CN113602051A - Electromechanical inertial container air spring device of hub-driven automobile - Google Patents
Electromechanical inertial container air spring device of hub-driven automobile Download PDFInfo
- Publication number
- CN113602051A CN113602051A CN202110889975.4A CN202110889975A CN113602051A CN 113602051 A CN113602051 A CN 113602051A CN 202110889975 A CN202110889975 A CN 202110889975A CN 113602051 A CN113602051 A CN 113602051A
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- Prior art keywords
- air spring
- inerter
- air
- electromechanical
- hub
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- 239000012530 fluid Substances 0.000 claims abstract description 33
- 238000013016 damping Methods 0.000 claims abstract description 11
- 239000000725 suspension Substances 0.000 claims description 10
- 239000002775 capsule Substances 0.000 claims description 8
- 238000004804 winding Methods 0.000 claims description 7
- 230000003116 impacting effect Effects 0.000 claims description 4
- 239000012528 membrane Substances 0.000 claims description 4
- 230000002238 attenuated effect Effects 0.000 claims description 3
- 239000003990 capacitor Substances 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims description 2
- 230000008878 coupling Effects 0.000 abstract description 10
- 238000010168 coupling process Methods 0.000 abstract description 10
- 238000005859 coupling reaction Methods 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 7
- 239000007788 liquid Substances 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000002955 isolation Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/08—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having fluid spring
- B60G15/12—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having fluid spring and fluid damper
-
- 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
- B60G17/0157—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 non-fluid unit, e.g. electric motor
-
- 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
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
Abstract
The invention relates to an electromechanical inerter air spring device of a hub-driven automobile. The structure mainly comprises a fluid type inertia container, a diaphragm type air spring and a linear motor. The piston of the fluid type inerter is provided with a damping hole which has a damping effect. The fluid type inerter structure is improved, and the inerter coefficient is continuously adjustable within a certain range through the coupling arrangement with the air spring. And through the coupling of fluid formula inertial container and linear electric motor, not only can realize passive control, active control and present three kinds of mode of ability, and combine with the automobile body height sensor under the active control mode, confirm the automobile body height in real time, prevent that air spring just from hitting the stopper under the soft condition.
Description
Technical Field
The invention relates to the technical field of vibration isolation of hub-driven vehicles, in particular to an electromechanical inertial container air spring device of a hub-driven vehicle.
Background
In 2002, smith professor of cambridge university in england proposes an inerter-mass element with double end points, which realizes strict correspondence of electromechanical relation and promotes breakthrough and development of suspension form. At present, the inertial container is applied to a plurality of fields, and the excellent vibration isolation performance of the inertial container is effectively proved through experimental research. The air spring has the advantages of adjustable rigidity, good high-frequency vibration reduction effect and the like, but no research is provided for overcoming the problem that the inertia mass coefficient of the fluid type inertia volume cannot be adjusted by coupling the air spring and the fluid type inertia volume.
The inerter is used as a double-end-point mass element and has good high-frequency-passing and low-frequency-combining characteristics; the air spring obviously attenuates high-frequency vibration, and the combination of the air spring and the air spring can realize broadband vibration suppression. Patent CN106004302B proposes a scheme of coupling arrangement of an air spring and a ball screw type inerter, which widens the application range of the inerter, but the inerter coefficient is not adjustable, and the ball screw has the influence of nonlinear factors such as friction and clearance, compared with a fluid type inerter, the fluid type inerter has a fast response speed and can bear a larger impact load, but the current coupling research on the air spring and the fluid type inerter is basically blank, and the application range of the inerter is limited. And the fluid type inerter uses a liquid medium to realize a mass amplification effect, and the inertia mass coefficient is difficult to adjust.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the air spring structure of the fluid electromechanical inertial container, aiming at the problem that the inertial container does not obviously attenuate high-frequency vibration, effectively utilizing the advantage that the air spring has good effect of attenuating high-frequency vibration, realizing broadband vibration suppression and being easy for engineering arrangement. Aiming at the problem that the inertance coefficient of the fluid type inertance container is difficult to adjust, the spiral pipe is innovatively designed, and the continuous adjustability of the inertance coefficient is realized. Aiming at the problem that the suspension collides with a limiting block due to the fact that the spring is too soft, the height of the vehicle body is controlled by using the linear motor and the height sensor.
