CN115113661A - Shock absorber damping control method and device based on relative displacement frequency division - Google Patents
Shock absorber damping control method and device based on relative displacement frequency division Download PDFInfo
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Abstract
The invention provides a method and a device for controlling the damping of a shock absorber based on relative displacement frequency division, which comprises the following steps: acquiring the relative displacement of the shock absorber in real time; calculating frequency division parameters by combining high and low frequency dividing points preset by a vibration system; and determining a target output damping force of the shock absorber, and sending a first control command corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the first control command and is adjusted to the target output damping force. Compared with the prior art, the frequency division parameters are calculated through the relative displacement signals, the accumulated error caused by the fact that the vertical speed is indirectly acquired through acceleration signal integral processing in the prior art is avoided, effective frequency distinguishing can be achieved, and the method has high accuracy.
Description
Technical Field
The invention relates to the technical field of semi-active suspension control, in particular to a method and a device for controlling damping of a shock absorber based on relative displacement frequency division.
Background
Nowadays, as the technology becomes more mature, the cost of the variable damping shock absorber is controlled to be lower and lower, and the variable damping shock absorber is expected to be mounted on more vehicle types so as to improve the comfort or the controllability of the vehicle. Under the trend of automobile intellectualization, more and more intelligent configurations such as a domain controller are gradually put into use and applied to automobiles, so that more choices and better automobile using experience are provided for users.
At present, the mainstream adjustable damping shock absorbers comprise a CDC electromagnetic valve shock absorber and an MR magnetorheological shock absorber, and the damping of the shock absorbers is mainly adjusted in real time through current or other simulation. And a reasonably designed shock absorber control method plays a crucial role in the actual performance of the semi-active suspension. Existing shock absorber damping control strategies, such as skyhook acceleration hybrid control algorithms, require the use of the vertical velocity and relative velocity of the sprung mass. However, the vertical velocity signal is difficult to obtain directly, typically by integrating the acceleration signal or otherwise estimating or indirectly, but the acceleration integration is subject to errors even through the operation of the processing system.
Disclosure of Invention
The invention provides a relative displacement frequency division based shock absorber damping control method and device, and solves the technical problem of error accumulation caused by the fact that in the prior art, vertical speed needs to be indirectly acquired through acceleration integration.
In order to solve the above technical problem, an embodiment of the present invention provides a shock absorber damping control method based on relative displacement frequency division, including:
acquiring the relative displacement of the shock absorber in real time through a displacement sensor;
according to the relative displacement, combining with a high-low frequency dividing point preset by a vibration system, calculating frequency division parameters of the vibration system;
and determining a target output damping force of the shock absorber according to the frequency division parameter, and sending a first control command corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the first control command and is adjusted to the target output damping force.
As a preferred scheme, the calculating, according to the relative displacement and in combination with a high-low frequency dividing point preset by a vibration system, frequency division parameters of the vibration system specifically includes:
calculating the relative acceleration of the shock absorber according to the relative displacement;
calculating a frequency division parameter delta a of the vibration system according to the relative displacement delta s and the relative acceleration delta a and by combining the high-low frequency demarcation point alpha 2 -α 2 Δs 2 。
Preferably, the high and low frequency dividing point is determined according to the natural frequency of the vibration system.
As a preferred scheme, the determining the target output damping force of the shock absorber according to the frequency division parameter specifically comprises:
when the frequency division parameter is larger than or equal to zero, determining the target output damping force as the minimum damping output force which can be adjusted at the current relative speed of the shock absorber;
and when the frequency division parameter is smaller than zero, determining the target output damping force as the maximum damping output force which can be adjusted at the current relative speed of the shock absorber.
Preferably, before the calculating the frequency division parameter of the vibration system, the method further includes:
and when the absolute value of the relative displacement is smaller than a vibration threshold value calibrated through measured data, determining that the target output damping force is the minimum damping output force which can be adjusted at the current relative speed of the shock absorber, and sending a second control instruction corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the second control instruction and is adjusted to the target output damping force.
