CN112976980B - Multi-axis vehicle synchronous attitude and load distribution control method based on tilt angle sensor - Google Patents
Multi-axis vehicle synchronous attitude and load distribution control method based on tilt angle sensor Download PDFInfo
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- CN112976980B CN112976980B CN202110425135.2A CN202110425135A CN112976980B CN 112976980 B CN112976980 B CN 112976980B CN 202110425135 A CN202110425135 A CN 202110425135A CN 112976980 B CN112976980 B CN 112976980B
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/15—Fluid spring
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- 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
- B60G2800/01—Attitude or posture control
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- 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
- B60G2800/912—Attitude Control; levelling control
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- 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
- B60G2800/915—Suspension load distribution
Abstract
The invention belongs to the technical field of vehicle traveling system control, and particularly relates to a multi-axis vehicle synchronous attitude and load distribution control method based on an inclination angle sensor. The technical scheme of the invention simplifies the installation structure, eliminates the influence of the installation error of the mechanical transmission mechanism, reduces the influence of mechanical abrasion on the sensor and prolongs the service life of the sensor; the control method can ensure that each hydro-pneumatic spring can extend out and retract at the same speed, thereby realizing synchronous and stable adjustment of the vehicle posture and simultaneously eliminating the cross shaft error in the acquisition process of the tilt angle sensor; the control method can effectively solve the phenomenon of unreasonable distribution of loads of wheels caused by the static and uncertain state of the multi-axle vehicle, and improve the vibration damping performance of the hydro-pneumatic suspension; finally, the control method can realize the protection of the pressure sensor and prolong the service life of the sensor.
Description
Technical Field
The invention belongs to the technical field of vehicle traveling system control, and particularly relates to a multi-axis vehicle synchronous attitude and load distribution control method based on an inclination angle sensor.
Background
In order to improve the adaptability and the trafficability of the vehicle to complex terrains, the multi-shaft adjustable oil-gas suspension gradually becomes an important development direction of traveling systems of engineering vehicles, off-road vehicles, high-class cars and military vehicles, the traveling systems can be adjusted through the postures of the vehicles, the vehicle height is reduced to improve the traveling stability of the vehicle on a good road surface, the vehicle height is increased to improve the trafficability of the vehicle to adapt to road conditions to the greatest extent.
The multi-axis adjustable type hydro-pneumatic suspension is used for adjusting the vehicle posture, generally, the vehicle posture is acquired through mechanical transmission type sensors such as a displacement sensor or an angle sensor, and the height of the vehicle is adjusted by controlling the hydraulic valve to realize oil charging and discharging of a hydro-pneumatic spring. But the problem of unreasonable wheel load distribution caused by the fact that all springs cannot be synchronously stretched and contracted for adjusting the vehicle posture of a multi-shaft vehicle often exists, and the problems of higher installation precision requirement and shorter service life due to mechanical abrasion exist in a mechanical transmission type sensor,
disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: how to improve multiaxis vehicle posture control's stability, accuracy nature and life, provide the basis for whole car suspension damping performance promotes.
(II) technical scheme
In order to solve the above technical problems, the present invention provides a method for controlling a multi-axis vehicle synchronization posture and load distribution based on an inclination sensor, the method for controlling the multi-axis vehicle synchronization posture and load distribution based on the inclination sensor being implemented by a multi-axis vehicle synchronization posture and load distribution control device, the multi-axis vehicle synchronization posture and load distribution control device comprising: the hydraulic system comprises a hydro-pneumatic spring 12, a hydraulic system 11, an inclination angle sensor 13, a pressure sensor 14 and a controller 15;
the input end of the controller 15 is connected with the inclination angle sensor 13 and the pressure sensor 14, and the output end of the controller is connected with the hydraulic system 11; the hydraulic system 11 is connected with the hydro-pneumatic spring 12;
the controller 15 obtains the current posture of the vehicle through the judgment of the tilt angle sensor 13; meanwhile, the load pressure of the hydro-pneumatic spring 12 is collected through the pressure sensor 14, and finally the controller 15 controls the hydraulic system 11 to charge and discharge oil to the rodless cavity of the hydro-pneumatic spring 12 according to the current posture of the vehicle and the load pressure of the hydro-pneumatic spring 12, pushes the hydro-pneumatic spring 12 and cooperatively adjusts the load pressure, so that the synchronous vehicle posture and load balance control process of the multi-axis vehicle is completed.
