CN115534609A - Distributed semi-active suspension system - Google Patents

Distributed semi-active suspension system Download PDF

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Publication number
CN115534609A
CN115534609A CN202211146016.4A CN202211146016A CN115534609A CN 115534609 A CN115534609 A CN 115534609A CN 202211146016 A CN202211146016 A CN 202211146016A CN 115534609 A CN115534609 A CN 115534609A
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CN
China
Prior art keywords
shock absorber
active suspension
suspension system
domain controller
damping
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Pending
Application number
CN202211146016.4A
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Chinese (zh)
Inventor
刘向
代后山
胡方全
罗超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanyang Weiao Situ Vehicle Shock Absorber Co ltd
Shanghai Xijian Automobile Suspension Co ltd
Nanyang Cijan Auto Shock Absorber Co Ltd
Original Assignee
Nanyang Weiao Situ Vehicle Shock Absorber Co ltd
Shanghai Xijian Automobile Suspension Co ltd
Nanyang Cijan Auto Shock Absorber Co Ltd
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Application filed by Nanyang Weiao Situ Vehicle Shock Absorber Co ltd, Shanghai Xijian Automobile Suspension Co ltd, Nanyang Cijan Auto Shock Absorber Co Ltd filed Critical Nanyang Weiao Situ Vehicle Shock Absorber Co ltd
Priority to CN202211146016.4A priority Critical patent/CN115534609A/en
Publication of CN115534609A publication Critical patent/CN115534609A/en
Pending legal-status Critical Current

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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
    • 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
    • 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
    • B60G17/018—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 use of a specific signal treatment or control method
    • 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
    • B60G17/01908—Acceleration or inclination sensors
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/40—Type of actuator
    • B60G2202/42—Electric actuator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B60G2500/11—Damping valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means
    • B60G2600/184—Semi-Active control means

Abstract

The embodiment of the invention discloses a distributed semi-active suspension system, which comprises a chassis domain controller, a communication bus and at least one damping adjustable shock absorber assembly, wherein the chassis domain controller is connected with the communication bus; the damping adjustable shock absorber assembly comprises a shock absorber, an electromagnetic valve and a driver, wherein the damping force of the shock absorber changes along with the change of the control current of the electromagnetic valve; and the chassis domain controller determines a target current value according to the acceleration information, and sends the target current to the electromagnetic valve driving module, so that the electromagnetic valve driving module controls the control current of the electromagnetic valve to change to the target current value. By adopting the technical scheme of the invention, the integration degree of the semi-active suspension system can be improved, so that the system cost can be effectively reduced, and the smoothness and the operation stability of the vehicle can be effectively improved.

Description

Distributed semi-active suspension system
Technical Field
The invention relates to the technical field of vehicle control, in particular to a distributed semi-active suspension system.
Background
The suspension is a general term for all force-transmitting connecting devices between a frame (or a load-bearing vehicle body) and an axle (or a wheel) of an automobile, and has the functions of transmitting force and torsion acting between the wheel and the frame, buffering impact force transmitted to the frame or the vehicle body from an uneven road surface, and reducing vibration caused by the impact force so as to ensure that the automobile can run smoothly. At present, a semi-active suspension system is mostly adopted for a suspension, and mainly comprises: damping adjustable shock absorber, controller and sensor. Depending on the vehicle type and the function of the suspension system, there are various combined arrangements, taking a passenger car as an example: the system generally comprises 4 damping adjustable shock absorbers, 1 controller and 5 acceleration sensors.
Since the chassis domain controller is a necessary trend for future development, the controller of the semi-active suspension system will gradually be replaced by the chassis domain controller. The semi-active suspension system belongs to a real-time control system (generally, the time of a control sequence is less than or equal to 2 ms), has high requirements on the operation speed and the data storage capacity of a controller, and has high requirements on the current control precision (generally, less than or equal to +/-2%) and the response time (generally, less than or equal to 15 ms), so that the control function of the semi-active suspension system is directly integrated in a chassis domain controller with higher difficulty, and the cost of the domain controller is obviously increased.