Correspondingly, the embodiment of the invention also provides a relative displacement frequency division based shock absorber damping control device, which comprises an acquisition module, a frequency division parameter calculation module and a first damping control module; wherein,
the acquisition module is used for acquiring the relative displacement of the shock absorber in real time through the displacement sensor;
the frequency division parameter calculation module is used for calculating the frequency division parameters of the vibration system according to the relative displacement and by combining with a high-low frequency dividing point preset by the vibration system;
the first damping control module is used for determining a target output damping force of the shock absorber according to the frequency division parameter and sending a first control instruction corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the first control instruction and is adjusted to the target output damping force.
As a preferred scheme, the frequency division parameter calculating module calculates the frequency division parameter of the vibration system according to the relative displacement and by combining with a high-low frequency dividing point preset by the vibration system, specifically:
the frequency division parameter calculation module calculates the relative acceleration of the shock absorber according to the relative displacement;
calculating a frequency division parameter delta a of the vibration system according to the relative displacement delta s and the relative acceleration delta a and by combining the high-low frequency demarcation point alpha 2 -α 2 Δs 2 。
Preferably, the high and low frequency dividing point is determined according to the natural frequency of the vibration system.
As a preferred scheme, the first damping control module determines a target output damping force of the shock absorber according to the frequency division parameter, specifically:
when the frequency division parameter is larger than or equal to zero, the first damping control module determines that the target output damping force is the minimum damping output force which can be adjusted at the current relative speed of the shock absorber;
and when the frequency division parameter is smaller than zero, the first damping control module determines that the target output damping force is the maximum damping output force which can be adjusted at the current relative speed of the shock absorber.
Preferably, the damping control device of the shock absorber further includes a second damping control module, where the second damping control module is configured to, before the calculating of the frequency division parameter of the vibration system, determine that the target output damping force is a minimum damping output force that can be adjusted at the current relative speed of the shock absorber when the absolute value of the relative displacement is smaller than a vibration threshold calibrated through measured data, and send a second control command corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the second control command and adjusts the target output damping force.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a shock absorber damping control method and device based on relative displacement frequency division, wherein the shock absorber damping control method comprises the following steps: acquiring the relative displacement of the shock absorber in real time through a displacement sensor; according to the relative displacement, combining with a high-low frequency dividing point preset by a vibration system, calculating frequency division parameters of the vibration system; and determining a target output damping force of the shock absorber according to the frequency division parameter, and sending a first control instruction corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the first control instruction and is adjusted to the target output damping force. Compared with the prior art, the frequency division parameters are calculated through the relative displacement signals, the accumulated error caused by the fact that the vertical speed is indirectly acquired through acceleration signal integral processing in the prior art is avoided, effective frequency distinguishing can be achieved, and the method has high accuracy.
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FIG. 1: the invention provides a flow schematic diagram of an embodiment of a relative displacement frequency division based shock absorber damping control method.
FIG. 2: the invention provides a schematic layout of an embodiment of a sensor layout.
FIG. 3: the invention provides a schematic diagram for comparing the acceleration response of a shock absorber damping control method based on relative displacement frequency division with a passive shock absorber in the prior art.
FIG. 4: the invention provides a structural schematic diagram of an embodiment of a shock absorber damping control device based on relative displacement frequency division.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
According to the related technical record, the prior art mainly adopts a ceiling acceleration hybrid control algorithm, specifically:
wherein, F c For the output damping force of the shock absorber, F max And F min Divided into a maximum damping force and a minimum damping force at which the shock absorber can be adjusted at the current relative speed,
is the vertical acceleration of the sprung mass,
is the vertical velocity of the sprung mass,
for the relative speed of the shock absorber, alpha is a high-low frequency dividing point, and is selected according to the characteristics of the system and generally takes the value of
In the control method, the essence is to
Frequency discrimination, low frequencyThe region uses ceiling damping control, the high frequency region uses acceleration to control, and the vertical velocity and relative velocity of the sprung mass are required. However, the vertical velocity can only be obtained by estimation or indirectly, and is generally obtained by an acceleration signal integration process, but the process accumulates errors, and even if the processing system runs for a long time, the errors still exist and are difficult to completely eliminate.
