CN114604049A - Automobile suspension system control method based on controllable passive damper - Google Patents
Automobile suspension system control method based on controllable passive damper Download PDFInfo
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- CN114604049A CN114604049A CN202011399859.6A CN202011399859A CN114604049A CN 114604049 A CN114604049 A CN 114604049A CN 202011399859 A CN202011399859 A CN 202011399859A CN 114604049 A CN114604049 A CN 114604049A
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- Prior art keywords
- automobile
- omega
- bogie
- curve
- rear wheel
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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
- B60G17/0157—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
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a method for controlling an automobile suspension system based on a controllable passive damper, which comprises the following steps: s1, acquiring the oscillating angular velocities of the front and rear wheel pairs and the oscillating angular velocity of the bogie in the running process of the automobile by using the angular velocity sensor; s2, carrying out data processing and calculation on the swing angular velocities of the front and rear wheel pairs and the swing angular velocity of the bogie in the running process of the automobile to obtain the relative swing angular velocities of the front and rear wheel pairs relative to the bogie; s3, acquiring relevant line information of automobile operation by using the multifunctional vehicle bus; and S4, judging the type of the automobile operation road section according to the related line information, and controlling the automobile by controlling a plurality of longitudinal controllable passive dampers distributed on the automobile according to an automobile control strategy corresponding to the type of the automobile operation road section. The technical scheme of the invention can effectively improve the stability of the linear running of the automobile and simultaneously improve the curve passing capacity of the automobile.
Description
Technical Field
The invention relates to the field of automobile dampers. And more particularly, to a method for controlling a suspension system of an automobile based on a controllable passive damper.
Background
The bogie suspension system of the traditional vehicle consists of an elastic element and a damping element, is in a passive suspension mode, and can provide self-steering and curve passing capacity of the vehicle. However, the conventional bogie has a snake-like motion instability phenomenon as the running speed of the automobile is increased. The traditional vehicle overcomes the phenomenon of snake-shaped movement instability by providing certain rigidity through elements such as a spring, a damper and the like which are longitudinally connected.
The passive suspension can meet the requirements of the vehicle on the dynamic performance to a certain extent, but because the parameters of the passive suspension cannot be adjusted in real time in the running process of the vehicle, the contradiction between the diversity of the running line section and the unicity of the suspension parameters, and the uncertainty of the running speed of the vehicle and the certain property of the traditional suspension parameters is difficult to solve, and therefore the passive suspension cannot meet the higher requirements of the vehicle on the dynamic performance in high-speed running.
Corresponding to the passive suspension system is the fully active suspension system. The full-active suspension system can provide active action force through an active element (usually a hydraulic system) according to the current line and the running state of the vehicle so as to improve the running stability of the vehicle. However, the fully active suspension system has the problems of consuming a large amount of external energy and drastically deteriorating the running performance of the vehicle after the system fails.
Therefore, it is desirable to provide a method for controlling a suspension system of a vehicle based on a controllable passive damper.
Disclosure of Invention
The invention aims to provide a method for controlling an automobile suspension system based on a controllable passive damper, so as to improve the curve passing capacity of an automobile.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for controlling an automobile suspension system based on a controllable passive damper comprises the following steps:
s1, acquiring the oscillating angular velocities omega wf and omega wr of the front and rear wheel pairs and the oscillating angular velocity omega b of the bogie in the running process of the automobile by using the angular velocity sensor;
s2, carrying out data processing and operation on the oscillating angular velocities omega wf and omega wr of the front and rear wheel pairs and the oscillating angular velocity omega b of the bogie in the running process of the automobile to obtain the relative oscillating angular velocities omega rf and omega rr of the front and rear wheel pairs relative to the bogie;
s3, acquiring relevant line information of automobile operation by using the multifunctional vehicle bus;
s4, judging the type of the automobile operation road section according to the related line information, and controlling the automobile by controlling a plurality of longitudinal controllable passive dampers distributed on the automobile according to an automobile control strategy corresponding to the type of the automobile operation road section;
the vehicle control strategy corresponding to the type of the vehicle travel section is as follows:
if the automobile operation road section is a straight line section, the automobile control strategy is as follows: controlling longitudinal controllable passive dampers respectively installed between axle boxes on the left front side, the right front side, the left rear side and the right rear side of a primary suspension wheel pair of the automobile and a bogie frame to keep a voltage value U, wherein the voltage value U is set according to relevant line information and specification parameters of the controllable passive dampers;
if the automobile operation road section is a curve section line, the automobile control strategy is as follows:
when the curve is a right turn:
when the curve is a right turn:
when the curve is a left turn:
in the formula, u1, u2, u3 and u4 are respectively control voltage values of longitudinal controllable passive dampers installed between left front side, right front side, left rear side and right rear side axle boxes of a primary suspension wheel pair of the automobile and a bogie frame.