On the other hand, the cost of the semi-active suspension system is about 2-3 times higher than that of the traditional passive vibration damping system, the development trend of reducing the cost of the automobile is not met, the cost of the system needs to be continuously reduced in the future, and the current reduction scheme mainly focuses on the reduction of the cost of parts, and the cost of the system is reduced only by system integration.
Disclosure of Invention
The invention provides a distributed semi-active suspension system, which is used for reducing the cost of the suspension system and realizing the accurate control of the damping force of a vehicle shock absorber, thereby improving the smoothness and the operation stability of a vehicle.
In order to achieve the above object, the present invention provides a distributed semi-active suspension system, comprising a chassis domain controller, a communication bus and at least one damping adjustable shock absorber assembly; the damping adjustable shock absorber assembly comprises a shock absorber, an electromagnetic valve and a driver, wherein the damping force of the shock absorber changes along with the change of the control current of the electromagnetic valve, the driver comprises an acceleration sensor module and an electromagnetic valve driving module, the acceleration sensor module is used for collecting the vibration acceleration information of the suspension, and the electromagnetic valve driving module is used for adjusting the control current of the electromagnetic valve; the chassis domain controller is respectively in communication connection with the acceleration sensor module and the electromagnetic valve driving module through communication buses and is used for determining a target current value according to the acceleration information and sending the target current to the electromagnetic valve driving module so that the electromagnetic valve driving module controls the control current of the electromagnetic valve to change to the target current value.
Optionally, the chassis domain controller determines the target current value according to the acceleration information, including: (1) According to the formula
Figure BDA0003855268930000021
Calculating the road surface roughness R, wherein a 1 The suspension vibration acceleration at the ith moment is acquired by the acceleration sensor module; (2) According to the formula
Figure BDA0003855268930000022
Calculating the relative movement velocity V of the damper, wherein a zi Vertical vibration acceleration as the center of mass of the vehicle body，β i Is the angle of roll, theta i As pitch angle, Δ t The sampling time interval is defined as x, the longitudinal distance of the upper mounting point of the shock absorber relative to the mass center and y, the lateral distance of the upper mounting point of the shock absorber relative to the mass center; (3) According to the formula
Figure BDA0003855268930000023
Calculating a target damping force of the shock absorber, where K RV As a factor related to road roughness and damper speed, K vV As a function of vehicle speed and damper speed, K RR As a function of the road roughness and the roll angle of the body, K vR As a coefficient relating to vehicle speed and roll angle of the vehicle body, K RP As a function of the road roughness and the pitch angle of the body, K vP As a function of vehicle speed and body pitch angle, K RB As a function of the roughness of the road surface and the vertical speed of movement of the vehicle body, K vB The coefficients related to the vehicle speed and the vertical movement speed of the vehicle body are obtained; (4) According to the formula
Figure BDA0003855268930000024
Calculating a target current value of the solenoid valve, wherein a 0 、a 1 、S b All parameters are obtained by fitting the damping force of the shock absorber by using a least square method.
Alternatively, K RV 、K vV 、K RR 、K vR 、K RP 、K vP 、K RB The vehicle control mode includes one or more of a comfort mode, an off-road mode, a sport mode, a snow mode, a sand mode, an energy saving mode, and an economy mode, according to the vehicle control mode setting.
Optionally, the distributed semi-active suspension system further comprises a human-computer interaction device, and the chassis domain controller is in communication connection with the human-computer interaction device through a communication bus and is used for acquiring a vehicle control mode determined by the human-computer interaction device based on selection operation of a user.
Optionally, the distributed semi-active suspension system further comprises a steering system, a power system and a braking system, and the chassis domain controller is in communication connection with the steering system, the power system and the braking system respectively through communication buses.
