at the top of the ball screw, an external thread is arranged on an upper stepped shaft portion of the ball screw, an external thread used for being connected with the upper stepped shaft portion of the ball screw is arranged at a lower end portion of the rotor of the first dc brushless motor, and the ball screw is connected with a shaft of the first dc brushless motor through the external thread of the upper stepped shaft portion of the ball screw and the external thread of the lower end portion of the rotor of the first dc brushless motor by the connecting nut.
Optionally, a lower end face of the lower guide seat and an upper end face of the upper guide seat are respectively provided with a lower oil seal and an upper oil seal of the hollow piston rod.
Optionally, the control assembly comprises:
the actuator controller is used for acquiring a plurality of speed signals of the vehicle and calculating the actual road adhesion coefficient according to the speed signals;
the electric energy storage circuit is used for storing electric energy generated by the actuator body in an actuating device of the actuator body;
and the controllable constant current source output circuit is used for outputting the electric energy stored by the electric energy storage circuit.
Optionally, the actuator controller includes:
a yaw rate sensor for acquiring a yaw rate of the vehicle;
an acceleration sensor for acquiring a longitudinal or lateral acceleration of the vehicle;
an unsprung mass velocity sensor for acquiring unsprung mass velocity of the vehicle;
a steering wheel angle sensor for acquiring a steering wheel angle of the vehicle;
a sprung mass velocity sensor for acquiring a sprung mass velocity of the vehicle;
and the vehicle speed sensor is used for acquiring the actual vehicle speed of the vehicle.
Optionally, the electrical energy storage circuit comprises:
a first battery;
the first energy feedback adjusting circuit, the second energy feedback adjusting circuit and the third energy feedback adjusting circuit are connected with the input end of the first storage battery, wherein the first energy feedback adjusting circuit comprises a second direct current brushless motor, a third MOS (Metal-Oxide-Semiconductor Field-Effect Transistor) switch trigger driving module, a first rectifier, a first DC-DC (DC-DC converter) boost module, a first super capacitor and a first MOS switch trigger driving module which are connected in sequence, the output end of the first MOS switch trigger driving module is connected with the input end of the first storage battery, the input end and the output end of the first voltage sensor are connected with the output end of the first super capacitor and the input end of the first DC-DC converter respectively, the second energy feedback adjusting circuit comprises a first piezoelectric power generation unit, a second rectifier and a second DC-DC boost module which are connected in sequence, the input end of the second MOS switch drive driving module is connected with the output end of the second super capacitor, the output end of the second MOS switch drive driving module is connected with the output end of the second super capacitor, and the output end of the second MOS switch drive driving module is connected with the output end of the super capacitor and the output end of the second MOS switch trigger driving module; the third energy feedback adjusting circuit comprises a second piezoelectric power generation unit, a third rectifier, a third DC-DC boosting module, a third super capacitor and a fifth MOS switch trigger driving module which are sequentially connected, the output end of the fifth MOS switch trigger driving module is connected with the input end of the first storage battery, and the input end and the output end of the third voltage sensor are respectively connected with the output end of the third super capacitor and the input end of the actuator controller.
Optionally, the controllable constant current source output circuit includes:
a second storage battery;
the first controllable constant current source regulating circuit and the second controllable constant current source regulating circuit are connected with the output end of the second storage battery, wherein the first controllable constant current source regulating circuit comprises a fourth MOS switch trigger driving module, a first controllable constant current source control module and a third direct current brushless motor which are connected in sequence, the input end of the fourth MOS switch trigger driving module is connected with the output end of the second storage battery, the second controllable constant current source regulating circuit comprises a second controllable constant current source control module and a piston coil which are connected in sequence, the output end of the actuator controller is connected with the input end of the first DC-DC boost module, the input end of the second DC-DC boost module, the input end of the third DC-DC boost module, the input end of the first MOS switch trigger driving module, the input end of the second MOS switch trigger driving module, the input end of the third MOS switch trigger driving module, the input end of the fourth MOS switch trigger driving module, the input end of the fifth MOS switch trigger driving module, the input end of the first controllable constant current source control module and the input end of the second controllable constant current source control module.
Optionally, coil spring installs on coil spring between supporting seat and the coil spring under bracing seat, wherein, first piezoelectricity electricity generation unit set up in the lower terminal surface of motor mount pad, coil spring upper bracing seat set up in the lower terminal surface of first piezoelectricity electricity generation unit, coil spring under bracing seat set up in the up end of second piezoelectricity electricity generation unit, first piezoelectricity electricity generation unit second piezoelectricity electricity generation unit coil spring under bracing seat with coil spring upper bracing seat's bottom center department all is provided with the hole that well cavity type piston rod wore out, with under the target mode of operation, coil spring constantly switches between tensile and compression motion state, makes coil spring passes through coil spring upper bracing seat acts on piezoelectricity electricity generation unit's the power size constantly changes, produces induced-current.
In a second aspect, the present invention provides a method for controlling a suspension actuator, which employs the above suspension actuator, wherein the method includes the following steps:
determining a target working mode of the suspension actuator according to the actual road adhesion coefficient;
and controlling the actuator body to perform actions according to the current working mode so as to adjust the rigidity and the damping of the suspension to the parameter values which are matched with the actual road adhesion coefficient.
