CN113561720A - Suspension cylinder type energy recovery system and control method thereof - Google Patents
Suspension cylinder type energy recovery system and control method thereof Download PDFInfo
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- CN113561720A CN113561720A CN202110711406.0A CN202110711406A CN113561720A CN 113561720 A CN113561720 A CN 113561720A CN 202110711406 A CN202110711406 A CN 202110711406A CN 113561720 A CN113561720 A CN 113561720A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/16—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dynamic absorbers as main damping means, i.e. spring-mass system vibrating out of phase
- B60G13/18—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dynamic absorbers as main damping means, i.e. spring-mass system vibrating out of phase combined with energy-absorbing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0155—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit pneumatic unit
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- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of automobile suspensions, in particular to a suspension cylinder type energy recovery system and a control method thereof. Comprises a suspension and an energy storage pool; the suspension comprises a lower cylinder body, an upper cylinder body and a piston rod which is arranged in the upper cylinder body and the lower cylinder body in a penetrating way; an upper piston is arranged at one end of the piston rod, which is positioned in the upper cylinder body, and a lower piston is arranged at one end of the piston rod, which is positioned in the lower cylinder body; the upper cylinder body is filled with an air medium; the lower cylinder body is filled with an oil medium, and the lower piston is provided with a damping hole for communicating a lower rodless cavity and a lower rod cavity in the lower cylinder body; the energy storage pool comprises an energy storage cylinder body communicated with the upper rodless cavity of the upper cylinder body through a communication pipeline and a pressure-sensitive motor which is arranged in the energy storage cylinder body and can move left and right to generate electric energy; the pressure-sensitive motor is a generating set with adjustable moving direction; and the communicating pipeline is provided with a speed reducing valve with adjustable valve opening. The invention has simple structure and can actively control the suspension through the energy storage pool and the speed reducing valve.
Description
Technical Field
The invention relates to the technical field of automobile suspensions, in particular to a suspension cylinder type energy recovery system and a control method thereof.
Background
At present, in a related suspension system, an oil medium is used in a common suspension system in a fixed compression state, which is an important reason that different vehicle types have different driving feelings, the damping of suspension is set to be large, and the suspension of the vehicle is hard, the supporting performance of a chassis is strong, but the comfort of the vehicle is greatly reduced when the vehicle is in a bumpy road surface. The damping setting of the suspension is small, the suspension is soft, and although fine and small bumps on the road surface are filtered, the shock absorption capacity of the suspension is limited when large impact is faced, and the vehicle body is not stable enough.
The existing damping and rigidity adjusting mode of a suspension structure usually adjusts the damping and rigidity by changing the size of a damping hole and adjusting the flowing speed of oil, but the adjusting method has great limitations, firstly, the structure is complex, the adjusting difficulty is high, secondly, vibration energy is completely wasted by adjusting and distributing, researches show that the energy consumed by automobile vibration is far more than the energy consumed by automobile braking, if the vibration energy can be effectively recycled, the endurance mileage of an automobile can be increased by 20% -30%, and when the current suspension structure usually does not recycle the energy, the energy waste is caused.
Disclosure of Invention
The invention aims to solve the defects of the background technology and provides a suspension cylinder type energy recovery system and a control method thereof, and the suspension cylinder type energy recovery system can recover vibration energy and can adjust the damping and the rigidity of a suspension by recovering the vibration energy.
The technical scheme of the invention is as follows: a suspension cylinder type energy recovery system comprises a suspension and an energy storage pool; the suspension comprises a lower cylinder body, an upper cylinder body and a piston rod which is arranged in the upper cylinder body and the lower cylinder body in a penetrating way; an upper piston is arranged at one end of the piston rod, which is positioned in the upper cylinder body, and a lower piston is arranged at one end of the piston rod, which is positioned in the lower cylinder body; the upper cylinder body is filled with an air medium; the lower cylinder body is filled with an oil medium, and the lower piston is provided with a damping hole for communicating a lower rodless cavity and a lower rod cavity in the lower cylinder body; the energy storage pool comprises an energy storage cylinder body communicated with the upper rodless cavity of the upper cylinder body through a communication pipeline and a pressure-sensitive motor which is arranged in the energy storage cylinder body and can move left and right to generate electric energy; the pressure-sensitive motor is a generating set with adjustable moving direction; and the communicating pipeline is provided with a speed reducing valve with adjustable valve opening.