Wherein, the tilt angle sensors 13 are provided in plurality, and the plurality of tilt angle sensors 13 are respectively installed on each suspension device 16 and the vehicle body 17, so as to realize an included angle alpha between each suspension device 16 and the ground planeiAnd collecting an included angle beta between the horizontal plane of the vehicle body 17 and the ground plane in the rotating motion direction of the suspension device 16;
and absolute angle value gammai＝αiBeta is the absolute angle of each suspension device 16 relative to the vehicle body 17, and the absolute angle value is used as a feedback quantity to adjust the vehicle posture;
where i is the serial number of the suspension device 16.
Wherein the hydraulic system 11 comprises: a vehicle attitude control loop and a load feedback loop;
the vehicle attitude control loop comprises: the three-position four-way proportional electromagnetic reversing valve comprises a three-position four-way proportional electromagnetic reversing valve 6, a first hydraulic control one-way valve 8, a second hydraulic control one-way valve 9 and a two-position three-way electromagnetic reversing valve 7; the vehicle posture control loop is used for realizing oil charging and discharging of the rodless cavity of the hydro-pneumatic spring 12 and completing adjustment of the position of each suspension device 16 and adjustment of the load pressure of the hydro-pneumatic spring 12;
the load feedback loop includes: an overflow valve 4, a constant-differential pressure reducing valve 5 and a shuttle valve 10; the load feedback loop is used for ensuring that the pressure difference between the two ends of the oil inlet and the oil outlet of the three-position four-way proportional electromagnetic directional valve 6 is a fixed value, ensuring that the flow entering the hydro-pneumatic spring 12 is only related to the size of the opening of the three-position four-way proportional electromagnetic directional valve 6, further realizing the synchronous extension and contraction of each hydro-pneumatic spring 12 by giving the same proportional valve control current, and reducing the influence of the crossed shaft of the tilt angle sensor 13 while synchronously controlling.
Wherein the hydraulic system 11 comprises a tank 1;
in the three-position four-way proportional electromagnetic directional valve 6, four oil ports are respectively connected with an oil inlet of a first hydraulic control one-way valve 8, an opening port of the first hydraulic control one-way valve 8, an oil outlet of a fixed differential pressure reducing valve 5 and an oil tank 1;
an oil outlet of the first hydraulic control one-way valve 8 is connected with an oil inlet of the second hydraulic control one-way valve 9; an oil outlet of the second hydraulic control one-way valve 9 is connected with an oil-gas spring 12;
in the two-position three-way electromagnetic directional valve 7, three oil ports are respectively connected with an oil inlet of the overflow valve 4, an opening port of the second hydraulic control one-way valve 9 and the oil tank 1;
the pressure sensor 14 is connected with an oil outlet of the first hydraulic control one-way valve 8 and an oil inlet of the second hydraulic control one-way valve 9;
the second hydraulic control one-way valve 9 is used for being controlled to be opened only through the two-position three-way electromagnetic directional valve 7 in the vehicle posture adjusting process and being closed in the vehicle running process, so that high-pressure impact of the hydro-pneumatic spring 12 brought by road excitation is prevented from being transmitted to the pressure sensor 14, and the effect of protecting the pressure sensor 14 is achieved.
The three oil ports of the shuttle valve 10 are respectively connected with the oil inlet of the first hydraulic control one-way valve 8, the feedback oil port of the fixed differential pressure reducing valve 5 and the opening port of the first hydraulic control one-way valve 8; and the inlet of the constant-differential pressure reducing valve 5 is connected with the inlet of the overflow valve 4.
The synchronous vehicle attitude and load distribution control method for the multi-axis vehicle specifically comprises the following steps:
step A: when the vehicle posture is required to be adjusted, the controller 15 firstly analyzes the target position of each suspension device 16 through the target vehicle posture, and controls the opening direction and the opening size of the three-position four-way proportional electromagnetic directional valve 6 in the hydraulic system 11 by taking the real-time position of the suspension device 16 acquired by the tilt sensor 13 as feedback, so that proportional oil charging and discharging of the rodless cavity of the hydro-pneumatic spring 12 are realized to push the suspension device 16 to ascend or descend, and vehicle posture control is completed;
and B: because of the static indeterminate phenomenon of the multi-axis vehicle, the situation that each hydro-pneumatic spring 16 does not reach or exceed the load to be borne exists in the vehicle posture adjusting process, the load of each hydro-pneumatic spring 12 in the target vehicle posture state is calculated according to the weight and the gravity center position of the whole vehicle, the load is used as a target value to control the opening direction and the opening size of the three-position four-way proportional electromagnetic directional valve 6, and then each hydro-pneumatic spring 12 is filled and discharged with oil in a single proportion, so that the load readjusting control is completed.