In order to solve the problems in the prior art, the embodiment of the invention provides a relative displacement frequency division based shock absorber damping control method, which can realize frequency distinguishing and distinguishing, avoid errors of the type, effectively improve the accuracy of damping control and enable a user to obtain better vehicle using experience.
Referring to fig. 1, fig. 1 shows a damping control method for a shock absorber based on relative displacement frequency division according to an embodiment of the present invention, which includes steps S1 to S3, wherein,
and step S1, acquiring the relative displacement of the shock absorber in real time through the displacement sensor.
And step S2, calculating the frequency division parameters of the vibration system according to the relative displacement and by combining with the high and low frequency dividing points preset by the vibration system.
Step S3, determining a target output damping force of the shock absorber according to the frequency division parameter, and sending a first control command corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the first control command and adjusts to the target output damping force.
In the embodiment, a semi-active suspension of a cab of a commercial vehicle is taken as an example for further explanation, referring to fig. 2, a schematic diagram of the cab of the commercial vehicle and arrangement of sensors are shown as in the figure (1 is the cab, 2 is a frame, 3 is an elastic part, 4 is an adjustable damping shock absorber, and 5 is a displacement sensor), the frame, the elastic part, the adjustable damping shock absorber, the displacement sensor and the like form a vibration system, the semi-active suspension of the cab of the commercial vehicle is respectively provided with the displacement sensor at the left front end, the right front end, the left rear end and the right rear end of the cab end, the sensors are connected to a controller unit, the shock absorbers of the cab suspension all adopt the adjustable damping shock absorbers, damping adjustment is controlled by current, the control current is calculated by the controller and is controlled by a PWN manner, and real-time adjustment of the damping of the shock absorbers is realized.
In step S1, the relative displacement is measured in real time by a displacement sensor mounted on the cab suspension absorber. In the embodiment, one displacement sensor is arranged above the suspensions of the left front end, the right front end, the left rear end and the right rear end of the cab respectively, but the actual application is determined according to the actual vehicle model and the design of a vibration system. Each displacement sensor is connected with the controller, and the controller reads the measured relative displacement value in real time and carries out subsequent processing.
In step S2, the high and low frequency dividing point is determined according to the natural frequency of the vibration system. Preferably, in this embodiment, the high and low frequency dividing point
Where k is the spring stiffness coefficient and m is the mass. This expression is understood to mean that the high-low frequency dividing point is the natural frequency of the vibration system
In addition, in practical application, the value near the natural frequency can be selected, and the suspension of the cab of the commercial vehicle is generally between 9 and 15 rad/s.
Relative acceleration can be calculated from the relative displacement measured by a displacement sensor. Specifically, the relative velocity Δ v can be obtained by differentiating the relative displacement Δ s, and the relative acceleration Δ a can be obtained by differentiating the relative velocity Δ v.
Calculating a frequency division parameter delta a of the vibration system according to the relative displacement delta s and the relative acceleration delta a and by combining the high-low frequency demarcation point alpha 2 -α 2 Δs 2 。
In step S3, the target output damping force of the shock absorber is determined according to the frequency division parameter, exemplarily:
when the frequency division parameter delta a 2 -α 2 Δs 2 Greater than or equal to zero, determiningThe target output damping force F c A minimum damping output force F adjustable for the current relative speed of the shock absorber min ；
When the frequency division parameter delta a 2 -α 2 Δs 2 Less than zero, determining the target output damping force F c A maximum damping output force F adjustable for the current relative speed of the shock absorber max 。
In fact, the embodiment is Δ a 2 -α 2 Δs 2 As the condition for frequency discrimination, the damping magnitude of the suspension shock absorber is determined based on the condition.