Further, a first spring capable of buffering vertical vibration is arranged in a rod cavity below the lower cylinder body.
And a second spring capable of buffering vertical vibration is arranged in an upper rodless cavity of the upper cylinder body.
Further the vehicle has a suspension cylinder type energy recovery system.
A control method of a suspension cylinder type energy recovery system comprises the steps of obtaining the optimal vibration frequency under the current vehicle speed according to the vehicle speed, collecting pressure in an energy storage tank, calculating the actual vibration frequency of a suspension by combining the vehicle speed, comparing the optimal vibration frequency with the actual vibration frequency, selecting corresponding control measures according to the comparison result, and adjusting the vibration frequency of the suspension by controlling the moving direction of a pressure-sensitive motor and a speed reducing valve until the actual vibration frequency of the suspension is equal to the optimal vibration frequency.
The method for selecting corresponding control measures according to the comparison result further comprises the following steps: when the actual vibration frequency is smaller than the optimal vibration frequency and the ratio of the difference value of the actual vibration frequency and the optimal vibration frequency to the optimal vibration frequency is smaller than or equal to a first set value, the pressure-sensitive motor is controlled to move only to one side close to the speed-reducing valve, the speed-reducing valve is controlled to be completely opened, and the upper rodless cavity of the upper cylinder body can be naturally enlarged.
The method for selecting corresponding control measures according to the comparison result further comprises the following steps: when the actual vibration frequency is larger than the optimal vibration frequency, and the ratio of the difference value between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is larger than or equal to a second set value, the pressure-sensitive motor is controlled to move only to the side away from the speed-reducing valve, the speed-reducing valve is controlled to be completely opened, and the upper rodless cavity of the upper cylinder body can be naturally reduced.
The method for selecting corresponding control measures according to the comparison result further comprises the following steps: when the ratio of the absolute value of the difference value between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than or equal to a third set value and greater than a fourth set value, the pressure-sensitive motor is controlled to move towards one side of the speed reducing valve or one side away from the speed reducing valve, the valve opening of the speed reducing valve is controlled, and the volume of the upper rodless cavity of the upper cylinder body is adjusted.
The method for selecting corresponding control measures according to the comparison result further comprises the following steps: and when the ratio of the absolute value of the difference value between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than or equal to a fourth set value, controlling the deceleration valve to close.
The method for selecting corresponding control measures according to the comparison result further comprises the following steps: and when the ratio of the absolute value of the difference value between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than the first set value and more than the third set value, maintaining the adjustment of the speed reducing valve and the pressure-sensitive motor at the last moment.
The invention can regulate and control through the energy storage pool and the speed reducing valve which can be regulated and controlled, regulate the actual vibration frequency of the suspension to be consistent with the optimal vibration frequency, and carry out corresponding adjustment according to the vibration condition of the road suspension, thereby increasing the adaptability of the vehicle to various driving working conditions, greatly improving the performances of riding comfort, operation stability and the like, recovering the vibration energy through the pressure sensitive motor by the energy storage pool, and further inhibiting the oscillation of the suspension in the process of recovering the energy.