In the implementation process of the step B, if the position of any one suspension device 16 is changed, the corresponding oil gas spring 12 is stopped from being filled and drained, and the vehicle posture is prevented from being changed.
Wherein the hydraulic system further comprises: a hydraulic oil source 2;
the oil tank 1 is respectively connected with an overflow valve 4 and a constant-pressure-difference pressure-reducing valve 5 through a hydraulic oil source 2.
Wherein, an outlet of the hydraulic oil source 2 is provided with an oil filter 3.
Wherein, a plurality of inclination sensors 13 are respectively arranged on the horizontal planes of each suspension device 16 and the vehicle body 17 in parallel.
(III) advantageous effects
Compared with the prior art, the invention provides the tilt sensor-based multi-axle vehicle synchronous vehicle attitude and load distribution control method, which can greatly improve the stability, accuracy and service life of multi-axle vehicle attitude control and provide a foundation for improving the vibration reduction performance of the whole vehicle suspension. According to the control method, the synchronous, stable and accurate adjustment of the posture of the whole vehicle is realized through the tilt angle sensor, meanwhile, the control of the distribution of the bearing pressure of the hydro-pneumatic springs of all shafts can be realized through the pressure sensor, and on the other hand, the non-mechanical transmission analysis of the posture of the vehicle and the high impact isolation of the pressure sensor can be realized through the method, so that the service life of the sensor is prolonged.
Drawings
FIG. 1 is a schematic diagram of a multi-axis vehicle synchronous attitude and load distribution control method based on an inclination angle sensor.
FIG. 2 is a schematic diagram of the car attitude acquisition by the tilt sensor of the present invention.
FIG. 3 is a flow chart of a multi-axis vehicle synchronous attitude and load distribution control method based on an inclination angle sensor.
In the figure: the hydraulic control system comprises an oil tank 1, a hydraulic oil source 2, an oil filter 3, an overflow valve 4, a fixed differential pressure reducing valve 5, a three-position four-way proportional electromagnetic directional valve 6, a three-position three-way electromagnetic directional valve 7, a first hydraulic control one-way valve 8, a second hydraulic control one-way valve 9, a shuttle valve 10, a hydraulic system 11, an oil-gas spring 12, an inclination angle sensor 13, a pressure sensor 14, a controller 15, a suspension device 16 and a vehicle body 17.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
In order to solve the problems in the prior art, the invention provides a multi-axis vehicle synchronous posture and load distribution control method based on an inclination angle sensor, which is implemented by adopting a multi-axis vehicle synchronous posture and load distribution control device, as shown in fig. 1, and comprises the following steps: the hydraulic system comprises a hydro-pneumatic spring 12, a hydraulic system 11, an inclination angle sensor 13, a pressure sensor 14 and a controller 15;
the input end of the controller 15 is connected with the inclination angle sensor 13 and the pressure sensor 14, and the output end of the controller is connected with the hydraulic system 11; the hydraulic system 11 is connected with the hydro-pneumatic spring 12;
the controller 15 judges and obtains the current posture of the vehicle through the tilt angle sensor 13; meanwhile, the load pressure of the hydro-pneumatic spring 12 is collected through the pressure sensor 14, and finally the controller 15 controls the hydraulic system 11 to charge and discharge oil to the rodless cavity of the hydro-pneumatic spring 12 according to the current posture of the vehicle and the load pressure of the hydro-pneumatic spring 12, pushes the hydro-pneumatic spring 12 and cooperatively adjusts the load pressure, so that the synchronous vehicle posture and load balance control process of the multi-axis vehicle is completed.