When the vibration system receives single-frequency excitation, Delta s is equal to A 1 sin(ωt+φ)-A 2 sin(ωt)；
The first derivative of this equation gives the relative velocity Δ v:
Δv＝A 1 ωcos(ωt+φ)-A 2 ωcos(ωt)；
and (3) solving a first derivative of the Δ v and the t to obtain a relative acceleration Δ a:
further, it is possible to obtain:
where, ω is the excitation frequency, φ is the phase difference when excited, α is the high and low frequency boundary value, A 1 Amplitude of vibration on the spring, A 2 The unsprung vibration amplitude is represented by t, which is an arbitrary time.
[A 1 sin(ωt+φ)-A 2 sin(ωt)] 2 Is constantly equal to or greater than 0. Equal sign with Δ a to the left 2 -α 2 Δs 2 Is a frequency divider. Namely, Delta a 2 -α 2 Δs 2 When greater than 0, ω 2 -α 2 >0, i.e. ω>α, can be considered to be at high frequency excitation. And Δ a 2 -α 2 Δs 2 When the concentration of the carbon dioxide is less than 0,ω 2 -α 2 >0, i.e. ω>α, can be considered to be at a low frequency excitation. By implementing the embodiment of the application, the excitation of the vibration system is distinguished, and the frequency division parameter delta a is used 2 -α 2 Δs 2 And when the damping output is larger than or equal to 0, sending a first control command so that the shock absorber correspondingly adjusts the damping output to be the minimum damping output force which can be adjusted at the current relative speed of the shock absorber, and otherwise, adjusting the damping output force to be the maximum damping output force which can be adjusted at the current relative speed. Because differential calculation does not have an error, the problem that errors are generated in the prior art when the vertical speed is obtained through acceleration signal integration is effectively solved, the phenomenon that the judgment of damping control is influenced by the sprung speed error and the control and optimization effects are influenced is avoided, the frequency band to which vibration belongs is judged in a self-adaptive mode by means of the relative displacement measured by the displacement sensor, the frequency division precision and the damping control accuracy are improved, further, the device can adapt to most road conditions, and the overall vibration reduction performance is improved.
In this embodiment, after step S1 and before step S2, the method further includes: when the absolute value of the relative displacement is smaller than a vibration threshold value calibrated by measured data (the vibration threshold value is larger than 0), determining the target output damping force F c A minimum damping output force F adjustable for the current relative speed of the shock absorber min And sending a second control command corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the second control command and is adjusted to the target output damping force.
Taking a typical tractor as an example, referring to fig. 3, a cab is suspended and loaded with a continuous damping adjustable shock absorber, and the shock absorber damping control method based on relative displacement frequency division is applied to shock absorber damping control according to the embodiment of the invention. The dynamic model of the whole vehicle is carried for simulation comparison, the implementation effect of the passive suspension (which is a common method in the prior art) and the method of the embodiment is compared under the working condition of a random road, and the comparison result is shown in fig. 3. Compared with a passive suspension, the driving cab mass center vertical acceleration of the semi-active suspension controlled by the shock absorber damping control method provided by the relative displacement frequency division is obviously reduced, and the vertical acceleration is evaluated through an RMS value. In this example, the RMS value of the mounted passive suspension is 0.8262, while the RMS value of the mounted semi-active suspension is 0.7215, the improvement of the effect is up to 13%, and the performance is relatively excellent. The shock absorber damping control method provided by the embodiment not only can be used for suspension of a cab of a commercial vehicle, but also can be expanded to shock absorber damping control serving as a semi-active suspension.
Correspondingly, referring to fig. 4, an embodiment of the present invention further provides a relative displacement frequency division based shock absorber damping control device, which includes an obtaining module 101, a frequency division parameter calculating module 102, and a first damping control module 103; wherein,
the acquisition module 101 is used for acquiring the relative displacement of the shock absorber in real time through a displacement sensor;
the frequency division parameter calculation module 102 is configured to calculate frequency division parameters of the vibration system according to the relative displacement and in combination with a high-low frequency dividing point preset by the vibration system;
the first damping control module 103 is configured to determine a target output damping force of the shock absorber according to the frequency division parameter, and send a first control instruction corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the first control instruction and adjusts the target output damping force.
