CN113110186A - Magneto-rheological damper controller capable of being adjusted along with road surface excitation for automobile suspension system - Google Patents
Magneto-rheological damper controller capable of being adjusted along with road surface excitation for automobile suspension system Download PDFInfo
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- CN113110186A CN113110186A CN202110420209.3A CN202110420209A CN113110186A CN 113110186 A CN113110186 A CN 113110186A CN 202110420209 A CN202110420209 A CN 202110420209A CN 113110186 A CN113110186 A CN 113110186A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/44—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction
- F16F9/46—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction allowing control from a distance, i.e. location of means for control input being remote from site of valves, e.g. on damper external wall
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/50—Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses a magnetorheological damper controller for an automobile suspension system, which can be adjusted along with road surface excitation, and comprises a PCB (printed circuit board) substrate, and a power input and voltage transformation unit, a microcontroller unit, a gyroscope unit and a coil driving and current acquisition unit which are arranged on the PCB substrate; the power input and transformation unit is respectively and electrically connected with the microcontroller unit, the gyroscope unit and the coil driving and current acquisition unit; the microcontroller unit is connected with the gyroscope unit and the coil driving and current collecting unit; and the gyroscope unit is used for detecting the acceleration and the speed of the magnetorheological damper at the operation moment and transmitting the acceleration and the speed to the microcontroller unit. The microcontroller unit judges the road surface excitation type to automatically switch the control mode according to the measured data, and simultaneously the microcontroller unit receives the current signal fed back, and the current, the speed and the acceleration signal are used as the input of the controller, and the control quantity obtained after calculation is applied to the magnetorheological damper coil to control the output of the damping force, so that the suspension shock absorption is realized.
Description
Technical Field
The invention belongs to the technical field of vehicle suspension systems and magnetorheological dampers, and particularly relates to a magnetorheological damper controller for an automobile suspension system, which can be adjusted along with road surface excitation.
Background
At present, magnetorheological fluid is used as a novel intelligent controllable material with a rheological property changing rapidly under an external magnetic field condition, and the basic characteristic is that free fluid is converted into a semisolid state within millisecond level under the action of a strong magnetic field, so that the magnetorheological fluid has controllable yield strength. The magneto-rheological damper made by utilizing the transient reversible change characteristic of the magneto-rheological fluid can control the output of the damping force by applying a magnetic field or not.
The output magnitude of the damping force of the magneto-rheological damper is related to the structure, the magnitude of the current applied by the coil, the motion state and the like, and the output requirements on the damping force under different working conditions are different. The judgment standard of a good-performance damper requires that the output damping force is accurate and quick, different control models and control parameters can be switched corresponding to different working conditions, and the traditional magnetorheological damper controller is generally applied to fixed working condition occasions and cannot be switched according to different conditions. The magneto-rheological damper controller is applied to the automobile suspension and corresponds to a single control model under the input of multiple road surface excitations, so that the magneto-rheological damper controller has a defect in the aspect of comfort. The magnetorheological damper controller capable of automatically changing the control model according to the real-time road condition is invented for achieving the optimal comfort of the automobile suspension.
Disclosure of Invention
It is a primary object of the present invention to provide a magnetorheological damper controller for a vehicle suspension system adjustable with road surface excitation that at least partially addresses the above-mentioned problems.
In order to achieve the purpose, the invention adopts the technical scheme that:
the magneto-rheological damper controller for the automobile suspension system, which can be adjusted along with road surface excitation, comprises a PCB substrate, and a power input and transformation unit, a microcontroller unit, a gyroscope unit and a coil driving and current acquisition unit which are arranged on the PCB substrate;
the power input and transformation unit is electrically connected with the microcontroller unit, the gyroscope unit and the coil driving and current acquisition unit respectively;
the microcontroller unit is connected with the gyroscope unit and the coil driving and current collecting unit;
the power input and transformation unit adopts a vehicle-mounted storage battery as a power supply, outputs preset voltage through a voltage reduction chip and supplies power to each module;
the gyroscope unit is connected with the magnetorheological damper and used for detecting the acceleration and the speed of the magnetorheological damper at the running moment and transmitting the acceleration and the speed to the microcontroller unit;
the coil driving and current collecting unit is used for collecting a current value applied to the coil of the magnetorheological damper and transmitting the current value to the microcontroller unit;
the microcontroller unit is used for carrying out operation analysis according to the acceleration, the speed and the current value to obtain a control signal; the control signal is used for controlling the output of the damping force of the magnetorheological damper.