As shown in fig. 2, the tilt angle sensors 13 are provided in plurality, and the tilt angle sensors 13 are respectively mounted on each suspension device 16 and the vehicle body 17, so as to realize an included angle α between each suspension device 16 and the ground planeiAnd collecting an included angle beta between the horizontal plane of the vehicle body 17 and the ground plane in the rotating motion direction of the suspension device 16;
and absolute angle value gammai＝αiBeta is the absolute angle of each suspension device 16 relative to the vehicle body 17, and the absolute angle value is used as a feedback quantity to adjust the vehicle posture;
where i is the serial number of the suspension device 16.
The adoption of the inclination angle sensor 13 for acquiring the vehicle posture can avoid mechanical transmission similar to the acquisition of the vehicle posture by an angular displacement sensor, simplify the installation structure, eliminate the installation error influence of a mechanical transmission mechanism, reduce the influence of mechanical abrasion on the sensor and prolong the service life of the sensor.
Wherein the hydraulic system 11 comprises: a vehicle attitude control loop and a load feedback loop;
the vehicle attitude control loop comprises: the three-position four-way proportional electromagnetic reversing valve comprises a three-position four-way proportional electromagnetic reversing valve 6, a first hydraulic control one-way valve 8, a second hydraulic control one-way valve 9 and a two-position three-way electromagnetic reversing valve 7; the vehicle posture control loop is used for realizing oil charging and discharging of the rodless cavity of the hydro-pneumatic spring 12 and completing adjustment of the position of each suspension device 16 and adjustment of the load pressure of the hydro-pneumatic spring 12;
the load feedback loop includes: an overflow valve 4, a constant-differential pressure reducing valve 5 and a shuttle valve 10; the load feedback loop is used for ensuring that the pressure difference between the two ends of the oil inlet and the oil outlet of the three-position four-way proportional electromagnetic directional valve 6 is a fixed value, ensuring that the flow entering the hydro-pneumatic spring 12 is only related to the size of the opening of the three-position four-way proportional electromagnetic directional valve 6, further realizing the synchronous extension and contraction of each hydro-pneumatic spring 12 by giving the same proportional valve control current, and reducing the influence of the crossed shaft of the tilt angle sensor 13 while synchronously controlling.
Wherein the hydraulic system 11 comprises a tank 1;
in the three-position four-way proportional electromagnetic directional valve 6, four oil ports are respectively connected with an oil inlet of a first hydraulic control one-way valve 8, an opening of the first hydraulic control one-way valve 8, an oil outlet of a fixed-differential pressure reducing valve 5 and an oil tank 1;
an oil outlet of the first hydraulic control one-way valve 8 is connected with an oil inlet of the second hydraulic control one-way valve 9; an oil outlet of the second hydraulic control one-way valve 9 is connected with an oil-gas spring 12;
in the two-position three-way electromagnetic directional valve 7, three oil ports are respectively connected with an oil inlet of the overflow valve 4, an opening port of the second hydraulic control one-way valve 9 and the oil tank 1;
the pressure sensor 14 is connected with an oil outlet of the first hydraulic control one-way valve 8 and an oil inlet of the second hydraulic control one-way valve 9;
the second hydraulic control one-way valve 9 is used for being controlled to be opened only through the two-position three-way electromagnetic directional valve 7 in the vehicle posture adjusting process and being closed in the vehicle running process, so that high-pressure impact of the hydro-pneumatic spring 12 brought by road excitation is prevented from being transmitted to the pressure sensor 14, and the effect of protecting the pressure sensor 14 is achieved.
Three oil ports of the shuttle valve 10 are respectively connected with an oil inlet of a first hydraulic control one-way valve 8, a feedback oil port of a fixed-differential pressure reducing valve 5 and an opening port of the first hydraulic control one-way valve 8; and the inlet of the constant-differential pressure reducing valve 5 is connected with the inlet of the overflow valve 4.
As shown in fig. 3, the method for controlling the synchronous attitude and load distribution of the multi-axis vehicle specifically comprises the following steps:
step A: when the vehicle posture is required to be adjusted, the controller 15 firstly analyzes the target position of each suspension device 16 through the target vehicle posture, and controls the opening direction and the opening size of the three-position four-way proportional electromagnetic directional valve 6 in the hydraulic system 11 according to a control algorithm by taking the real-time position of the suspension device 16 acquired by the tilt angle sensor 13 as feedback, so that the rodless cavity of the hydro-pneumatic spring 12 is subjected to proportional oil charging and discharging to push the suspension device 16 to ascend or descend, and the vehicle posture control is completed;
and B: because of the static indeterminate phenomenon of the multi-axis vehicle, the situation that each hydro-pneumatic spring 16 does not reach or exceed the load to be borne exists in the vehicle posture adjusting process, the load of each hydro-pneumatic spring 12 in the target vehicle posture state is calculated according to the weight and the gravity center position of the whole vehicle, the load is used as a target value to control the opening direction and the opening size of the three-position four-way proportional electromagnetic directional valve 6, and then each hydro-pneumatic spring 12 is filled and discharged with oil in a single proportion, so that the load readjusting control is completed.