From this, through discernment road surface adhesion coefficient, make suspension actuator be in different mode according to different adhesion coefficient to guarantee travelling comfort and security of vehicle under different work condition, adopt two kinds of different energy conversion devices and can carve the work simultaneously, great improvement vibration energy recovery efficiency, guarantee the economic performance of vehicle when improving vehicle operation stability ability.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a block diagram illustrating a suspension actuator according to an embodiment of the present application;
figure 2 is a schematic illustration of the connection of a suspension actuator according to one embodiment of the present application,
FIG. 3 is a schematic structural diagram of a suspension actuator according to an embodiment of the present application;
FIG. 4 is a graph illustrating the relationship between the sticking compensation factor and the front wheel steering angle deviation value according to an embodiment of the present application;
fig. 5 is a flowchart of a control method of a suspension actuator according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
A suspension actuator and a control method of the suspension actuator according to an embodiment of the present application will be described below with reference to the drawings. Can not discern road surface adhesion coefficient in order to guarantee travelling comfort and security of vehicle under different work condition to what above-mentioned background art center mentioned, the little installation space of actuator integrated nature is big, the single problem that makes energy recuperation efficiency on the low side of energy conversion device, the application provides a suspension actuator, through discerning road surface adhesion coefficient, make the suspension actuator be in different mode according to different adhesion coefficient, in order to guarantee travelling comfort and security of vehicle under different work condition, adopt two kinds of different energy conversion devices and can work simultaneously, great improvement vibration energy recovery efficiency, the economic performance of vehicle has been guaranteed to the vehicle when improving vehicle behaviour stability ability.
Specifically, fig. 1 is a schematic flow chart of a suspension actuator according to an embodiment of the present disclosure.
As shown in fig. 1, the suspension actuator 1000 includes: an actuator body 100 and a control assembly 200.
The control component 200 is configured to determine a target working mode of the suspension actuator according to the actual road adhesion coefficient, and control the actuator body 100 to perform an action according to the current working mode, so as to adjust the stiffness and the damping of the suspension to the parameter values adapted to the actual road adhesion coefficient.
It can be understood that, this application embodiment is through discerning the road surface coefficient of adhesion, makes suspension actuator 1000 attach the coefficient according to the difference and be in different mode to guarantee that the vehicle is travelling comfort and security under different work condition, adopt two kinds of different energy conversion devices and can work simultaneously, great improvement vibration energy recovery efficiency, guarantee the economic performance of vehicle when improving vehicle operation stability.
Specifically, referring to fig. 2 and 3, fig. 2 is a schematic view showing a connection relationship of the suspension actuator 1000 according to the embodiment of the present invention, and fig. 3 is a schematic view showing a structure of the suspension actuator 1000 according to the embodiment of the present invention. Specifically, the suspension actuator 1000 includes: a lower lifting lug 1, a working cylinder fastening nut 2, a second piezoelectric power generation unit mounting seat 3, a cylinder lower sealing end cover 4, a piston rod lower oil seal 5, a lower guide seat 6, a piston coil 7, a cylinder 8, a sleeve 9, a hollow piston rod 10, a spiral spring 11, a connecting nut 12, a motor mounting seat 13, an upper lifting lug 14, a direct current brushless motor 15, a control bus 16, a piston rod countersunk head fastening bolt 17, a motor countersunk head fastening bolt 18, a first piezoelectric power generation unit 19, a spiral spring upper supporting seat 20, an upper sealing end cover 21, an upper sealing 22 upper guide seat 23, a ball screw nut 24, a ball screw fixing bolt 25, a ball screw 26, a piston 27, a spiral spring lower supporting seat 28 and a second piezoelectric power generation unit 29, the device comprises a cylinder sealing gasket 30, a second rectifier 31, a second DC-DC boosting module 32, a second super capacitor 33, a sprung mass velocity sensor 34, an unsprung mass velocity sensor 35, a vehicle velocity sensor 36, a steering wheel angle sensor 37, a longitudinal/lateral acceleration sensor 38, a first controllable constant current source control module 39, a first rectifier 40, a first DC-DC boosting module 41, a first super capacitor 42, a first voltage sensor 43, a first MOS switch trigger driving module 44, a storage battery 45, a second controllable constant current source control module 46, an actuator controller 47, a fourth MOS switch trigger driving module 48, a third MOS switch trigger driving module 49, a yaw angle velocity sensor 50, a second MOS switch trigger driving module 51, a second voltage sensor 52, a third rectifier 53, a third DC-DC boosting module 54, a third super capacitor 55, a third voltage sensor 56 and a fifth MOS switch trigger driving module 57.