In order to realize the purpose, the invention adopts the technical scheme that:
an electromechanical inertial container air spring device of a hub-driven automobile comprises a membrane type air spring and a fluid type inertial container; wherein the membrane type air spring comprises an air inlet (2-1), an air outlet (2-2), an upper end cover (3) and a bag skin (4); the upper end cover (3) is fixedly connected with the capsule skin (4), the upper end cover (3) is fixedly connected with the piston rod (5), and the capsule skin (4) is connected with the fluid type inerter shell; the air inlet (2-1) and the air outlet (2-2) are arranged on the upper end cover (3); the fluid type inerter comprises a piston rod (5), a hydraulic cavity (6), a spiral rubber tube (7), a piston (8), a rubber air bag (9) and a damping hole (16); wherein the lower part of the piston rod (5) is fixedly connected with a linear motor; an inlet and an outlet of the spiral pipe (7) are respectively communicated with two chambers of the hydraulic chamber (6); a damping hole (16) is formed in the piston (8); the rubber air bag (9) is fixed at the bottom of the hydraulic cavity (6).
Further, the air pressure in the rubber air bag (9) is equal to the pressure at the lowest rigidity of the air spring.
Further, the rubber air bag (9) is fixed at the bottom of the hydraulic cavity (6).
Further, the linear motor comprises a rotor magnetic yoke (10), a winding (11), a rotor magnetic pole (12), a rotor shaft (13) and a stator (14); wherein the rotor shaft (13) is fixedly connected with the lower part of the piston rod (5).
Further, the fluid type inertial container is connected with an outer end circuit through a linear motor, and the following three working modes are realized:
energy feedback mode: when the rotor shaft (13) moves up and down in a reciprocating linear mode, the rotor magnetic yoke (10), the magnetic pole (12) and the winding (11) move relatively to generate induced electromotive force, induced voltage is generated, and the vibration energy of the system is recovered and stored through an outer end circuit and is used as energy input of other energy consumption systems;
passive control mode: the outer end circuit is a passive network consisting of a resistor, an inductor and a capacitor, when the terminal voltage acts on the passive network, the electrical impedance of the passive network is equivalent to the mechanical impedance of the mechanical network, and the vibration of the system is further attenuated;
an active control mode: the outer end circuit is a power supply and supplies power to the linear motor, and the fluid type electromechanical inertial container is a force generator and actively controls the system to vibrate. Meanwhile, according to the vehicle body height sensor, when the vehicle body height is too low, the output force of the motor is controlled, and the suspension is prevented from impacting the limiting block.
The beneficial implementation effect of the invention is as follows:
1. the invention adopts the scheme of coupling arrangement of the air spring and the fluid type inerter, has large load bearing impact load, high response speed, compact structure and easy engineering arrangement.
2. The coupling arrangement scheme of the fluid type inerter and the air spring can realize continuous adjustment of the inerter coefficient of the fluid type inerter in a certain range. And the inertia mass coefficient is reversely changed along with the spring stiffness, when the spring stiffness is small, the inertia mass coefficient is large, the riding comfort is further improved, and when the spring stiffness is large, the inertia mass coefficient is small, and the vibration can be attenuated to a certain degree.
3. The electromechanical fluid inerter can realize three working modes of active control, passive control and energy feedback.
4. The vehicle body height sensor adopted by the invention can control the output force of the motor when the vehicle body height is too low, so that the suspension is prevented from impacting the limit block.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a cross-sectional view of a fluid inerter and air spring coupling.
Fig. 2 is a three-dimensional view of the rubber bladder.