In the implementation process of the step B, if the position of any one suspension device 16 is changed, the corresponding oil gas spring 12 is stopped from being filled and drained, and the vehicle posture is prevented from being changed.
Wherein the hydraulic system further comprises: a hydraulic oil source 2;
the oil tank 1 is respectively connected with an overflow valve 4 and a constant-pressure-difference pressure-reducing valve 5 through a hydraulic oil source 2.
Wherein, an outlet of the hydraulic oil source 2 is provided with an oil filter 3.
Wherein, a plurality of inclination sensors 13 are respectively arranged on the horizontal planes of each suspension device 16 and the vehicle body 17 in parallel.
Example 1
The present embodiment further describes a method for controlling the attitude and load distribution of a multi-axis vehicle based on tilt sensors, with reference to the accompanying drawings.
As shown in fig. 2, the tilt sensors 13 are mounted in parallel on the horizontal plane of each of the suspension devices 16 and the vehicle body 17, respectively. When the suspension device 16 rotates around the connection point with the vehicle body 17 under the pushing of the hydro-pneumatic spring 12, the suspension device 16 forms an included angle alpha with the ground planeiChange is made, and then each included angle alpha can be passediThe value of the oil gas spring is analyzed to obtain the state of the vehicle posture at the moment, but the extending and retracting speeds of the oil gas springs 12 are different due to the fact that the shaft loads are different in the vehicle posture adjusting process, so that the horizontal plane of the whole vehicle body 17 is inclined to generate an included angle beta with the horizontal plane, and under the condition, the included angle alpha is formed through the included anglesiSince the attitude state obtained by the value analysis will not match the actual state, the inclination sensor 13 is also provided on the vehicle body 17 to indicate the angle β between the horizontal plane of the vehicle body 17 and the ground plane in the direction of rotation of the suspension device 16, and the angle passes through γi＝αi-beta calculating the absolute angle gamma of each suspension 16 with respect to the horizontal plane of the vehicle body 17iThe angle value reflects the position of the suspension device 16 relative to the vehicle body 17, and the corresponding relation between the position and the vehicle posture state has uniqueness, so that the real-time state of the vehicle posture can be accurately analyzed. By adopting the vehicle posture analyzing mode, each inclination angle sensor 13 is fixed on the suspension mechanism and the vehicle body 17 and completes the acquisition of the position of the suspension device 16 through the inclination of the inclination angle sensor, and the acquisition of the position of each suspension device 16 through a mechanical motion mode similar to that of an angular displacement sensor is not needed, so that the mounting structure is simplified, the influence of the mounting error of a mechanical transmission mechanism can be eliminated, and the influence of mechanical abrasion on the sensor is reduced, and the service life of the sensor is prolonged.