Specifically, in some embodiments, as shown in fig. 2, the actuator body 100 includes: the magnetorheological fluid damper comprises a cylinder barrel 8 and an upper sealing end cover 21 connected to an opening in the top of the cylinder barrel 8, wherein a hollow piston rod 10 which penetrates out of the upper sealing end cover 21 upwards is arranged in the cylinder barrel 8, the bottom of the hollow piston rod 10 is connected with a lower sealing end cover 4 of the cylinder barrel, a piston 27 consisting of an upper stepped shaft and a lower stepped shaft is fixed on the hollow piston rod 10, a piston coil is embedded between the upper stepped shaft and the lower stepped shaft, the piston 27 can divide an inner cavity of the cylinder barrel 8 into a piston upper cavity positioned at the upper part of the piston 27 and a piston lower cavity positioned at the lower part of the piston 27, and magnetorheological fluid is arranged in the piston upper cavity and the piston lower cavity; the motor mounting seat 13 and a first direct current brushless motor (such as a direct current brushless motor 15) mounted on the motor mounting seat 13, wherein the top of the hollow piston rod 10 is connected with the motor mounting seat 13; the sleeve 9 is connected with a part which is arranged in the hollow piston rod 10, penetrates out of the cylinder barrel after penetrating out of the lower sealing end cover 4 of the cylinder barrel downwards; the lower guide seat 6 is used for guiding the up-and-down movement of the hollow piston rod 10 along the sleeve, and the lower guide seat 6 is arranged between the lower port of the hollow piston rod 110 and the sleeve 9; the upper guide seat 23 is used for guiding the hollow piston rod 10 to move up and down along the cylinder barrel 8, and the upper guide seat 23 is arranged in the lower port of the hollow piston rod 10 and between the cylinder barrel 8.
Specifically, the bottom of the cylinder barrel 8 is provided with a stepped shaft part fixedly connected with the second piezoelectric power generating unit mounting seat 3, the stepped shaft part is provided with an external thread, the central position of the bottom of the second piezoelectric power generating unit mounting seat 3 is provided with an internal thread hole connected with the external thread of the lower stepped shaft part of the cylinder barrel, and the second piezoelectric power generating unit 29 is arranged on the upper end face of the second piezoelectric power generating unit mounting seat 3; a stepped shaft part fixedly connected with the cylinder barrel 8 is arranged at the lower end part of the sleeve 9, an external thread is arranged on the stepped shaft part, an internal thread hole connected with the external thread of the stepped shaft part is arranged at the central position of the bottom of the cylinder barrel 8, a cylinder barrel sealing gasket 30 is arranged between the lower end face of the stepped shaft part and the inner wall of the bottom of the cylinder barrel 8, and a cylinder barrel fastening nut 2 which is positioned at the lower end face of the bottom of the cylinder barrel 8 and is used for fastening the cylinder barrel 8 is arranged on the stepped shaft part; the bottom of the motor mounting seat 13 is respectively provided with an inner stepped shaft at the top of the hollow piston rod 10, a through hole and an inner threaded hole which are connected with the lower end face of the first direct current brushless motor, the inner stepped shaft at the top of the hollow piston rod 10 is provided with a threaded hole which is connected with the motor mounting seat 13, the lower end face of the first direct current brushless motor is provided with a through hole which is connected with the motor mounting seat 13, the piston rod countersunk head fastening bolt 17 is in fastening connection with the hollow piston rod 10 and the motor mounting seat 13, and the motor countersunk head fastening bolt 18 is in fastening connection with the direct current brushless motor 15 and the motor mounting seat 13.
Alternatively, in some embodiments, as shown in fig. 2, a ball screw 26 is sleeved in the sleeve 9 and penetrates out of the sleeve 9 upwards and then penetrates out of the ball screw nut 24, the ball screw nut 24 is fixedly connected to the top of the sleeve 9 through a ball nut fixing bolt, a stepped shaft portion for connecting with a rotor of the first dc brushless motor is provided on the top of the ball screw 26, an upper stepped shaft portion of the ball screw is provided with an external thread, a lower end portion of the rotor of the first dc brushless motor is provided with an external thread for connecting with the upper stepped shaft portion of the ball screw, and the connecting nut 12 connects the ball screw 26 with a shaft of the first dc brushless motor by using the external thread of the upper stepped shaft portion of the ball screw 26 and the external thread of the lower end portion of the rotor of the first dc brushless motor.
Alternatively, in some embodiments, as shown in fig. 2, the lower end surface of the lower guide seat 6 and the upper end surface of the upper guide seat 23 are respectively provided with the lower oil seal and the upper oil seal of the hollow piston rod.
Optionally, in some embodiments, as shown in fig. 3, the control assembly 200 comprises: an actuator controller 47, an electrical energy storage circuit and a controllable constant current source output circuit. The actuator controller 47 is configured to collect a plurality of speed signals of the vehicle, and calculate an actual road adhesion coefficient according to the plurality of speed signals. The electric energy storage circuit is used for storing electric energy generated by the actuator body in an actuating device of the actuator body. The controllable constant current source output circuit is used for outputting the electric energy stored by the electric energy storage circuit.
Further, in some embodiments, as shown in FIG. 3, the actuator controller 47 includes: a yaw rate sensor 50 for acquiring a yaw rate of the vehicle; the acceleration sensor 38 is used to acquire the longitudinal or lateral acceleration of the vehicle; the unsprung mass velocity sensor 35 is used to acquire the unsprung mass velocity of the vehicle; the steering wheel angle sensor 37 is used for acquiring the steering wheel angle of the vehicle; the sprung mass speed sensor 34 is used to acquire the sprung mass speed of the vehicle; the vehicle speed sensor 36 is used to acquire the actual speed of the vehicle.