Fig. 3 is a schematic diagram of a suspension arrangement.
The reference numbers of figure 1 are as follows: 1-upper lifting lug, 2-1 air inlet, 2-2 air outlet, 3-upper end cover, 4-capsule skin, 5-piston rod, 6-hydraulic cavity, 7-rubber spiral tube, 8-piston, 9-rubber air bag, 10-rotor magnetic yoke, 11-winding, 12-rotor magnetic pole, 13-rotor shaft, 14-stator, 15-lower lifting lug and 16-damping hole.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1 to 3, the present invention relates to an electromechanical inerter air spring device of a hub-driven vehicle, comprising: the air-conditioning rotor comprises an upper lifting lug 1, air inlet holes 2-1, air outlet holes 2-2, an upper end cover 3, a capsule skin 4, a piston rod 5, a hydraulic cavity 6, a rubber spiral tube 7, a piston 8, a rubber air bag 9, a rotor magnetic yoke 10, a winding 11, a rotor magnetic pole 12, a rotor shaft 13, a stator 14, a lower lifting lug 15 and a damping hole 16.
The upper end cover 3 is fixedly connected with the capsule shell 4, and the upper end cover 3 is fixedly connected with the piston rod 5. The capsule 4 is fixed on the fluid inerter shell. The hydraulic chamber 6 is divided into an upper chamber and a lower chamber by a piston 8, and the upper chamber and the lower chamber are respectively communicated with an upper inlet and a lower inlet of a spiral rubber tube 7. The lower end of the piston rod 5 is coaxially and fixedly connected with the rotor shaft 13. The rubber air bag 9 is a circular ring with a circular section and is fixed at the bottom of the hydraulic cavity 6 by glue. One end of the upper lifting lug 1 and one end of the lower lifting lug 15 are fixedly connected with the piston rod 5, and the other ends of the upper lifting lug and the lower lifting lug are respectively hinged with the spring-loaded part and the unsprung part.
The working process of the invention is explained below: when the upper lifting lug is stressed downwards, the piston is pushed to move downwards through the piston rod, hydraulic oil flows in the spiral pipe or the spiral through hole under the pressure of the piston, and the effect of a liquid flywheel is formed, so that the inertia force is packaged; the same is true when the lower lifting lug is stressed upwards. And the damping hole on the piston can generate damping force for the liquid flow.
Meanwhile, when the air spring is used for air intake, the pressure intensity in the spring is increased, the air spring can extrude the rubber spiral tube wound outside the fluid type inerter, and because the liquid has incompressibility, the rubber air bag is extruded and deformed, the volume of the hydraulic cavity is increased, the sectional area of the rubber spiral tube is changed, and the inerter coefficient of the fluid type inerter is reduced; when the air spring is deflated and the internal pressure intensity is reduced, the rubber air bag can have the elastic force of the original state to extrude the liquid in the hydraulic cavity, the volume of the hydraulic cavity is reduced, and then the sectional area of the rubber spiral pipe is enlarged, so that the continuous adjustment of the inertia coefficient is realized.
Meanwhile, the crank connecting rod type electromechanical inertial container can work in the following three working modes through a cylindrical linear motor:
(1) energy feedback mode
When the linear motor is in an energy feedback mode, when the motor rotor shaft 13 moves up and down in a reciprocating linear mode, the rotor magnetic yoke 10, the magnetic pole 12 and the winding 11 move relatively to generate induced electromotive force, and the outer port of the linear motor generates terminal voltage. The terminal voltage acts on the energy recovery circuit, and the energy recovery circuit recovers the vibration energy of the vibration system and is used for energy input of other energy consumption systems.