Optionally, the electromagnetic valve and the driver are arranged on the shock absorber, and a first wire harness is connected between the electromagnetic valve and the driver.
Optionally, the damping adjustable shock absorber assembly further comprises a driver connector, a second wire harness is connected between the driver and the driver connector, and the driver connector is used for connecting the whole vehicle wire harness.
Optionally, the driver further comprises a communication module, and the chassis domain controller is respectively in communication connection with the acceleration sensor module and the electromagnetic valve driving module sequentially through the communication bus and the communication module.
Optionally, the distributed semi-active suspension system further comprises a power supply, and the power supply is electrically connected with the chassis domain controller and the damping adjustable shock absorber assembly respectively.
Optionally, the at least one adjustable damping shock absorber assembly comprises a front suspension adjustable damping shock absorber assembly and a rear suspension adjustable damping shock absorber assembly.
According to the distributed semi-active suspension system provided by the embodiment of the invention, the electromagnetic valve drive and the acceleration signal acquisition are integrated on the driver, and a mode of controlling by the chassis domain controller and the communication bus is adopted, so that the integration degree of the semi-active suspension system is greatly improved, the system cost can be effectively reduced, and the development difficulty and cost of the chassis domain controller are effectively reduced; and the target current value required by the control of the shock absorber is determined according to the suspension vibration acceleration information acquired in real time, so that the control accuracy of the damping force of the shock absorber can be effectively improved, and the smoothness and the control stability of the vehicle are effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a first configuration of a distributed semi-active suspension system in accordance with an embodiment of the present invention;
FIG. 2 is a second structural schematic diagram of a distributed semi-active suspension system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a damping adjustable shock absorber assembly of the distributed semi-active suspension system according to the embodiment of the present invention.
Reference numbers:
1. a chassis domain controller; 2. a steering system; 3. a power system; 4. a braking system; 5. a communication bus; 6. a human-computer interaction device; 7. a power source; 8. other systems; 9. a damping adjustable shock absorber assembly; 91. the front suspension damping adjustable shock absorber assembly; 92. the rear suspension damping adjustable shock absorber assembly; 10. a shock absorber; 11. an electromagnetic valve; 12. a driver; 121. a power supply module; 122. a communication module; 123. an acceleration sensor module; 124. the electromagnetic valve driving module; 13. a first wire harness; 14. a second wire harness; 15. a driver plug connector.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention can be embodied in many different forms than those herein described and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit and scope of the invention and, therefore, the invention is not to be limited to the embodiments set forth herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
It will be understood by those of skill in the art that the terms "first," "second," and the like in the embodiments of the present invention are used merely to distinguish one element, step, device, module, or the like from another element, and do not denote any particular technical or logical order therebetween. And, as used herein, the term "/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 3, a distributed semi-active suspension system according to an embodiment of the present invention includes a chassis domain controller 1, a communication bus 5, and at least one damping adjustable shock absorber assembly 9, where the damping adjustable shock absorber assembly 9 includes a shock absorber 10, a solenoid valve 11, and a driver 12, a damping force of the shock absorber 10 changes with a change in a control current of the solenoid valve 11, the driver 12 includes an acceleration sensor module 123 and a solenoid valve driving module 124, the acceleration sensor module 123 is configured to acquire suspension vibration acceleration information, and the solenoid valve driving module 124 is configured to adjust a control current of the solenoid valve 11; the chassis domain controller 1 is in communication connection with the acceleration sensor module 123 and the solenoid valve driving module 124 through the communication bus 5, and is configured to determine a target current value according to the acceleration information, and send the target current to the solenoid valve driving module 124, so that the solenoid valve driving module 124 controls the control current of the solenoid valve 11 to change to the target current value.