That is, the present embodiment can detect the vehicle yaw rate in real time by the yaw rate sensor 50; the longitudinal acceleration or the lateral acceleration of the vehicle is detected in real time through the acceleration sensor 38; detecting the unsprung mass velocity in real time by an unsprung mass velocity sensor 35; the steering wheel angle is detected in real time by a steering wheel angle sensor 37; real-time detection of the sprung mass velocity is performed by the sprung mass velocity sensor 34; the vehicle speed is detected in real time by the vehicle speed sensor 36.
Further, in some embodiments, as shown in fig. 3, the electrical energy storage circuit comprises: the first battery 45, the first energy feeding adjusting circuit, the second energy feeding adjusting circuit and the third energy feeding adjusting circuit
The first energy feedback adjusting circuit, the second energy feedback adjusting circuit and the third energy feedback adjusting circuit are all connected with an input end of a first storage battery 45, wherein the first energy feedback adjusting circuit comprises a second direct current brushless motor (such as a direct current brushless motor 15), a third MOS switch trigger driving module 49, a first rectifier 40, a first DC-DC boosting module 41, a first super capacitor 42 and a first MOS switch trigger driving module 44 which are sequentially connected, an output end of the first MOS switch trigger driving module 44 is connected with an input end of the first storage battery 45, an input end and an output end of a first voltage sensor 43 are respectively connected with an output end of a first super capacitor 42 and an input end of an actuator controller 47, the second energy feedback adjusting circuit comprises a first piezoelectric power generation unit 19, a second rectifier 31 and a second DC-DC boosting module 32 which are sequentially connected, a second super capacitor 33 and a second MOS switch trigger driving module 51, an output end and an output end of a second MOS switch trigger driving module 51 are respectively connected with an input end of the first storage battery 45, and an input end and an output end of a second voltage sensor 52 are respectively connected with an input end of the super capacitor controller 47; the third energy feedback adjusting circuit comprises a second piezoelectric power generation unit 29, a third rectifier 53, a third DC-DC boosting module 53, a third super capacitor 55 and a fifth MOS switch trigger driving module 57 which are sequentially connected, wherein the output end of the fifth MOS switch trigger driving module 57 is connected with the input end of the first storage battery 45, and the input end and the output end of a third voltage sensor 56 are respectively connected with the output end of the third super capacitor 55 and the input end of the actuator controller 47. Further, in some embodiments, as shown in fig. 3, a controllable constant current source output circuit includes: a second battery (e.g., battery 45); the first controllable constant current source regulating circuit and the second controllable constant current source regulating circuit are connected with the output end of the second storage battery, wherein the first controllable constant current source regulating circuit comprises a fourth MOS switch trigger driving module 48, a first controllable constant current source control module 39 and a third direct current brushless motor (such as the direct current brushless motor 15) which are connected in sequence, the input end of the fourth MOS switch trigger driving module 48 is connected with the output end of the second storage battery, the second controllable constant current source regulating circuit comprises a second controllable constant current source control module 46 and a piston coil 7 which are connected in sequence, the output end of the actuator controller 47 is connected with the input end 41 of the first DC-DC boosting module, the input end 32 of the second DC-DC boosting module, the input end of the third DC-DC boosting module 53, the input end of the first MOS switch trigger driving module 44, the input end of the second MOS switch trigger driving module 51, the input end of the third MOS switch trigger driving module 49, the input end of the fourth MOS switch trigger driving module 48, the input end of the fifth MOS switch trigger driving module 57, the input end of the first controllable constant current source control module 39 and the input end of the second controllable constant current source control module 46.
Further, in some embodiments, as shown in fig. 2, the coil spring 11 is installed between the coil spring upper supporting seat 20 and the coil spring lower supporting seat 28, wherein the first piezoelectric power generating unit 19 is disposed on the lower end surface of the motor installation seat 13, the coil spring upper supporting seat 20 is disposed on the lower end surface of the first piezoelectric power generating unit 19, the coil spring lower supporting seat 28 is disposed on the upper end surface of the second piezoelectric power generating unit 29, and the bottom centers of the first piezoelectric power generating unit 19, the second piezoelectric power generating unit 29, the coil spring lower supporting seat 28 and the coil spring upper supporting seat 20 are all provided with a hole through which the hollow piston rod 10 penetrates, so that in the target operation mode, the coil spring 11 is continuously switched between the stretching and compressing motion states, so that the force applied to the piezoelectric power generating unit by the coil spring 11 through the coil spring upper supporting seat 20 is continuously changed, and an induced current is generated.
In addition, as shown in fig. 2, the bottom of the upper lifting lug 14 is provided with a stepped shaft for connecting with the motor mounting seat 13, the stepped shaft part of the upper lifting lug is provided with an external thread, the center of the top of the motor mounting seat 13 is provided with an internal thread hole for connecting with the external thread of the stepped shaft part of the upper lifting lug, the top of the lower lifting lug 1 is provided with a stepped shaft for connecting with the sleeve 9, the stepped shaft part of the lower lifting lug is provided with an external thread, and the inner wall of the bottom of the sleeve 9 is provided with an internal thread for connecting with the external thread of the stepped shaft part of the lower lifting lug.