In this embodiment, the frequency division parameter calculating module 102 calculates the frequency division parameter of the vibration system according to the relative displacement and by combining a preset high-low frequency dividing point of the vibration system, specifically:
the frequency division parameter calculation module 102 calculates the relative acceleration of the shock absorber according to the relative displacement;
calculating a frequency division parameter delta a of the vibration system according to the relative displacement delta s and the relative acceleration delta a and by combining the high-low frequency demarcation point alpha 2 -α 2 Δs 2 。
In the present embodiment, the high and low frequency dividing point is determined according to the natural frequency of the vibration system.
In this embodiment, the first damping control module 103 determines the target output damping force of the shock absorber according to the frequency division parameter, specifically:
when the frequency division parameter is greater than or equal to zero, the first damping control module 103 determines that the target output damping force is the minimum damping output force that can be adjusted at the current relative speed of the shock absorber;
when the frequency division parameter is smaller than zero, the first damping control module 103 determines that the target output damping force is the maximum damping output force that can be adjusted at the current relative speed of the shock absorber.
In this embodiment, the shock absorber damping control device further includes a second damping control module, where the second damping control module is configured to determine, before the calculating of the frequency division parameter of the vibration system, that the target output damping force is a minimum damping output force that can be adjusted at the current relative speed of the shock absorber when the absolute value of the relative displacement is smaller than a vibration threshold calibrated through measured data, and send a second control instruction corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the second control instruction and adjusts the target output damping force.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a shock absorber damping control method and device based on relative displacement frequency division, wherein the shock absorber damping control method comprises the following steps: acquiring the relative displacement of the shock absorber in real time through a displacement sensor; according to the relative displacement, combining with a high-low frequency dividing point preset by a vibration system, calculating frequency division parameters of the vibration system; and determining a target output damping force of the shock absorber according to the frequency division parameter, and sending a first control instruction corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the first control instruction and is adjusted to the target output damping force. Compared with the prior art, the frequency division parameters are calculated through the relative displacement signals, the accumulated error caused by the fact that the vertical speed is indirectly acquired through acceleration signal integral processing in the prior art is avoided, effective frequency distinguishing can be achieved, and the method has high accuracy.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. It should be understood that any modifications, equivalents, improvements and the like, which come within the spirit and principle of the invention, may occur to those skilled in the art and are intended to be included within the scope of the invention.
Claims (10)
1. A shock absorber damping control method based on relative displacement frequency division is characterized by comprising the following steps:
acquiring the relative displacement of the shock absorber in real time through a displacement sensor;
according to the relative displacement, combining with a high-low frequency dividing point preset by a vibration system, calculating frequency division parameters of the vibration system;
and determining a target output damping force of the shock absorber according to the frequency division parameter, and sending a first control command corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the first control command and is adjusted to the target output damping force.
2. The method as claimed in claim 1, wherein the calculating of the frequency division parameter of the vibration system according to the relative displacement and the preset high-low frequency dividing point of the vibration system includes:
calculating the relative acceleration of the shock absorber according to the relative displacement;
calculating a frequency division parameter delta a of the vibration system according to the relative displacement delta s and the relative acceleration delta a and by combining the high-low frequency demarcation point alpha 2 -α 2 Δs 2 。
3. The relative displacement crossover based shock absorber damping control method as set forth in claim 2, wherein said high and low frequency demarcation points are determined based on natural frequencies of said vibration system.
4. The method for controlling damping of a shock absorber according to any one of claims 1 to 3, wherein the determining the target output damping force of the shock absorber according to the frequency division parameter comprises:
when the frequency division parameter is larger than or equal to zero, determining the target output damping force as the minimum damping output force which can be adjusted at the current relative speed of the shock absorber;
and when the frequency division parameter is smaller than zero, determining the target output damping force as the maximum damping output force which can be adjusted at the current relative speed of the shock absorber.