(2) Passive control mode
When the linear motor is in a passive control mode, the electrical impedance of the outer end electric network can be equivalent to the mechanical impedance of the mechanical network, the capacitor is equivalent to the inertial container, the resistor is equivalent to the damper, the inductor is equivalent to the spring, the damping force of the device can be changed by changing the outer end impedance of the linear motor, more complex high-order impedance is realized, and the vibration isolation performance of the device is effectively improved
(3) Active control mode
When an external power supply supplies power to the linear motor, a controller (not shown in the figure) controls the magnitude of current input according to a corresponding control strategy so as to control the output force of the motor and realize active tuning control on the vibration system. Meanwhile, according to the vehicle body height sensor, when the vehicle body height is too low, the output force of the motor is controlled, and the suspension is prevented from impacting the limiting block.
The core idea of the invention is as follows: the air suspension has adjustable rigidity and good high-frequency vibration attenuation effect, the inertial container can effectively inhibit low-frequency vibration, and the coupling arrangement of the air suspension can solve the problem of broadband vibration inhibition. The fluid type inerter has the problem that the inerter coefficient is difficult to adjust. The air spring and fluid type inerter coupling arrangement scheme adopted by the invention not only can effectively utilize the advantages of the two elements, but also realizes continuous adjustability of the inerter coefficient of the fluid type inerter by utilizing the change of the internal pressure when the rigidity of the air spring changes. Meanwhile, the linear motor also has three working modes of preventing the height of the suspension from being too low and performing active control, passive control and energy feedback.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (5)
1. An electromechanical inertial container air spring device of a hub-driven automobile comprises a membrane type air spring and a fluid type inertial container; wherein the membrane type air spring comprises an air inlet (2-1), an air outlet (2-2), an upper end cover (3) and a bag skin (4); the upper end cover (3) is fixedly connected with the capsule skin (4), the upper end cover (3) is fixedly connected with the piston rod (5), and the capsule skin (4) is connected with the fluid type inerter shell; the air inlet (2-1) and the air outlet (2-2) are arranged on the upper end cover (3);
the fluid type inerter is characterized by comprising a piston rod (5), a hydraulic cavity (6), a spiral rubber tube (7), a piston (8), a rubber air bag (9) and a damping hole (16);
wherein the lower part of the piston rod (5) is fixedly connected with a linear motor; an inlet and an outlet of the spiral pipe (7) are respectively communicated with two chambers of the hydraulic chamber (6); a damping hole (16) is formed in the piston (8); the rubber air bag (9) is fixed at the bottom of the hydraulic cavity (6).
2. The electromechanical inerter air spring device of a hub-driven vehicle as claimed in claim 2, wherein the air pressure in the rubber bladder (9) is equal to the lowest air spring stiffness pressure.
3. An electromechanical inerter air spring assembly according to claim 1 or 2, wherein the rubber bladder (9) is fixed to the bottom of the hydraulic chamber (6) by glue.
4. The electromechanical inerter air spring device of a hub driven vehicle according to claim 1 or 2, characterized in that the linear motor comprises a rotor yoke (10), a winding (11), a rotor magnetic pole (12), a rotor shaft (13), and a stator (14); wherein the rotor shaft (13) is fixedly connected with the lower part of the piston rod (5).