Furthermore, the microcontroller unit adopts an ARM series microcontroller, and the working frequency reaches hundreds of MHz.
Further, the coil driving and current collecting unit includes: the device comprises an isolation amplifier, an operational amplifier, a photoelectric isolator, an MOS (metal oxide semiconductor) tube, a sampling resistor and a coil interface; the coil interface is connected with the coil of the magneto-rheological damper;
the microcontroller unit is connected with the photoelectric isolator and inputs a driving signal to the photoelectric isolator;
the photoelectric isolator is connected with a grid control pin of the MOS tube, converts a driving signal into an optical signal and inputs the optical signal to the grid of the MOS tube;
the sampling resistor and the coil interface are connected with the source electrode and the drain electrode of the MOS tube in series in a circuit to form a loop; the MOS tube drives a coil of the magneto-rheological damper;
the power input and transformation unit is sequentially connected with the isolation amplifier and the operational amplifier; the operational amplifier is connected with the microcontroller unit;
the voltage of two ends of a precision resistor connected in series in the coil circuit is acquired through an isolation amplifier, the acquired differential signal is converted into a single-ended signal through an operational amplifier after being amplified, and the single-ended signal provides current feedback for the microcontroller unit after being subjected to related operation.
Furthermore, the gyroscope unit adopts an electronic gyroscope and is used for acquiring the acceleration and the speed of the magnetorheological damper at the operation moment, and a Kalman filter and an IIR filter are adopted for filtering the acquired data.
Further, still include: a program download interface connected to the microcontroller unit; and the program downloading interface adopts an SWD interface for downloading and is used for realizing program downloading and Debug debugging.
Further, still include: a serial communication interface connected with the microcontroller unit; and the serial port communication interface is used for realizing the communication between the microcontroller unit and the upper computer and realizing the setting of control parameters.
Further, still include: the data acquisition unit is connected with the microcontroller unit; the data acquisition unit drives the SD card to read and write data input, measurement, feedback and output by the magnetorheological damper by adopting a standard SDIO peripheral interface of the microcontroller unit.
Further, still include: the reset unit is connected with the microcontroller unit;
and the reset unit is used for resetting the whole controller.
Compared with the prior art, the invention has the following beneficial effects: the principle of the magneto-rheological damper controller for the automobile suspension system capable of being adjusted along with the road surface excitation is as follows: the gyroscope unit feeds back the speed and acceleration signals of the damper piston, the microcontroller unit judges the road surface excitation type to automatically switch the control mode according to the measured data, meanwhile, the microcontroller unit receives the current signals fed back, the current, speed and acceleration signals serve as the input of the controller, the control quantity obtained after operation is applied to the magnetorheological damper coil to control the output of the damping force, and finally the aim of suspension damping is achieved.
(1) The coil driving and current collecting unit adopts isolation driving to convert driving signals into optical signals, so that the influence of electromagnetic interference in a circuit on driving output is reduced; isolated signal acquisition is adopted, and the magnitude of coil current is calculated by using the relationship between circuits after the acquisition of a microcontroller unit. Compared with the traditional direct drive and direct acquisition, the control is more stable and the feedback is more accurate.
(2) According to the invention, the gyroscope unit is adopted to collect road surface excitation signals, the road surface types are judged according to the speeds and accelerations of the automobile suspensions on different road surfaces, and the control model can be automatically switched according to the judgment of the microcontroller unit, so that the control method is greatly improved in the aspect of automatic control compared with the traditional controller.
Furthermore, the onboard data acquisition card can acquire data such as output control quantity, damping force, feedback current and the like of the controller, and an operator can judge the quality of the control model and the control accuracy of the controller from the result according to the acquired data, namely the controller can be used as a commercial product for an automobile suspension and can also be used as a laboratory for other related current control occasions, and the onboard data acquisition card has a wider application range compared with the traditional controller.