In the distributed semi-active suspension system according to the embodiment of the present invention, the shock absorber 10 is a shock absorber with adjustable damping, and specifically, a solenoid valve shock absorber or a magnetorheological shock absorber and the like may be used, the solenoid valve 11 is disposed in the shock absorber 10 or the solenoid valve 11 is disposed on the shock absorber 10 in a manner shown in fig. 3, and the magnitude of the damping force of the shock absorber 10 can be controlled by adjusting the magnitude of the control current of the solenoid valve 11. The driver 12 is disposed on the shock absorber 10, detects the vibration acceleration of the suspension through the acceleration sensor, and sends the vibration acceleration to the chassis domain controller 1 through the communication bus 5, so that the chassis domain controller 1 can calculate a target current value required by the shock absorber 10 in the current vibration state according to the collected vibration acceleration information of the suspension, and send the target current value to the electromagnetic valve driving module 124 through the communication bus 5. The solenoid valve driving module 124 is in communication connection with the solenoid valve 11, and is configured to change the control current for controlling the solenoid valve 11 to a target current value according to the received target current value, and adjust the damping force of the shock absorber 10 to a corresponding target damping force, thereby implementing control over the damping force of the shock absorber 10, and facilitating improvement of the smoothness and the handling stability of the vehicle. Moreover, the distributed semi-active suspension system of the embodiment of the invention adopts the chassis domain controller 1, and greatly improves the integration degree of the semi-active suspension system by integrating the acceleration sensor and the electromagnetic valve 11 on the driver 12, thereby effectively reducing the system cost and simultaneously effectively reducing the development difficulty and the cost of the chassis domain controller 1.
In an alternative embodiment, as shown in fig. 3, the distributed semi-active suspension system includes a front suspension damping adjustable damper assembly 91 and a rear suspension damping adjustable damper assembly 92, each of the two damping adjustable damper assemblies further includes a first wire harness 13, a second wire harness 14 and a driver connector 15, the solenoid valve 11 and the driver 12 are disposed on the damper 10, the first wire harness 13 is connected between the solenoid valve 11 and the driver 12 for implementing data transmission and the like between the solenoid valve 11 and the driver 12, for example, the solenoid valve driving module 124 of the driver 12 may send a control signal to the solenoid valve 11 through the first wire harness 13 to control the control current of the solenoid valve 11 to be changed to a target current value. The driver connector 15 is used for connecting a whole vehicle wiring harness, and the second wiring harness 14 is connected between the driver 12 and the driver connector 15 and used for realizing data transmission, electric connection and the like between the driver 12 and the driver connector 15.
Optionally, the driver 12 further includes a communication module 122, the chassis domain controller 1 is respectively in communication connection with the acceleration sensor module 123 and the solenoid valve driving module 124 through the communication bus 5 and the communication module 122 in sequence, specifically, the acceleration sensor module 123 sends the acquired acceleration information to the communication bus 5 through the communication module 122, and then sends the acquired acceleration information to the chassis domain controller 1 through the communication bus 5; the chassis domain controller 1 sends the calculated target current value to the communication module 122 through the communication bus 5, and sends the target current value to the solenoid valve driving module 124 through the communication module 122, so that the solenoid valve driving module 124 adjusts the control current of the solenoid valve 11 according to the target current value. And, the driver 12 may further include a power module 121, and in practical applications, the modules included in the driver 12 may be integrated on a PCB.
Optionally, the distributed semi-active suspension system further includes a power supply 7, the power supply 7 is electrically connected to the chassis domain controller 1 and the damping adjustable shock absorber assembly 9 respectively, and is used for supplying power to the components such as the chassis domain controller 1, and the power supply 7 may further supply power to the driver 12 through the driver plug connector 15.
According to an exemplary embodiment of the invention, the distributed semi-active suspension system further comprises a steering system 2, a power system 3 and a brake system 4, the chassis domain controller 1 is respectively connected with the steering system 2, the power system 3 and the brake system 4 in a communication mode through a communication bus 5 and is used for acquiring signals of the steering system 2, signals of the brake system 4 and signals of the power system 3 through the communication bus 5, and of course, signals of other systems 8 can be acquired and used for calculating a target current value by combining the acquired suspension vibration acceleration signals.