5. The electromechanical inerter air spring device of a hub-driven vehicle as claimed in claim 4, wherein the fluid inerter is connected to the external end circuit through a linear motor, so as to realize the following three operation modes:
energy feedback mode: when the rotor shaft (13) moves up and down in a reciprocating linear mode, the rotor magnetic yoke (10), the magnetic pole (12) and the winding (11) move relatively to generate induced electromotive force, induced voltage is generated, and the vibration energy of the system is recovered and stored through an outer end circuit and is used as energy input of other energy consumption systems;
passive control mode: the outer end circuit is a passive network consisting of a resistor, an inductor and a capacitor, when the terminal voltage acts on the passive network, the electrical impedance of the passive network is equivalent to the mechanical impedance of the mechanical network, and the vibration of the system is further attenuated;
an active control mode: the outer end circuit is a power supply and supplies power to the linear motor, and the fluid type electromechanical inertial container is a force generator and actively controls the system to vibrate. Meanwhile, according to the vehicle body height sensor, when the vehicle body height is too low, the output force of the motor is controlled, and the suspension is prevented from impacting the limiting block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110889975.4A CN113602051B (en) | 2021-08-04 | 2021-08-04 | Air spring device of electromechanical inertial container of hub-driven automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110889975.4A CN113602051B (en) | 2021-08-04 | 2021-08-04 | Air spring device of electromechanical inertial container of hub-driven automobile |
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| Publication Number | Publication Date |
|---|---|
| CN113602051A true CN113602051A (en) | 2021-11-05 |
| CN113602051B CN113602051B (en) | 2023-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110889975.4A Active CN113602051B (en) | 2021-08-04 | 2021-08-04 | Air spring device of electromechanical inertial container of hub-driven automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113602051B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023088224A1 (en) * | 2021-11-16 | 2023-05-25 | Nio Technology (Anhui) Co., Ltd | Air spring-damper for active vehicle suspension |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1006282A1 (en) * | 1981-10-23 | 1983-03-23 | Центральный Ордена Трудового Красного Знамени Научно-Исследовательский Автомобильный И Автомоторный Институт "Нами" | Combined spring |
| EP0444278A1 (en) * | 1990-02-27 | 1991-09-04 | Robert Bosch Gmbh | Device for the active control of body movements of motor cars |
| KR19980043886A (en) * | 1996-12-05 | 1998-09-05 | 박병재 | Air Spring Integral Strut |
| CN102410330A (en) * | 2011-07-24 | 2012-04-11 | 杨洁 | Variable volume air spring capable of increasing and reducing impact by regulating static and dynamic stiffness through diaphragm hole |
| CN105276060A (en) * | 2015-11-10 | 2016-01-27 | 江苏大学 | Double-pipeline liquid inertia container with variable inerter coefficient |
| CN105715735A (en) * | 2016-03-02 | 2016-06-29 | 江苏大学 | Vibration isolation system with controllable rigid damping and inertia force and control method of vibration isolation system |
| CN106004302A (en) * | 2016-06-29 | 2016-10-12 | 广西大学 | ISD (inerter-spring-damper) integrated suspension |
| CN108194573A (en) * | 2017-12-28 | 2018-06-22 | 江苏大学 | A kind of adaptive vibrating isolation system of multi-state and its control method |
-
2021
- 2021-08-04 CN CN202110889975.4A patent/CN113602051B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1006282A1 (en) * | 1981-10-23 | 1983-03-23 | Центральный Ордена Трудового Красного Знамени Научно-Исследовательский Автомобильный И Автомоторный Институт "Нами" | Combined spring |
| EP0444278A1 (en) * | 1990-02-27 | 1991-09-04 | Robert Bosch Gmbh | Device for the active control of body movements of motor cars |
| KR19980043886A (en) * | 1996-12-05 | 1998-09-05 | 박병재 | Air Spring Integral Strut |
| CN102410330A (en) * | 2011-07-24 | 2012-04-11 | 杨洁 | Variable volume air spring capable of increasing and reducing impact by regulating static and dynamic stiffness through diaphragm hole |
| CN105276060A (en) * | 2015-11-10 | 2016-01-27 | 江苏大学 | Double-pipeline liquid inertia container with variable inerter coefficient |
| CN105715735A (en) * | 2016-03-02 | 2016-06-29 | 江苏大学 | Vibration isolation system with controllable rigid damping and inertia force and control method of vibration isolation system |
| CN106004302A (en) * | 2016-06-29 | 2016-10-12 | 广西大学 | ISD (inerter-spring-damper) integrated suspension |
| CN108194573A (en) * | 2017-12-28 | 2018-06-22 | 江苏大学 | A kind of adaptive vibrating isolation system of multi-state and its control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023088224A1 (en) * | 2021-11-16 | 2023-05-25 | Nio Technology (Anhui) Co., Ltd | Air spring-damper for active vehicle suspension |
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| CN113602051B (en) | 2023-12-15 |
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