Drawings
FIG. 1 is a block diagram of a MR damper controller for a vehicle suspension system adjustable with road surface excitation according to the present invention;
fig. 2a is a schematic circuit diagram of the power input and transformation unit 1 according to the present invention;
fig. 2b is a schematic circuit diagram of the program downloading interface 2 and the serial communication interface 3 provided in the present invention;
fig. 2c is a schematic circuit diagram of the microcontroller unit 4 according to the present invention;
fig. 2d is a schematic circuit diagram of the general IO interface 5 provided in the present invention;
fig. 2e is a schematic circuit diagram of the gyroscope unit 6 provided by the present invention;
fig. 2f is a schematic circuit diagram of the data acquisition unit 7 provided in the present invention;
fig. 2g is a schematic circuit diagram of the reset unit 8 provided in the present invention;
fig. 2h is a schematic circuit diagram of the analog signal acquisition interface 9 according to the present invention;
fig. 2i is a schematic circuit diagram of the control button unit 10 provided in the present invention;
FIG. 3 is a schematic circuit diagram of a coil driving and current collecting unit according to the present invention;
fig. 4 is a diagram of a PCB simulation entity provided by the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, the magnetorheological damper controller for an automotive suspension system, which is provided by the invention and can be adjusted along with road surface excitation, comprises a PCB substrate, and a power input and voltage transformation unit 1, a microcontroller unit 4, a gyroscope unit 6 and a coil driving and current acquisition unit 13 which are arranged on the PCB substrate;
the power input and transformation unit 1 is electrically connected with the microcontroller unit 4, the gyroscope unit 6 and the coil driving and current acquisition unit 13 respectively; the microcontroller unit 4 is connected with the gyroscope unit 6 and the coil driving and current collecting unit 13;
referring to fig. 2a, the power input and transformation unit 1 adopts a vehicle-mounted battery as a power supply, and outputs a preset voltage through a voltage reduction chip to supply power to each module. For example, adopt car 12V storage battery to be used for driving the attenuator and regard as controller voltage input simultaneously, obtain 5V voltage output through 5V step-down chip and supply power for current acquisition unit part, obtain 3.3V voltage output through 3.3V step-down chip with 5V voltage again simultaneously and supply power for microcontroller unit and other board carried units, draw 5V and 3.3V power interface and can conveniently supply power for other on-vehicle electrical apparatus spare.
The gyroscope unit 6 is connected with the magnetorheological damper and used for detecting the acceleration and the speed of the magnetorheological damper at the running moment and transmitting the acceleration and the speed to the microcontroller unit 4; the coil driving and current collecting unit 13 is used for collecting the current value applied to the coil of the magnetorheological damper and transmitting the current value to the microcontroller unit 4; the microcontroller unit 4 is used for carrying out operation and analysis according to the acceleration, the speed and the current value to obtain a control signal; the control signal is used for controlling the output of the damping force of the magnetorheological damper.
In this embodiment, the gyroscope unit feeds back a damper piston speed signal and an acceleration signal, the microcontroller unit judges the road surface excitation type to automatically switch the control mode according to the measured data, and simultaneously the microcontroller unit receives a current signal fed back, the current signal, the speed signal and the acceleration signal serve as the input of the controller, and after operation, a control quantity is obtained and applied to a magnetorheological damper coil to control the output of a damping force, and finally the purpose of suspension damping is achieved.
Further, referring to fig. 1, the magnetorheological damper controller for a suspension system of an automobile adjustable with road surface excitation further comprises: the device comprises a program downloading interface 2, a serial port communication interface 3, a general IO interface 5, a data acquisition unit 7, a reset unit 8, an analog signal acquisition interface 9, a control button unit 10, a work indicator lamp unit 11, an installation positioning hole unit 12 and the like.
The above components are described in detail below:
fig. 2a-2i are schematic diagrams of the various components of the overall circuit of the present invention. The schematic diagrams mainly illustrate the hardware used by the driver to realize the predetermined functions and the electrical connections therebetween, the use of the hardware is not limited to the types in the diagrams, and related components may be replaced as long as they have the same functions.