Drawings
FIG. 1: the invention has a structure schematic diagram;
wherein: 1-lower cylinder body; 2, an upper cylinder body; 3-a piston rod; 4-lower piston; 5, an upper piston; 6-lower rodless cavity; 7-a rod cavity is arranged below the rod cavity; 8, an upper rodless cavity; 9-a rod cavity is arranged on the rod; 10-a first spring; 11-a second spring; 12-connecting the channels; 13-energy storage cylinder; 14-a pressure sensitive motor; 15-a deceleration valve.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. 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 device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
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 implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1, the suspension structure of the present embodiment includes two cylinders, a lower cylinder 1 and an upper cylinder 2, which are respectively disposed in an up-down overlapping manner, the two cylinders are connected together through a piston rod 3, the lower end of the piston rod 3 is inserted into the lower cylinder 1, the end portion of the piston rod is provided with a lower piston 4, the upper end of the piston rod 3 is inserted into the upper cylinder 2, and the end portion of the piston rod is provided with an upper piston 5. In the embodiment, an oil medium is filled in the lower cylinder body 1, a gas medium is filled in the upper cylinder body 2, the lower piston 4 is provided with a damping hole communicated with the lower rodless cavity 6 and the lower rod cavity 7 in the lower cylinder body 1, and when the oil medium flows between the lower rodless cavity 6 and the lower rod cavity 7 through the damping hole, a damping effect is generated. When the suspension bears vertical vibration, the upper piston 4 moves vertically to change the volumes of the upper rod cavity 9 and the upper rodless cavity 8, and when the vibration is transmitted to the lower piston 4 through the piston rod 3, the volumes of the lower rod cavity 7 and the lower rodless cavity 6 change in the moving process of the lower piston 4, and an oil medium flows in the damping hole to generate damping. Go up cylinder body 2 and adopt gaseous medium, can solve the condition of little vibration, when the road goes relatively flat, the vibration majority of production dissipates through last cylinder body 2, improves the travelling comfort of driving, when the road jolt the vibration great, lower cylinder body 1 absorbs the vibration on road surface, improves the rigidity of driving, and performance and security are controlled in the reinforcing.
The embodiment further comprises an energy storage pool, the energy storage pool 13 comprises an energy storage cylinder body 13, a pressure sensing motor 14 capable of moving left and right is arranged in the energy storage cylinder body 13, and the pressure sensing motor 14 moves through air pressure changes on two sides to generate electric energy. The energy storage cylinder 13 on the left side of the pressure-sensitive motor 14, namely the energy storage cylinder 13 on the side facing the suspension, is communicated with the upper rodless cavity 8 of the suspension through a connecting channel 12, a speed reducing valve 15 is arranged in the connecting channel 12, and the valve opening of the speed reducing valve 15 is adjustable. In addition, the left-right movement direction of the pressure-sensitive motor 14 of the present embodiment is adjustable, that is, in some cases, the pressure-sensitive motor 12 is controlled to move only to the side close to the deceleration valve 15, or the pressure-sensitive motor 12 is controlled to move only to the side away from the deceleration valve 15, or the pressure-sensitive motor 12 is controlled to move both to the side close to the deceleration valve 15 and to the side away from the deceleration valve 15.
In the embodiment, the vibration frequency of the suspension is adjusted by controlling the moving direction of the pressure-sensitive motor 12 and the opening degree of the speed-reducing valve 15, so that the actual vibration frequency of the suspension is kept consistent with the optimal vibration frequency, the natural frequency of the suspension system is basically unchanged, and the smoothness and the trafficability characteristic of the vehicle are respectively improved by charging and discharging the combination of the upper rodless cavity 8 and the energy storage pool. The suspension stiffness is reduced during high-speed running, the grounding performance of tires is improved, the vehicle operation stability and safety are improved, and meanwhile, the damage to the road surface is reduced.
The specific control method of this embodiment is as follows:
obtaining V, namely the volume of a cavity communicated with an upper rodless cavity on the left side of a pressure-sensitive motor of an energy storage pool, monitoring the absolute pressure P of air pressure in the energy storage pool through a pressure sensor in the energy storage pool, obtaining a gas compression deformation speed n value according to air temperature, wherein the gas compression deformation speed n value is obtained through a calibrated air temperature and gas compression deformation speed n value MAP table, calling the gas compression deformation speed n value under the current temperature condition by receiving a temperature signal of a finished automobile CAN network segment, and then calculating the actual vibration frequency of a suspension according to the following formula:
wherein: f. of1-the actual vibration frequency of the suspension;
n is the gas compression deformation speed;
v is the volume of a cavity communicated with the upper rodless cavity at the left side of the pressure-sensitive motor;
a-effective induction area of the energy storage pool;
p is the absolute pressure of the chamber communicated with the upper rodless cavity at the left side of the pressure-sensitive motor;
Pa-standard atmospheric pressure;
according to the steps, the actual vibration frequency of the suspension of the vehicle passing through an obstacle or a deceleration strip can be obtained, the vibration frequency of the suspension is expected to be 0 during normal running, but if the frequency of the suspension is forcibly controlled to be 0 suddenly during vibration, the suspension is rigid, and negative feedback is given to a customer. Therefore, the vibration frequency of the suspension is actively controlled in the embodiment, so that the real-time vibration frequency of the suspension is a certain damping curve after the vehicle passes through the obstacle or the deceleration strip, and the curve enables passengers to have comfortable driving experience.