Preferably, step S2 further includes the following sub-steps:
s2.1, carrying out data preprocessing on the oscillating angular velocities omega wf and omega wr of the front and rear wheel pairs and the oscillating angular velocity omega b of the bogie in the running process of the automobile;
and S2.2, determining relative swing angular velocities ω rf- ω b and ω rr- ω wr- ω b of the front and rear wheel pairs relative to the bogie.
Preferably, the data preprocessing in step S2.1 comprises sequentially: conversion of current signals to voltage signals, anti-aliasing filtering, a/D conversion of analog signals.
Preferably, the relevant route information in step S3 includes: the turning direction of the line curve, the kilometer marks of the starting point and the stopping point of the curve are alpha 1 and alpha 2, the radius of the curve is R0, and the curve is ultrahigh h 0.
The invention has the following beneficial effects:
the technical scheme of the invention can solve the contradiction between the straight line running stability and the curve passing capacity of the vehicle to a certain extent, overcomes the problem that the suspension parameters of the passive suspension system can not be adjusted along with the running condition, and effectively overcomes the problems that the full-active suspension system needs a large amount of external energy and the vehicle performance is rapidly deteriorated after the active system fails. The technical scheme of the invention can effectively improve the stability of the linear operation of the automobile, simultaneously improve the curve passing capacity of the automobile, such as the reduction of the attack angle and the abrasion coefficient of the wheel set, has strong real-time performance, simple detection unit, no need of external energy, strong reliability and low cost, and only depends on the mutual motion between the wheel set and the bogie to generate the effect.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below in connection with preferred embodiments. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
The method for controlling the automobile suspension system based on the controllable passive damper comprises the following steps:
s1, acquiring the swing angular velocities omega wf and omega wr of the front and rear wheel pairs and the swing angular velocity omega b of the bogie in the running process of the automobile by using the angular velocity sensors, wherein the specific process is as follows:
respectively acquiring the oscillating angular velocities omega wf and omega wr of the front wheel pair and the rear wheel pair in the running process of the automobile by utilizing angular velocity sensors S1 and S2 arranged on the front wheel pair and the rear wheel pair of the bogie; acquiring the oscillating angular velocity omega b of the bogie by using an angular velocity sensor S3 arranged at the center of the bogie;
s2, carrying out data processing and operation on the oscillating angular velocities omega wf and omega wr of the front and rear wheel pairs and the oscillating angular velocity omega b of the bogie in the running process of the automobile to obtain the relative oscillating angular velocities omega rf and omega rr of the front and rear wheel pairs relative to the bogie, wherein the specific process is as follows:
s2.1, carrying out data preprocessing on the oscillating angular velocities omega wf and omega wr of the front wheel pair and the rear wheel pair and the oscillating angular velocity omega b of the bogie in the running process of the automobile:
the method comprises the following steps of utilizing a signal conditioning board to collect the oscillating angular velocities omega wf and omega wr of front and rear wheel pairs and the oscillating angular velocity omega b of a bogie in the running process of an automobile, and carrying out relevant preprocessing work such as isolation processing, analog-to-digital conversion, digital filtering and the like, wherein the specific processing process of data preprocessing is carried out in sequence: converting a current signal into a voltage signal, performing anti-aliasing filtering, and performing analog signal A/D conversion;
s2.2, determining relative yaw angular velocities ω rf- ω b and ω rr- ω wr- ω b of the front and rear wheel pairs with respect to the bogie (the relative yaw angular velocity of the front wheel pair with respect to the bogie is ω rf, and the relative yaw angular velocity of the rear wheel pair with respect to the bogie is ω rr);
s3, obtaining relevant line information of automobile operation by using the multifunctional vehicle bus, wherein the relevant line information comprises: the turning direction of the line curve, the kilometer marks of the starting point and the stopping point of the curve are alpha 1 and alpha 2, the radius of the curve is R0, and the curve is ultrahigh h 0;
s4, judging the type of the automobile operation road section according to the related line information, and controlling the automobile by controlling a plurality of controllable passive dampers distributed on the automobile according to an automobile control strategy corresponding to the type of the automobile operation road section:
defining that the longitudinal direction takes the running speed direction v of the automobile as the positive direction, the transverse direction takes the direction vertical to the speed direction to the right as the positive direction, and the anticlockwise direction of the shaking angle is the positive direction; longitudinal controllable passive dampers D1, D2, D3 and D4 are respectively arranged between the axle boxes on the left front side, the right front side, the left rear side and the right rear side of the primary suspension wheel pair of the automobile and a bogie frame;
if the automobile operation road section is a straight line section line, the automobile control strategy is as follows:
controlling the longitudinal controllable passive dampers D1, D2, D3 and D4 to keep a voltage value U on a straight-line, so that the longitudinal controllable passive dampers D1, D2, D3 and D4 keep a damping coefficient C corresponding to the voltage value U, and the voltage value U is set according to related line information and specification parameters of the controllable passive dampers;
if the automobile operation road section is a curve section line, the automobile control strategy is as follows:
when the curve is a right turn
When the curve is a right turn:
when the curve is a left turn:
in the formulas, U1, U2, U3 and U4 are control voltage values of the longitudinally controllable passive dampers D1, D2, D3 and D4 respectively, and U is a voltage value set according to line parameters and specification parameters of the controllable passive dampers.