Fig. 2a is a schematic circuit diagram of the power input and transformation unit 1, which uses a vehicle-mounted battery as a power supply, and outputs a preset voltage through a voltage reduction chip to supply power to each module.
Referring to fig. 2b, the program downloading interface 2 adopts an SWD interface for downloading, and only four lines are needed for program downloading and Debug; the serial port communication interface 3 is connected with the standard serial port peripheral of the microcontroller unit 4 and used for realizing communication between the microcontroller unit 4 and an upper computer, different control model control parameters are different, and the upper computer can realize setting of the control parameters through a serial port, so that the comfort of the seat suspension is optimized.
Referring to fig. 2c, the microcontroller unit 4 is a core part of the whole controller, the magnetorheological damper controller adopts a 32-bit ARM series microcontroller, the working dominant frequency can reach more than hundred MHz, real-time control and monitoring of the damper are met, filter capacitors are distributed on each power interface of the microcontroller, stray electromagnetic interference is filtered to ensure that the controller operates stably, and for example, a chip of STM32F411RCT6 can be adopted.
Referring to fig. 2d, the general IO interface 5 is GPIO from the microcontroller, and these GPIO include various buses commonly used in the circuit now, such as: IIC bus, SPI bus etc. utilize these buses can drive sensors such as attenuator displacement, temperature measurement and catch the signal of these module inputs to the real-time supervision of microcontroller to magnetorheological damper operation is realized to the all-round.
Referring to fig. 2e, the gyroscope unit 6 may be, for example, an electronic gyroscope, and is configured to detect acceleration and speed at the time of operation of the damper, and input the acquired acceleration and speed values into the damper control model to control the output state of the damper, where a kalman filter and an IIR filter are required to filter acquired data in a program to ensure the accuracy of input, and meanwhile, the microcontroller may determine the type of road excitation according to the fluctuation condition of the acquired data to automatically switch the control mode.
Referring to fig. 2f, the data acquisition unit 7 drives the SD card to read and write data input, measured, fed back, and output by the damper by using the standard SDIO peripheral interface of the microcontroller, and verifies the accuracy of control and can judge the advantages and disadvantages of various control models from the result, so that the controller is not limited to be used in actual automobiles, and can also be used in various current control test experiments in laboratories, and the data read-write and save functions utilize the FATFS file system to manage the acquired data.
Referring to fig. 2g, the reset unit 8 may reset the whole control system, the microcontroller has a built-in watchdog function, and when the program is halted or runs away due to external interference or other reasons, the microcontroller may be automatically reset, which may avoid errors in time and ensure that the program is always running in a normal state. Referring to fig. 2h, the analog signal acquisition interface 9 adopts a standard ADC peripheral of a microcontroller, and can acquire an analog voltage signal of 0 to 3.3V input by a relevant sensor; referring to fig. 2i, the control button unit 10 is provided with a plurality of control buttons for controlling the on/off of the data acquisition function, and the control models of the magnetorheological damper are various, so that the comfort requirements of different people correspond to different models, and different control models can be switched through the function buttons.
The working indicator light unit 11 is distributed with a plurality of functional indicator lights which are respectively used for indicating the working state of the system, the data acquisition state, the control mode state and the like; the mounting hole unit 12 is provided with a plurality of positioning holes for fixing the control panel.
Coil drive and current acquisition unit 13 adopts MOS pipe drive attenuator coil of sufficient power, and the control signal of microcontroller output is received to the grid control pin of MOS pipe, and coil, sampling resistor and source electrode and drain electrode establish ties and constitute the return circuit in the circuit, and the sampling resistor here is used for gathering coil current size, and this resistance will be accurate enough and power is big enough under the prerequisite that satisfies economic nature requirement.
The isolation driving and isolation signal acquisition are adopted, the driving signal can drive the MOS tube through the optical coupler so as to achieve the purpose of driving the coil, the current acquisition acquires the voltage at two ends of a precision resistor connected in the coil circuit in series through an isolation amplifier, the acquired differential signal is converted into a single-ended signal through an operational amplifier after amplification, accurate current feedback is provided for the controller after relevant operation, the isolation driving and isolation signal acquisition is adopted, the influence of extra electromagnetic interference on input and output can be avoided, the controller can be ensured to run more stably, meanwhile, codes for overcurrent protection are compiled in software, the turn-off function of the control signal of the MOS tube is triggered when the detected current exceeds a set threshold value, and the damage and energy loss of the damper caused by overcurrent can be protected.