The optimal vibration frequency of the vehicle at the current moment can be obtained by collecting the vehicle speed and the time of the vehicle through a calibrated three-dimensional MAP table of the optimal vibration frequency, the vehicle speed and the time, the optimal vibration frequency is the frequency control target of the suspension, and when the actual vibration frequency of the suspension is equivalent to the optimal vibration frequency, the good shock absorption effect can be obtained,
the above formula is a calculation formula of the frequency control target, i.e. by adjusting VUpper rodless cavityAnd VEnergy storage poolV of the present embodimentEnergy storage poolThe volume of a cavity communicated with the upper rodless cavity on the left side of the finger pressure sensing motor can achieve the purpose of adjusting frequency and adjusting VUpper rodless cavityAnd VEnergy storage poolThe control method is realized by controlling a speed reducing valve and limiting the movement direction of a pressure-sensitive motor.
Comparing the actual vibration frequency of the suspension with the optimal vibration frequency, and correspondingly controlling and adjusting the pressure-sensitive motor 12 and the speed-reducing valve 15 according to the comparison structure, so that the actual vibration frequency of the suspension approaches to the optimal vibration frequency until the actual vibration frequency and the optimal vibration frequency are completely the same, wherein the specific control measures are as follows:
when the actual vibration frequency is smaller than the optimal vibration frequency and the ratio of the difference value of the actual vibration frequency and the optimal vibration frequency to the optimal vibration frequency is smaller than or equal to a first set value (the first set value is determined to be-1), the pressure-sensitive motor is controlled to move only to one side close to the speed-reducing valve, the speed-reducing valve is controlled to be completely opened, and the upper rodless cavity of the upper cylinder body can be naturally enlarged.
When the actual vibration frequency is greater than the optimal vibration frequency and the ratio of the difference between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is greater than or equal to a second set value (the second set value is 1 in this embodiment), the pressure-sensitive motor is controlled to move only to the side away from the speed-reducing valve, the speed-reducing valve is controlled to be completely opened, and the upper rodless cavity of the upper cylinder body can be naturally reduced.
When the ratio of the absolute value of the difference between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than or equal to a third set value and greater than a fourth set value (the third set value is 0.9 in this embodiment, and the fourth set value is 0.03 in this embodiment), the pressure-sensitive motor is controlled to move towards one side of the speed-reducing valve or one side away from the speed-reducing valve, the valve opening of the speed-reducing valve is controlled, and the volume of the upper rodless cavity of the upper cylinder body is adjusted.
And when the ratio of the absolute value of the difference value between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is larger than a third set value and smaller than a first set value, maintaining the regulation of the speed reducing valve and the pressure-sensitive motor at the last moment. The interval of 0.9-1.0 and-1 to-0.9 is a robustness interval, the adjustment state at the previous moment is maintained, and the state switching is prevented from being too frequent.
When the ratio of the absolute value of the difference between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than or equal to a fourth set value (the fourth set value in this embodiment is 0.03), the deceleration valve is controlled to close, and the operation is finished.
After the speed reducing valve is closed, the control process of the current round is terminated, after 3s, the next round of control is started, the speed reducing valve is automatically opened, and control and adjustment are carried out according to the process.