The specific adjustment process is shown in fig. 2 and 3. When adjusting the vehicle posture, firstly, each vehicle posture state corresponding to the target vehicle posture is obtainedAbsolute angle value y of the suspension 16iThe calibration value is an adjustment target value, and the absolute angle value gamma is acquired in real timeiIs a feedback quantity; when the feedback quantity value is smaller than the target value, the three-position four-way proportional electromagnetic directional valve 6 is electrified to be turned to the left position, and when the two-position three-way electromagnetic directional valve 7 is not electrified, pressure oil passes through the first hydraulic control one-way valve 8 and the second hydraulic control one-way valve 9 and then is charged into the rodless cavity of the oil-gas spring 12, the piston rod of the oil-gas spring 12 extends out, the hanging device 16 is pushed to rotate, so that the angle feedback value is increased, and the oil charging speed is controlled by the current passing through the three-position four-way proportional electromagnetic directional valve 6; when the feedback value is larger than the target value, the three-position four-way proportional electromagnetic directional valve 6 is electrified to be turned to the right position, when the two-position three-way electromagnetic directional valve 7 is electrified, the first hydraulic control one-way valve 8 and the second hydraulic control one-way valve 9 are all opened, oil liquid in a rodless cavity of the hydro-pneumatic spring 12 passes through the first hydraulic control one-way valve 8 and the second hydraulic control one-way valve 9 and then returns to the oil tank 1 under the action of the vehicle weight, a piston rod of the hydro-pneumatic spring 12 retracts, the suspension device rotates to enable the angle feedback value to be reduced, and the oil drainage speed is controlled by the electrified current of the three-position four-way proportional electromagnetic directional valve 6; repeating the above processes until each suspension device has an absolute angle value gammaiAdjusting to a target value, and finally completing closed-loop control of the vehicle posture;
in the process, the pressure of the inlet and the outlet of the three-position four-way proportional electromagnetic directional valve 6 is fed back to the given differential pressure reducing valve 5 through the shuttle valve 10 and the pressure feedback oil passage, the valve port of the given differential pressure reducing valve 5 is pushed to move to adjust the size change of the throttle port, the pressure compensation effect is exerted on the oil inlet of the three-position four-way proportional electromagnetic directional valve 6 to be connected with the pressure compensation in series, the pressure difference of the inlet and the outlet of the three-position four-way proportional electromagnetic directional valve 6 is basically kept unchanged, the flow entering the oil-gas spring 12 is only related to the size of the opening of the three-position four-way proportional electromagnetic directional valve 6, the synchronous stretching of each oil-gas spring 12 is realized through the control current of the given same proportion, and the influence of the crossed shaft of the tilt angle sensor is reduced while synchronous control is realized.
After the vehicle posture is adjusted, calculating the load of each shaft and each wheel according to the vehicle posture, the mass and the mass center position, calculating the oil pressure in each rodless cavity of each oil-gas spring, setting the pressure value as a target value, and taking the pressure value of each pressure sensor as feedback to adjust the load distribution; in the process of load distribution adjustment, the two-position three-way electromagnetic directional valve 7 is electrified, the second hydraulic control one-way valve 9 is opened, and at the moment, the pressure sensor 14 acquires the pressure in the rodless cavity of the hydro-pneumatic spring in real time; when the oil hydraulic pressure feedback value in the rodless cavity of the oil-gas spring is smaller than a target value, the three-position four-way proportional electromagnetic directional valve 6 is electrified to be driven to the left position, pressure oil passes through the first hydraulic control one-way valve 8 and the second hydraulic control one-way valve 9 and then is filled into the rodless cavity of the oil-gas spring 12, and the oil pressure in the rodless cavity of the oil-gas spring is increased; when the feedback value of the oil pressure in the rodless cavity of the oil-gas spring is larger than the target value, the three-position four-way proportional electromagnetic directional valve 6 is electrified and is driven to the right position, the oil in the rodless cavity of the oil-gas spring 12 returns to the oil tank 1 after passing through the first hydraulic control one-way valve 8 and the second hydraulic control one-way valve 9 under the action of the pressure, and the oil pressure in the rodless cavity of the oil-gas spring is reduced; and repeating the processes until the pressure of each hydro-pneumatic spring is adjusted to a target value, and finishing the adjustment control of the load distribution. However, in this process, if the range of variation in the position of any one suspension device is larger than the allowable value, the load distribution control of that suspension device is immediately stopped. After the load distribution adjustment is completed, the two-position three-way electromagnetic directional valve 7 is powered off, the second hydraulic control one-way valve 9 is closed, the rodless cavity of the hydro-pneumatic spring is in a locking state, the vehicle posture is guaranteed not to change any more, and therefore high-pressure impact of the hydro-pneumatic spring 12 brought by road excitation in the vehicle running process can be prevented from being transmitted to the pressure sensor 14, the effect of the pressure sensor 14 is protected, and the service life of the pressure sensor is prolonged.