Specifically, referring to fig. 3, the coil driving and current collecting unit 13 includes: the device comprises an isolation amplifier, an operational amplifier, a photoelectric isolator, an MOS (metal oxide semiconductor) tube, a sampling resistor and a coil interface; the coil interface is connected with a coil of the magnetorheological damper; the microcontroller unit is connected with the photoelectric isolator and inputs a driving signal to the photoelectric isolator; the photoelectric isolator is connected with a grid control pin of the MOS tube, converts the driving signal into an optical signal and inputs the optical signal to the grid of the MOS tube; the sampling resistor and the coil interface are connected with the source electrode and the drain electrode of the MOS tube in series in a circuit to form a loop; the MOS tube drives a coil of the magneto-rheological damper;
the power input and transformation unit is sequentially connected with the isolation amplifier and the operational amplifier; the operational amplifier is connected with the microcontroller unit; the voltage of two ends of a precision resistor connected in series in the coil circuit is acquired through an isolation amplifier, the acquired differential signal is converted into a single-ended signal through an operational amplifier after being amplified, and the single-ended signal provides current feedback for the microcontroller unit after being subjected to related operation.
In general, the coil driving and current collecting unit 13 includes two parts, namely, a coil driving part and a current collecting part, the coil driving part adopts isolation driving, that is, an optical coupler is added to convert a control signal into an optical signal to control the on-off of the current of the coil, an isolation signal end is connected to a grid electrode of an MOS transistor through a pull-up resistor, and the purpose of adding the pull-up resistor is to pull the point position of the control end to a fixed level through the optical coupler conduction when no control signal is available, so that the control uncertainty of a pin due to floating is prevented, and meanwhile, the pull-up resistor also serves as a current limiting resistor of the isolation; the battery power supply, the coil, the MOS tube and the sampling resistor are connected in series to be used as the main part of the driving circuit; voltage signals at two ends of a sampling resistor of the current acquisition part are used as sampling signals, the sampling resistor is required to reduce the power influence on the driving part as much as possible, namely the sampling resistor is small enough and the resistance value is accurate enough, an isolation amplifier is used for acquiring the voltage signals, and because the sampling signals are very weak, an RC filter circuit is added at the acquisition input end of the isolation amplifier, so that the sampling ripple is reduced; the differential signal after being amplified by a certain multiple is output at the isolation end, the differential signal cannot be directly captured by the microcontroller, the differential signal needs to be converted into a single-ended signal through operational amplification, and the magnitude of the coil current is calculated according to the circuit relationship after the converted single-ended signal is captured by the microcontroller.
FIG. 4 is a diagram of a PCB simulation entity of the present invention. The position distribution of each unit and the overall PCB outline shape are shown, the size is controlled within the range of 80mm x 80mm in consideration of the limited installation space on the automobile, and circuit protection and electromagnetic interference shielding are well achieved during installation.
The working principle of the invention is as follows:
after the controller inputs a plurality of control models, the upper computer adjusts parameters of different models through serial ports, the default is an automatic control mode, namely the controller can judge the road excitation type according to data returned by the gyroscope to automatically switch the control models, and meanwhile, the control modes can be manually changed through keys; the controller receives speed and acceleration data fed back by the gyroscope and current data fed back by the current acquisition unit, and the three data signals are simultaneously input into a control algorithm to obtain a control quantity which is applied to a control signal to control the output of the damping force through calculation.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The magneto-rheological damper controller for the automobile suspension system capable of being adjusted along with the road surface excitation is characterized in that: the device comprises a PCB substrate, a power input and transformation unit, a microcontroller unit, a gyroscope unit and a coil driving and current collecting unit, wherein the power input and transformation unit, the microcontroller unit, the gyroscope unit and the coil driving and current collecting unit are arranged on the PCB substrate;
the power input and transformation unit is electrically connected with the microcontroller unit, the gyroscope unit and the coil driving and current acquisition unit respectively;
the microcontroller unit is connected with the gyroscope unit and the coil driving and current collecting unit;
the power input and transformation unit adopts a vehicle-mounted storage battery as a power supply, outputs preset voltage through a voltage reduction chip and supplies power to each module;
the gyroscope unit is connected with the magnetorheological damper and used for detecting the acceleration and the speed of the magnetorheological damper at the running moment and transmitting the acceleration and the speed to the microcontroller unit;
the coil driving and current collecting unit is used for collecting a current value applied to the coil of the magnetorheological damper and transmitting the current value to the microcontroller unit;
the microcontroller unit is used for carrying out operation analysis according to the acceleration, the speed and the current value to obtain a control signal; the control signal is used for controlling the output of the damping force of the magnetorheological damper.