In order to further understand the suspension actuator 1000 according to the embodiment of the present application, a detailed description will be given below with reference to a control method of the suspension actuator 1000 according to the embodiment of the present application.
Firstly, data acquisition and synchronous transmission: the yaw rate sensor 50 periodically detects the yaw rate and transmits the collected yaw rate to the actuator controller 47, the longitudinal/lateral acceleration sensor 38 periodically detects the longitudinal/lateral acceleration of the vehicle and transmits the collected longitudinal/lateral acceleration to the actuator controller 47, the steering wheel angle sensor 37 periodically detects the steering wheel angle and transmits the collected steering wheel angle to the actuator controller 47, the vehicle speed sensor 36 periodically detects the vehicle speed and transmits the collected vehicle speed to the actuator controller 47, the unsprung mass velocity sensor 35 periodically detects the unsprung mass velocity and transmits the collected unsprung mass velocity to the actuator controller 47
The unsprung mass velocity obtained from the ith sample is recorded as
The value of i is a non-zero natural number.
Next, the actuator controller 47 samples the ith sampled longitudinal acceleration a thereof xi Integration is carried out to obtain the longitudinal velocity v xi (ii) a Actuator controller 47 is based on the formula
Obtaining the target yaw velocity of the vehicle, wherein L is the wheelbase of the vehicle, m is the mass of the vehicle, a is the distance from the center of mass of the vehicle to the front axle, b is the distance from the center of mass of the vehicle to the rear axle, and k 2 For vehicle rear axle cornering stiffness, k 1 For vehicle front axle yaw stiffness, actuator controller 47 then formulates
Obtaining a vehicle front wheel steering angle deviation value; secondly, the actuator controller 47 obtains the road surface adhesion compensation coefficient at the ith sampling time from the stored relationship between the road surface adhesion compensation coefficient and the vehicle front wheel steering angle deviation value (as shown in fig. 4), and then the actuator controller 47 obtains the road surface adhesion compensation coefficient at the ith sampling time according to the formula
Obtaining the road surface adhesion coefficient at the ith sampling moment, wherein g is the gravity acceleration mu e A road surface adhesion compensation coefficient; the actuator controller 47 then sends μ i 、 v i With a predetermined road surface adhesion coefficient threshold value mu 0 Velocity threshold v 0 Comparing the sizes of the four modes to judge whether the suspension actuator works in a comfortable and smooth mode, a high-efficiency economic mode, a safe and comfortable mode or a safe and economic mode; wherein, mu 0 ＝0.6、v 0 ＝60m/s；
Suspension actuator operating in comfort and enjoyment mode, high efficiency economy mode, safe and comfort mode, and safe warp
When mu is i ≥μ 0 And v is i ≥v 0 When the suspension actuator is in the comfort mode, the actuator controller 47 causes the secondThe four MOS switch triggering driving module 48 is switched off, the third MOS switch triggering driving module 49 is switched on, and the actuator controller 47 adjusts the output damping force of the suspension actuator by changing the current of the piston coil 7 according to a skyhook control algorithm, so that the suspension actuator is in a semi-active working mode;
the actuator controller 47 performs semi-active control on the suspension actuator according to a skyhook control algorithm, and the concrete process is as follows:
step A1, the actuator controller 47 samples the ith sprung mass velocity
And unsprung mass velocity
Performing treatment analysis when
Formula of the time actuator controller 47 based on the ceiling control algorithm
Calculating to obtain the semi-active control force F during the ith sampling 11i Wherein c is sky Controlling the damping coefficient for the ceiling; when in use
The second controllable constant current source control module 46 has no controllable current input into the piston coil 7, and the damping force output by the actuator is
Wherein, c s Viscous damping of the actuator;
step A2, the actuator controller 47 performs semi-active control according to the formula
Calculating to obtain the ith sample
When mu is i ≥μ 0 And v is i ＜v 0 When the suspension actuator is in the efficient economic mode, the actuator controller 47 enables the fourth MOS switch trigger driving module 48 to be switched off, and the third MOS switch trigger driving module 49 to be switched on; the second controllable constant current source control module 46 has no current input into the piston coil 7, and the damping force output by the actuator is
When mu is i ＜μ 0 And v is i ≥v 0 When the suspension actuator is in a safe and comfortable mode, the actuator controller 47 enables the fourth MOS switch trigger driving module 48 to be turned on, and the third MOS switch trigger driving module 49 to be turned off and controls the storage battery pack 45 to supply power to the dc brushless motor 15; the second controllable constant current source circuit 46 has no current input piston coil 7, and the damping force output by the actuator is
The actuator controller 47 adjusts the active control force output by the suspension actuator by controlling the first controllable constant current source control module 39 to change the input current of the brushless direct current motor 15 according to the ground shed control algorithm, so that the suspension actuator is in an active working mode;
the actuator controller 47 performs active control on the suspension actuator according to the floor control algorithm by the following specific process:
step B1, the actuator controller 47 samples the unsprung mass velocity according to the ith sample