5. A relative displacement frequency division based shock absorber damping control method as claimed in any one of claims 1 to 3, further comprising, before said calculating a frequency division parameter of said vibration system:
and when the absolute value of the relative displacement is smaller than a vibration threshold value calibrated through measured data, determining that the target output damping force is the minimum damping output force which can be adjusted at the current relative speed of the shock absorber, and sending a second control instruction corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the second control instruction and is adjusted to the target output damping force.
6. A shock absorber damping control device based on relative displacement frequency division is characterized by comprising an acquisition module, a frequency division parameter calculation module and a first damping control module; wherein,
the acquisition module is used for acquiring the relative displacement of the shock absorber in real time through the displacement sensor;
the frequency division parameter calculation module is used for calculating the frequency division parameters of the vibration system according to the relative displacement and by combining with a high-low frequency dividing point preset by the vibration system;
the first damping control module is used for determining a target output damping force of the shock absorber according to the frequency division parameter and sending a first control instruction corresponding to the target output damping force to the shock absorber, so that the shock absorber responds to the first control instruction and is adjusted to the target output damping force.
7. The shock absorber damping control device based on relative displacement frequency division as claimed in claim 6, wherein said frequency division parameter calculating module calculates the frequency division parameter of the vibration system according to the relative displacement in combination with a preset high-low frequency dividing point of the vibration system, specifically:
the frequency division parameter calculation module calculates the relative acceleration of the shock absorber according to the relative displacement;
calculating a frequency division parameter delta a of the vibration system according to the relative displacement delta s and the relative acceleration delta a and by combining the high-low frequency demarcation point alpha 2 -α 2 Δs 2 。
8. A relative displacement crossover based damping control for a shock absorber as set forth in claim 6 wherein said high and low frequency demarcation points are determined based on the natural frequency of said vibration system.
9. The damping control device for shock absorbers according to any one of claims 6 to 8, wherein the first damping control module determines a target output damping force of the shock absorber based on the frequency-division parameter, specifically:
when the frequency division parameter is larger than or equal to zero, the first damping control module determines that the target output damping force is the minimum damping output force which can be adjusted at the current relative speed of the shock absorber;
and when the frequency division parameter is smaller than zero, the first damping control module determines that the target output damping force is the maximum damping output force which can be adjusted at the current relative speed of the shock absorber.
10. A relative displacement frequency division based damping control apparatus for a shock absorber according to any one of claims 6 to 8, wherein said damping control apparatus for a shock absorber further comprises a second damping control module, said second damping control module is configured to determine that said target output damping force is a minimum damping output force that can be adjusted at a current relative velocity of said shock absorber when an absolute value of said relative displacement is smaller than a vibration threshold value calibrated by measured data before said calculating the frequency division parameter of said vibration system, and send a second control command corresponding to said target output damping force to said shock absorber, so that said shock absorber adjusts to said target output damping force in response to said second control command.
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| CN101220845A (en) * | 2008-01-23 | 2008-07-16 | 重庆大学 | Engine vibration isolation system based on combined suspension and its control method |
| CN107554229A (en) * | 2017-09-04 | 2018-01-09 | 吉林大学 | A kind of frequency division control method of vehicle suspension |
| CN108732941A (en) * | 2018-05-31 | 2018-11-02 | 青岛理工大学 | Control system and simulation method of multi-dimensional magnetic suspension vibration isolation platform |
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| CN101220845A (en) * | 2008-01-23 | 2008-07-16 | 重庆大学 | Engine vibration isolation system based on combined suspension and its control method |
| CN107554229A (en) * | 2017-09-04 | 2018-01-09 | 吉林大学 | A kind of frequency division control method of vehicle suspension |
| CN108732941A (en) * | 2018-05-31 | 2018-11-02 | 青岛理工大学 | Control system and simulation method of multi-dimensional magnetic suspension vibration isolation platform |
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