In summary, the invention belongs to the technical field of vehicle traveling system control, and particularly relates to a multi-axis vehicle synchronous attitude and load distribution control method based on an inclination angle sensor. The hydraulic system comprises a motor hydraulic oil source, a vehicle posture adjusting control loop and a load feedback loop; the vehicle posture adjusting control loop comprises a three-position four-way proportional electromagnetic reversing valve, a hydraulic control one-way valve and a two-position three-way electromagnetic reversing valve; the load feedback loop comprises a constant-differential pressure reducing valve and an overflow valve; according to the control method, the non-mechanical transmission analysis of the whole vehicle posture can be realized through the tilt angle sensors arranged on the suspension device and the vehicle body, the installation structure is simplified, the influence of the installation error of the mechanical transmission mechanism is eliminated, the influence of mechanical abrasion on the sensor is reduced, and the service life of the sensor is prolonged; secondly, the control method can ensure that each hydro-pneumatic spring can extend out and retract at the same speed, thereby realizing synchronous and stable adjustment of the vehicle posture and simultaneously eliminating the crossed shaft error in the acquisition process of the tilt sensor; thirdly, the control method can realize the control of the distribution of the bearing pressure of the hydro-pneumatic springs of each shaft through the pressure sensor, effectively solve the phenomenon of unreasonable distribution of the load of each wheel caused by the static and uncertain state of the multi-shaft vehicle and improve the vibration damping performance of hydro-pneumatic suspension; finally, the control method can realize the protection of the pressure sensor and prolong the service life of the sensor. In conclusion, the system can greatly improve the stability, the accuracy and the service life of the multi-axis vehicle attitude control, and provides a foundation for improving the vibration reduction performance of the whole vehicle suspension.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A multi-axis vehicle synchronous posture and load distribution control method based on an inclination angle sensor is characterized in that the multi-axis vehicle synchronous posture and load distribution control method based on the inclination angle sensor is implemented by a multi-axis vehicle synchronous posture and load distribution control device, and the multi-axis vehicle synchronous posture and load distribution control device comprises: the hydraulic control system comprises a hydro-pneumatic spring (12), a hydraulic system (11), an inclination angle sensor (13), a pressure sensor (14) and a controller (15);
the input end of the controller (15) is connected with the inclination angle sensor (13) and the pressure sensor (14), and the output end of the controller is connected with the hydraulic system (11); the hydraulic system (11) is connected with the hydro-pneumatic spring (12);
the controller (15) judges and obtains the current posture of the vehicle through the tilt sensor (13); meanwhile, the load pressure of the hydro-pneumatic spring (12) is collected through a pressure sensor (14), and a final controller (15) controls a hydraulic system (11) to charge and discharge oil for a rodless cavity of the hydro-pneumatic spring (12) according to the current posture of the vehicle and the load pressure of the hydro-pneumatic spring (12), pushes the hydro-pneumatic spring (12) and cooperatively adjusts the load pressure to complete the synchronous vehicle posture and load balance control process of the multi-axle vehicle;
wherein, inclination angle sensor (13) are provided with a plurality of, and a plurality of inclination angle sensor (13) are installed respectively on each linkage (16) and automobile body (17), realize each linkage (16) and the contained angle alpha of horizoniAnd collecting an included angle beta between the horizontal plane of the vehicle body (17) and the ground plane in the rotating motion direction of the suspension device (16);
and absolute angle value gammai＝αi- β is the absolute angle of each suspension (16) relative to the vehicle body (17), and the absolute angle value is used as a feedback quantity to adjust the vehicle posture;
wherein i is the serial number of the suspension device (16);
wherein the hydraulic system (11) comprises: a vehicle attitude control loop and a load feedback loop;
the vehicle attitude control loop comprises: the three-position four-way proportional electromagnetic reversing valve comprises a three-position four-way proportional electromagnetic reversing valve (6), a first hydraulic control one-way valve (8), a second hydraulic control one-way valve (9) and a two-position three-way electromagnetic reversing valve (7); the vehicle posture control loop is used for realizing oil charging and discharging of a rodless cavity of the hydro-pneumatic spring (12) and completing adjustment of the position of each suspension device (16) and adjustment of the load pressure of the hydro-pneumatic spring (12);