Calculation formula according to ground shed control algorithm
Calculating to obtain the active control force F during the ith sampling 32i Wherein c is gnd Controlling a damping coefficient for the ground shed;
step B2, the actuator controller 47 follows the formula
Calculating to obtain the input current I of the DC brushless motor 15 at the ith sampling 32i Wherein L is the lead of the ball screw 26, K T Is the moment constant of the direct current brushless motor 15;
when mu is i ＜μ 0 And v is i ＜v 0 When the suspension actuator is in the safe and economic mode, the actuator controller 47 enables the fourth MOS switch triggering driving module 48 to be switched off, and the third MOS switch triggering driving module 49 to be switched on; the actuator controller 47 adjusts the output damping force of the suspension actuator by changing the current of the piston coil 7 according to a ground shed control algorithm, so that the suspension actuator is in a semi-active working mode;
the actuator controller 47 performs a semi-active control process on the suspension actuator according to a floor control algorithm, wherein the semi-active control process comprises the following steps:
step C1, the actuator controller 47 samples the ith sprung mass velocity
And unsprung mass acceleration
Performing treatment analysis when
Calculation formula of time actuator controller 47 according to greenhouse control algorithm
Calculating to obtain a semi-active control force F41i during the ith sampling; when in use
The second controllable constant current source control module 46 has no controllable current input into the piston coil 7, and the damping force output by the actuator is
Step C2, the actuator controller 47 performs semi-active control according to a formula
Calculating to obtain the input current I of the piston coil 7 at the ith sampling 41i And controls the output current of the second controllable constant current source control module 46 to be I 41i Supplying power to the piston coil 7 to make the damping force value output by the suspension actuator meet
The fourth MOS switch trigger driving module 48 is in an off state in the above comfortable and smooth mode, the efficient economic mode, and the safe economic mode, when the vehicle runs on an uneven road surface, the relative linear motion generated by the upper suspension ring 14 and the lower suspension ring 1 is converted into the rotational motion of the motor rotor of the dc brushless motor 15 by the transmission action of the ball screw pair, and the dc brushless motor 15 operates as a generator; after the brushless DC motor 15 works as a generator, the brushless DC motor 15 generates an induced ac current, the induced ac current first passes through the first rectifier 40, and rectifies and filters the current to obtain a stable DC current, and the voltage output by the first rectifier 40 is boosted by the first DC-DC boost module 41 and then temporarily stored in the first super capacitor 42; the actuator controller 47 determines whether or not the voltage value of the first supercapacitor 42 has reached the set voltage value V based on the voltage value of the first supercapacitor 42 detected by the first voltage sensor 43 m When the voltage value of the first super capacitor 42 reaches the set voltage value V for starting charging the battery 45 m Meanwhile, the actuator controller 47 controls the first MOS switch trigger driving module 44 to be switched on, and the voltage output by the first super capacitor 42 charges the storage battery 45 after passing through the first MOS switch trigger driving module 44; when the voltage value of the first super capacitor 42 is less than the set voltage value V for stopping charging the storage battery 45 L At this time, the actuator controller 47 controls the first MOS switch to trigger the driving module 44 to turn off, and the first super capacitor 42 stops charging the storage battery 45.
When the vehicle runs on an uneven road surface in the above comfort and smooth mode, the efficient economic mode, the safe and comfortable mode and the safe economic mode, the relative linear motion generated by the upper hanging ring 14 and the lower hanging ring 1 enables the coil spring 11 installed between the coil spring upper supporting seat 20 and the coil spring lower supporting seat 28 to be continuously switched between the stretching and compressing motion states, so that the force of the coil spring 11 acting on the first piezoelectric generating unit 19 through the coil spring upper supporting seat 20 is also continuously changed, the electric polarization phenomenon is generated inside the first piezoelectric generating unit 19 to generate induced current, the induced current firstly passes through the second rectifier 31 and rectifies and filters the current to form stable direct current, and the voltage output by the second rectifier 31 is temporarily stored in the second super capacitor 33 after being boosted by the second DC-DC boosting module 32; the actuator controller 47 determines whether or not the voltage value of the second supercapacitor 33 has reached the set voltage value V based on the voltage value of the second supercapacitor 33 detected by the second voltage sensor 52 m When the voltage value of the second super capacitor 33 reaches the set voltage value V for starting charging the battery 45 m When the voltage is charged, the actuator controller 47 controls the second MOS switch trigger driving module 51 to be switched on, and the voltage output by the second super capacitor 33 charges the storage battery 45 after passing through the second MOS switch trigger driving module 51; when the voltage value of the second super capacitor 33 is less than the set voltage value V for stopping charging the storage battery 45 L At this time, the actuator controller 47 controls the second MOS switch to trigger the driving module 51 to be turned off, and the second super capacitor 33 stops charging the storage battery 45.