2. The magnetorheological damper controller for a road surface excitation adjustable automotive suspension system of claim 1, wherein: the microcontroller unit adopts an ARM series microcontroller, and the working frequency reaches hundreds of MHz.
3. The magnetorheological damper controller for a road surface excitation adjustable automotive suspension system of claim 1, wherein: the coil driving and current collecting unit includes:
the device comprises an isolation amplifier, an operational amplifier, a photoelectric isolator, an MOS (metal oxide semiconductor) tube, a sampling resistor and a coil interface; the coil interface is connected with the coil of the magneto-rheological damper;
the microcontroller unit is connected with the photoelectric isolator and inputs a driving signal to the photoelectric isolator;
the photoelectric isolator is connected with a grid control pin of the MOS tube, converts a driving signal into an optical signal and inputs the optical signal to the grid of the MOS tube;
the sampling resistor and the coil interface are connected with the source electrode and the drain electrode of the MOS tube in series in a circuit to form a loop; the MOS tube drives a coil of the magneto-rheological damper;
the power input and transformation unit is sequentially connected with the isolation amplifier and the operational amplifier; the operational amplifier is connected with the microcontroller unit;
the voltage of two ends of a precision resistor connected in series in the coil circuit is acquired through an isolation amplifier, the acquired differential signal is converted into a single-ended signal through an operational amplifier after being amplified, and the single-ended signal provides current feedback for the microcontroller unit after being subjected to related operation.
4. The magnetorheological damper controller for a road surface excitation adjustable automotive suspension system of claim 1, wherein: the gyroscope unit adopts an electronic gyroscope and is used for acquiring the acceleration and the speed of the magnetorheological damper at the operation moment, and a Kalman filter and an IIR filter are adopted for filtering the acquired data.
5. The magnetorheological damper controller for a road surface excitation adjustable automotive suspension system of claim 1, wherein: further comprising: a program download interface connected to the microcontroller unit; and the program downloading interface adopts an SWD interface for downloading and is used for realizing program downloading and Debug debugging.
6. The magnetorheological damper controller for a road surface excitation adjustable automotive suspension system of claim 1, wherein: further comprising: a serial communication interface connected with the microcontroller unit; and the serial port communication interface is used for realizing the communication between the microcontroller unit and the upper computer and realizing the setting of control parameters.
7. The magnetorheological damper controller for a road surface excitation adjustable automotive suspension system of claim 1, wherein: further comprising: the data acquisition unit is connected with the microcontroller unit; the data acquisition unit drives the SD card to read and write data input, measurement, feedback and output by the magnetorheological damper by adopting a standard SDIO peripheral interface of the microcontroller unit.
8. The magnetorheological damper controller for a road surface excitation adjustable automotive suspension system of claim 1, wherein: further comprising: the reset unit is connected with the microcontroller unit; and the reset unit is used for resetting the whole controller.
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| CN202110420209.3A CN113110186A (en) | 2021-04-19 | 2021-04-19 | Magneto-rheological damper controller capable of being adjusted along with road surface excitation for automobile suspension system |
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| CN202110420209.3A CN113110186A (en) | 2021-04-19 | 2021-04-19 | Magneto-rheological damper controller capable of being adjusted along with road surface excitation for automobile suspension system |
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Citations (9)
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