It is obvious that the above examples are given for the purpose of illustrating the invention clearly and not for the purpose of limiting the same, and that on the basis of the above description, other variants and modifications will occur to those skilled in the art, which variants and modifications are not exhaustive and are obvious to those skilled in the art, and that the scope of the invention is also covered by the claims.
Claims (4)
1. A method for controlling an automobile suspension system based on a controllable passive damper comprises the following steps:
s1, acquiring the shaking angular velocities omega wf and omega wr of the front and rear wheel pairs and the shaking angular velocity omega b of the bogie in the running process of the automobile by using the angular velocity sensor;
s2, carrying out data processing and operation on the oscillating angular velocities omega wf and omega wr of the front and rear wheel pairs and the oscillating angular velocity omega b of the bogie in the running process of the automobile to obtain the relative oscillating angular velocities omega rf and omega rr of the front and rear wheel pairs relative to the bogie;
s3, acquiring relevant line information of automobile operation by using the multifunctional vehicle bus;
s4, judging the type of the automobile operation road section according to the related line information, and controlling the automobile by controlling a plurality of longitudinal controllable passive dampers distributed on the automobile according to an automobile control strategy corresponding to the type of the automobile operation road section;
the method is characterized in that the automobile control strategy corresponding to the type of the automobile operation road section is as follows:
if the automobile operation road section is a straight line section, the automobile control strategy is as follows: controlling longitudinal controllable passive dampers respectively installed between axle boxes on the left front side, the right front side, the left rear side and the right rear side of a primary suspension wheel pair of an automobile and a bogie frame to keep a voltage value U, wherein the voltage value U is set according to relevant line information and specification parameters of the controllable passive dampers;
if the automobile operation road section is a curve section line, the automobile control strategy is as follows:
when the curve is a right turn:
when the curve is a left turn:
in the formula, u1, u2, u3 and u4 are respectively control voltage values of longitudinal controllable passive dampers installed between left front side, right front side, left rear side and right rear side axle boxes of a primary suspension wheel pair of the automobile and a bogie frame.
2. The method as claimed in claim 1, wherein the step S2 further comprises the following steps:
s2.1, carrying out data preprocessing on the oscillating angular velocities omega wf and omega wr of the front and rear wheel pairs and the oscillating angular velocity omega b of the bogie in the running process of the automobile;
and S2.2, determining relative swing angular velocities ω rf- ω b and ω rr- ω wr- ω b of the front and rear wheel pairs relative to the bogie.
3. The method of claim 2, wherein the preprocessing of the data in step S2.1 comprises sequentially performing: conversion of current signals to voltage signals, anti-aliasing filtering, a/D conversion of analog signals.
4. The method as claimed in claim 1, wherein the step S3 includes the steps of: the turning direction of the line curve, the kilometer marks of the starting point and the stopping point of the curve are alpha 1 and alpha 2, the radius of the curve is R0, and the curve is ultrahigh h 0.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011399859.6A CN114604049A (en) | 2020-12-04 | 2020-12-04 | Automobile suspension system control method based on controllable passive damper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011399859.6A CN114604049A (en) | 2020-12-04 | 2020-12-04 | Automobile suspension system control method based on controllable passive damper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114604049A true CN114604049A (en) | 2022-06-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011399859.6A Withdrawn CN114604049A (en) | 2020-12-04 | 2020-12-04 | Automobile suspension system control method based on controllable passive damper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114604049A (en) |
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2020
- 2020-12-04 CN CN202011399859.6A patent/CN114604049A/en not_active Withdrawn
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Application publication date: 20220610 |