When the vehicle runs on an uneven road surface in the above comfort and smooth mode, the efficient economic mode, the safe and comfortable mode and the safe economic mode, the relative linear motion generated by the upper hanging ring 14 and the lower hanging ring 1 enables the coil spring 11 installed between the coil spring support seat 20 and the coil spring lower support seat 28 to be continuously switched between the stretching and compressing motion states, and further enables the coil spring 11 to act on the force of the second piezoelectric power generation unit 3 through the coil spring lower support seat 28The magnitude also changes continuously, an electric polarization phenomenon is generated inside the second piezoelectric power generation unit 3 to generate an induced current, the induced current firstly passes through the third rectifier 53 and rectifies and filters the current to form a stable direct current, and the voltage output by the third rectifier 53 is boosted by the third DC-DC boost module 54 and then temporarily stored in the third super capacitor 55; the actuator controller 47 determines whether or not the voltage value of the third super capacitor 55 has reached the set voltage value V based on the voltage value of the third super capacitor 55 detected by the third voltage sensor 56 m When the voltage value of third supercapacitor 55 reaches voltage value V set to start charging battery 45 m Meanwhile, the actuator controller 47 controls the fifth MOS switch trigger driving module 57 to be turned on, and the voltage output by the third super capacitor 54 charges the storage battery 45 after passing through the fifth MOS switch trigger driving module 57; when the voltage value of the third super capacitor 54 is less than the set voltage value V for stopping charging the storage battery 45 L At this time, the actuator controller 47 controls the fifth MOS switch to trigger the driving module 57 to turn off, and the third super capacitor 54 stops charging the storage battery 45.
In addition, c is sky Is 2000N · s/m, c gnd Is 1800 Ns/m, K T Is 0.086 N.m/A, c s Has a value of 860 Ns/m, V m Is 22V, V m Is 14V.
According to the suspension actuator that this application embodiment provided, through discernment road surface adhesion coefficient, make the suspension actuator be in different mode according to different adhesion coefficient to guarantee comfort and security of vehicle under different work condition, adopt two kinds of different energy conversion devices and can work simultaneously, great improvement vibration energy recovery efficiency, guaranteed the economic performance of vehicle when improving vehicle operation stability.
Next, a control method of a suspension actuator proposed according to an embodiment of the present application is described with reference to the drawings.
Fig. 5 is a flowchart of a control method of a suspension actuator according to an embodiment of the present application.
As shown in fig. 5, the method for controlling a suspension actuator employs the above-described suspension actuator, wherein the method includes the steps of:
and S501, determining a target working mode of the suspension actuator according to the actual road adhesion coefficient.
And S502, controlling the execution action of the actuator body according to the current working mode so as to adjust the rigidity and the damping of the suspension to the parameter values which are adaptive to the actual road adhesion coefficient.
It should be noted that the foregoing explanation of the embodiment of the suspension actuator is also applicable to the control method of the suspension actuator of the embodiment, and the details are not repeated here.
According to the control method of the suspension actuator provided by the embodiment of the application, the suspension actuator is in different working modes according to different adhesion coefficients by recognizing the road adhesion coefficients so as to ensure the comfort and the safety of the vehicle under different working conditions, two different energy conversion devices are adopted and can work simultaneously, the vibration energy recovery efficiency is greatly improved, and the economic performance of the vehicle is ensured while the vehicle operation stability is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are well known in the art, may be used: discrete logic circuits with logic gates for implementing logic functions on data signals, application specific integrated circuits with appropriate combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), etc.
One of ordinary skill in the art will appreciate that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware that can be related to instructions of a program, which can be stored in a computer-readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
Claims (9)
1. A suspension actuator comprising:
an actuator body; and
the control assembly is used for determining a target working mode of the suspension actuator according to an actual road adhesion coefficient and controlling the actuator body to perform actions according to a current working mode so as to adjust the rigidity and the damping of the suspension to be adaptive to a parameter value of the actual road adhesion coefficient;
the control assembly includes an actuator controller and an electrical energy storage circuit, wherein the electrical energy storage circuit includes:
a first storage battery;
the first energy feedback adjusting circuit, the second energy feedback adjusting circuit and the third energy feedback adjusting circuit are connected with the input end of the first storage battery, the first energy feedback adjusting circuit comprises a second direct-current brushless motor, a third MOS switch trigger driving module, a first rectifier, a first DC-DC boosting module and a first super capacitor and a first MOS switch trigger driving module which are connected in sequence, the output end of the first MOS switch trigger driving module is connected with the input end of the first storage battery, the input end and the output end of a first voltage sensor are respectively connected with the output end of the first super capacitor and the input end of an actuator controller, the second energy feedback adjusting circuit comprises a first piezoelectric power generation unit, a second rectifier and a second DC-DC boosting module which are connected in sequence, the output end of the second MOS switch trigger driving module is connected with the input end of the first storage battery, and the input end and the output end of a second voltage sensor are respectively connected with the output end of the second super capacitor and the input end of the actuator controller; the third energy feedback adjusting circuit comprises a second piezoelectric power generation unit, a third rectifier, a third DC-DC boosting module, a third super capacitor and a fifth MOS switch trigger driving module which are sequentially connected, the output end of the fifth MOS switch trigger driving module is connected with the input end of the first storage battery, and the input end and the output end of a third voltage sensor are respectively connected with the output end of the third super capacitor and the input end of the actuator controller.