the load feedback loop includes: an overflow valve (4), a constant-difference pressure-reducing valve (5) and a shuttle valve (10); the load feedback loop is used for ensuring that the pressure difference between the two ends of an oil inlet and an oil outlet of the three-position four-way proportional electromagnetic directional valve (6) is a fixed value, ensuring that the flow entering the hydro-pneumatic spring (12) is only related to the size of an opening of the three-position four-way proportional electromagnetic directional valve (6), further realizing synchronous expansion of each hydro-pneumatic spring (12) by giving the same proportional valve control current, and reducing the influence of a cross shaft of the tilt angle sensor (13) while synchronously controlling;
wherein the hydraulic system (11) comprises a tank (1);
in the three-position four-way proportional electromagnetic directional valve (6), four oil ports are respectively connected with an oil inlet of a first hydraulic control one-way valve (8), an opening port of the first hydraulic control one-way valve (8), an oil outlet of a fixed-differential pressure reducing valve (5) and an oil tank (1);
the oil outlet of the first hydraulic control one-way valve (8) is connected with the oil inlet of the second hydraulic control one-way valve (9); an oil outlet of the second hydraulic control one-way valve (9) is connected with an oil-gas spring (12);
in the two-position three-way electromagnetic directional valve (7), three oil ports are respectively connected with an oil inlet of the overflow valve (4), an opening port of the second hydraulic control one-way valve (9) and the oil tank (1);
the pressure sensor (14) is connected with an oil outlet of the first hydraulic control one-way valve (8) and an oil inlet of the second hydraulic control one-way valve (9);
the second hydraulic control one-way valve (9) is used for being controlled to be opened only through the two-position three-way electromagnetic directional valve (7) in the vehicle posture adjusting process and closed in the vehicle running process, so that high-pressure impact of the hydro-pneumatic spring (12) brought by road excitation is prevented from being transmitted to the pressure sensor (14), and the effect of protecting the pressure sensor (14) is achieved.
2. The multi-axis vehicle synchronous attitude and load distribution control method based on the tilt angle sensor as claimed in claim 1, characterized in that three oil ports of the shuttle valve (10) are respectively connected with an oil inlet of a first hydraulic control one-way valve (8), a feedback oil port of a fixed-differential pressure reducing valve (5) and an opening port of the first hydraulic control one-way valve (8); the inlet of the constant-differential pressure reducing valve (5) is connected with the inlet of the overflow valve (4).
3. The tilt sensor-based multi-axis vehicle synchronous attitude and load distribution control method according to claim 1, wherein the multi-axis vehicle synchronous attitude and load distribution control method specifically comprises the following steps:
step A: when the vehicle posture is required to be adjusted, the controller (15) firstly analyzes the target position of each suspension device (16) through the target vehicle posture, and controls the opening direction and the opening size of the three-position four-way proportional electromagnetic directional valve (6) in the hydraulic system (11) by taking the real-time position of the suspension device (16) acquired by the tilt sensor (13) as feedback, so that proportional oil charging and discharging of a rodless cavity of the hydro-pneumatic spring (12) are realized to push the suspension device (16) to ascend or descend, and vehicle posture control is completed;
and B: due to the static indeterminate phenomenon of the multi-axis vehicle, the situation that each hydro-pneumatic spring (12) does not reach or exceed the load to be borne exists in the vehicle posture adjusting process, so that the load of each hydro-pneumatic spring (12) in the target vehicle posture state is calculated according to the weight and the gravity center position of the whole vehicle, the opening direction and the opening size of the three-position four-way proportional electromagnetic directional valve (6) are controlled by taking the load as a target value, and then oil is filled and discharged in an independent proportion to each hydro-pneumatic spring (12), and the load readjusting control is completed.
4. The tilt sensor-based multi-axis vehicle synchronous posture and load distribution control method according to claim 3, wherein in the implementation process of the step B, if the position of any one suspension device (16) changes, the oil charging and discharging of the corresponding hydro-pneumatic spring (12) is stopped, and the change of the posture of the vehicle is prevented.
5. The tilt sensor-based multi-axis vehicle synchronous attitude and load distribution control method according to claim 1, wherein the hydraulic system further comprises: a hydraulic oil source (2);
the oil tank (1) is respectively connected with the overflow valve (4) and the constant-differential pressure-reducing valve (5) through a hydraulic oil source (2).
6. The tilt sensor-based multi-axis vehicle synchronous attitude and load distribution control method according to claim 5, characterized in that an oil filter (3) is arranged at an outlet of the hydraulic oil source (2).
7. The tilt sensor-based multi-axle vehicle synchronous attitude and load distribution control method according to claim 1, wherein a plurality of tilt sensors (13) are respectively installed in parallel on the horizontal planes of each suspension device (16) and the vehicle body (17).
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