The first set value > the third set value > the fourth set value > the second set value.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A suspension cylinder type energy recovery system is characterized in that: comprises a suspension and an energy storage pool; the suspension comprises a lower cylinder body (1), an upper cylinder body (2) and a piston rod (3) which is arranged in the upper cylinder body (2) and the lower cylinder body (1) in a penetrating way; an upper piston (5) is arranged at one end of the piston rod (3) positioned on the upper cylinder body (2), and a lower piston (4) is arranged at one end of the piston rod (3) positioned on the lower cylinder body (1); an air medium is filled in the upper cylinder body (2); the lower cylinder body (1) is filled with an oil medium, and the lower piston (4) is provided with a damping hole which is communicated with a lower rodless cavity (6) and a lower rod cavity (7) in the lower cylinder body (1); the energy storage pool comprises an energy storage cylinder body (13) which is communicated with the upper rodless cavity (8) of the upper cylinder body (2) through a communication pipeline (12) and a pressure-sensitive motor (14) which is arranged in the energy storage cylinder body (13) and can move left and right to generate electric energy; the pressure-sensitive motor (14) is a generating set with adjustable moving direction; and a speed reducing valve (15) with adjustable valve opening degree is arranged on the communicating pipeline (12).
2. A suspension cylinder type energy recovery system as claimed in claim 1, wherein: a first spring (10) capable of buffering vertical vibration is arranged in the rod cavity (7) below the lower cylinder body (1).
3. A suspension cylinder type energy recovery system as claimed in claim 1, wherein: and a second spring (11) capable of buffering vertical vibration is arranged in the upper rodless cavity (8) of the upper cylinder body (2).
4. An automobile having a suspension cylinder type energy recovery system according to any one of claims 1 to 3, characterized in that: the automobile is provided with a suspension cylinder type energy recovery system as claimed in any one of claims 1 to 3.
5. A control method of a suspension cylinder type energy recovery system according to claim 1, characterized in that: the method comprises the steps of obtaining the optimal vibration frequency under the current vehicle speed according to the vehicle speed, collecting pressure in an energy storage pool, calculating the actual vibration frequency of a suspension by combining the vehicle speed, comparing the optimal vibration frequency with the actual vibration frequency, selecting corresponding control measures according to the comparison result, and adjusting the vibration frequency of the suspension by controlling the moving direction of a pressure-sensitive motor and a speed reducing valve until the actual vibration frequency of the suspension is equal to the optimal vibration frequency.
6. A suspension cylinder type energy recovery control method according to claim 5, characterized in that: the method for selecting the corresponding control measure according to the comparison result comprises the following steps: when the actual vibration frequency is smaller than the optimal vibration frequency and the ratio of the difference value of the actual vibration frequency and the optimal vibration frequency to the optimal vibration frequency is smaller than or equal to a first set value, the pressure-sensitive motor is controlled to move only to one side close to the speed-reducing valve, the speed-reducing valve is controlled to be completely opened, and the upper rodless cavity of the upper cylinder body can be naturally enlarged.
7. A suspension cylinder type energy recovery control method according to claim 5, characterized in that: the method for selecting the corresponding control measure according to the comparison result comprises the following steps: when the actual vibration frequency is larger than the optimal vibration frequency, and the ratio of the difference value between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is larger than or equal to a second set value, the pressure-sensitive motor is controlled to move only to the side away from the speed-reducing valve, the speed-reducing valve is controlled to be completely opened, and the upper rodless cavity of the upper cylinder body can be naturally reduced.
8. A suspension cylinder type energy recovery control method according to claim 5, characterized in that: the method for selecting the corresponding control measure according to the comparison result comprises the following steps: when the ratio of the absolute value of the difference value between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than or equal to a third set value and greater than a fourth set value, the pressure-sensitive motor is controlled to move towards one side of the speed reducing valve or one side away from the speed reducing valve, the valve opening of the speed reducing valve is controlled, and the volume of the upper rodless cavity of the upper cylinder body is adjusted.
9. A suspension cylinder type energy recovery control method according to claim 5, characterized in that: the method for selecting the corresponding control measure according to the comparison result comprises the following steps: and when the ratio of the absolute value of the difference value between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than or equal to a fourth set value, controlling the deceleration valve to close.
10. A suspension cylinder type energy recovery control method according to claim 5, characterized in that: the method for selecting the corresponding control measure according to the comparison result comprises the following steps: and when the ratio of the absolute value of the difference value between the actual vibration frequency and the optimal vibration frequency to the actual vibration frequency is less than the first set value and more than the third set value, maintaining the adjustment of the speed reducing valve and the pressure-sensitive motor at the last moment.
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| CN113561720B (en) | 2023-07-14 |
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