2. The suspension actuator of claim 1, wherein the actuator body includes:
the piston type cylinder comprises a cylinder barrel and an upper sealing end cover connected with an opening in the top of the cylinder barrel, wherein a hollow piston rod which penetrates out of the upper sealing end cover upwards is arranged in the cylinder barrel, the bottom of the hollow piston rod is connected with a lower sealing end cover of the cylinder barrel, a piston consisting of an upper stepped shaft and a lower stepped shaft is fixed on the hollow piston rod, and a piston coil is embedded between the upper stepped shaft and the lower stepped shaft;
the motor mounting seat and the first direct current brushless motor are mounted on the motor mounting seat, and the top of the hollow piston rod is connected with the hollow piston rod;
the sleeve is connected with a part which is arranged in the hollow piston rod and penetrates out of the cylinder barrel after penetrating out of the lower sealing end cover of the cylinder barrel downwards;
the lower guide seat is used for guiding the hollow piston rod to move up and down along the sleeve, and is arranged in the lower port of the hollow piston rod and between the sleeve and the lower guide seat;
and the upper guide seat is used for guiding the hollow piston rod to move up and down along the cylinder barrel, and is arranged in the lower port of the hollow piston rod and between the cylinder barrels.
3. The suspension actuator according to claim 2, wherein a ball screw is fitted into the sleeve, the ball screw extending upward out of the sleeve and then extending out of a ball screw nut, the ball screw nut is fixedly connected to a top portion of the sleeve by a ball nut fixing bolt, a stepped shaft portion for connection with the rotor of the first dc brushless motor is provided on the top portion of the ball screw, an external thread is provided on an upper stepped shaft portion of the ball screw, an external thread for connection with the upper stepped shaft portion of the ball screw is provided on a lower end portion of the rotor of the first dc brushless motor, and a coupling nut connects the ball screw with the shaft of the first dc brushless motor by means of the external thread of the upper stepped shaft portion of the ball screw and the external thread of the lower end portion of the rotor of the first dc brushless motor.
4. The suspension actuator according to claim 2, wherein a lower oil seal and an upper oil seal of the hollow piston rod are provided at a lower end surface of the lower guide shoe and an upper end surface of the upper guide shoe, respectively.
5. The suspension actuator of claim 2, wherein the control assembly includes:
the actuator controller is used for acquiring a plurality of speed signals of a vehicle and calculating the actual road surface adhesion coefficient according to the plurality of speed signals;
and the controllable constant current source output circuit is used for outputting the electric energy stored by the electric energy storage circuit.
6. The suspension actuator of claim 5, wherein the actuator controller comprises:
a yaw rate sensor for acquiring a yaw rate of the vehicle;
an acceleration sensor for acquiring longitudinal or lateral acceleration of the vehicle;
an unsprung mass velocity sensor for acquiring unsprung mass velocity of the vehicle;
a steering wheel angle sensor for acquiring a steering wheel angle of the vehicle;
a sprung mass velocity sensor for acquiring a sprung mass velocity of the vehicle;
and the vehicle speed sensor is used for acquiring the actual vehicle speed of the vehicle.
7. The suspension actuator of claim 1 wherein the controllable constant current source output circuit comprises:
a second storage battery;
the controllable constant current source control circuit of first controllable constant current source regulating circuit and second that all is connected with the output of second battery, wherein, first controllable constant current source regulating circuit triggers drive module, first controllable constant current source control module, third direct current brushless motor including the fourth MOS switch that connects gradually, fourth MOS switch triggers the output that drive module is connected with the second battery, the controllable constant current source regulating circuit of second is including the controllable constant current source control module of second, the piston coil that connect gradually, the output termination of actuator controller has the input of first DC-DC boost module, the input of second DC-DC boost module, the input of third DC-DC boost module, the input of first MOS switch trigger drive module, the input of second MOS switch trigger drive module, the input of third MOS switch trigger drive module, the input of fourth MOS switch trigger drive module, the input of fifth MOS switch trigger drive module, the input of first controllable constant current source control module and the input of second controllable constant current source control module.
8. The suspension actuator according to claim 7, wherein a coil spring is installed between an upper support seat and a lower support seat of the coil spring, wherein the first piezoelectric power generating unit is disposed on a lower end surface of the motor mounting seat, the upper support seat of the coil spring is disposed on a lower end surface of the first piezoelectric power generating unit, the lower support seat of the coil spring is disposed on an upper end surface of the second piezoelectric power generating unit, and a hole through which a hollow piston rod penetrates is formed in each of the first piezoelectric power generating unit, the second piezoelectric power generating unit, the lower support seat of the coil spring and a bottom center of the upper support seat of the coil spring, so that the coil spring is continuously switched between a stretching state and a compressing state in the target operating mode, and the magnitude of force applied to the piezoelectric power generating unit by the upper support seat of the coil spring is continuously changed to generate an induced current.
9. A method of controlling a suspension actuator using a suspension actuator as claimed in any one of claims 1 to 8, the method comprising the steps of:
determining a target working mode of the suspension actuator according to the actual road adhesion coefficient;
and controlling the actuator body to perform actions according to the current working mode so as to adjust the rigidity and the damping of the suspension to the parameter values which are matched with the actual road adhesion coefficient.
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| CN113352862B (en) * | 2021-07-02 | 2022-10-25 | 奇瑞新能源汽车股份有限公司 | Cooling water pump of electric automobile and electric automobile |
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