Optionally, the chassis domain controller may employ the following steps in calculating the target current value:
(1) According to the formula
Figure BDA0003855268930000061
Calculating the road surface roughness R, wherein a 1 The suspension vibration acceleration at the i-th moment acquired by the acceleration sensor module 123;
(2) According to the formula
Figure BDA0003855268930000062
Calculating the relative movement velocity V of the damper, where a zi Vertical vibration acceleration, beta, of the center of mass of the vehicle body i Is the angle of roll, theta i As pitch angle, Δ t The sampling time interval is defined as x, the longitudinal distance of the upper mounting point of the shock absorber relative to the mass center and y, the lateral distance of the upper mounting point of the shock absorber relative to the mass center; here, a zi 、β i 、θ i Parameters or signals such as x and y can be acquired from related systems on the vehicle through a communication bus;
(3) According to the formula
Figure BDA0003855268930000063
Calculating the current corresponding to each system signal and suspension vibration acceleration signalTarget damping force for shock absorber control required under vibration condition, where K RV Coefficient related to road roughness and damper speed, K vV As a function of vehicle speed and damper speed, K RR As a function of the road roughness and the roll angle of the body, K vR As a coefficient relating to vehicle speed and roll angle of the vehicle body, K RP As a coefficient related to the road surface roughness and the pitch angle of the vehicle body, K vP As a function of vehicle speed and body pitch angle, K RB As a function of the roughness of the road surface and the vertical speed of movement of the vehicle body, K vB The coefficients are related to the vehicle speed and the vertical movement speed of the vehicle body;
(4) According to the formula
Figure BDA0003855268930000064
Calculating a target current value of the solenoid valve, wherein a 0 、a 1 、S b All parameters are obtained by fitting the damping force of the shock absorber by using a least square method.
It can be seen that varying the control current of the solenoid valve 11 effects a change in the damping force of the shock absorber 10, and that the damping force of the shock absorber 10 decreases as the control current of the solenoid valve 11 increases in one interval and increases in another interval.
Optionally, in step (3), K RV 、K vV 、K RR 、K vR 、K RP 、K vP 、K RB The isoparametric may be set according to vehicle control modes including one or more of comfort, off-road, sport, snow, sand, energy saving, economy and so on. Correspondingly, the distributed semi-active suspension system further comprises a human-computer interaction device 6, wherein the human-computer interaction device is used for responding to selection operations of clicking, pressing keys and the like performed by a user on the basis of the human-computer interaction device 6 to determine a vehicle control mode selected by the user; the chassis domain controller 1 is in communication connection with the man-machine interaction device 6 through the communication bus 5 and is used for determining a vehicle control mode determined by the man-machine interaction device 6 and further determining corresponding parameters for calculating a target current value, so that the suspension vibration condition and the actual driving of the vehicle are considered at the same timeThe target current value is calculated on the basis of various factors such as conditions, the damping force of the shock absorber 10 is controlled more accurately according to the target current value, and the running process of the vehicle is ensured to be smoother and more stable.
In an actual application scenario, the distributed semi-active suspension system of the embodiment of the present invention may further include other components or devices to implement actual installation, application, and other functions of the suspension system.
According to the distributed semi-active suspension system, the electromagnetic valve drive and the acceleration signal acquisition are integrated on the driver, and the mode that the chassis domain controller and the communication bus are used for controlling is adopted, so that the integration degree of the semi-active suspension system is greatly improved, the system cost can be effectively reduced, and the development difficulty and the cost of the chassis domain controller are effectively reduced; and the target current value required by the control of the shock absorber is determined according to the suspension vibration acceleration information acquired in real time, so that the control accuracy of the damping force of the shock absorber can be effectively improved, and the smoothness and the operation stability of the vehicle are effectively improved.
And the target current value required by the control of the shock absorber is calculated by collecting signals of a steering system, a power system, a braking system, a human-computer interaction system and the like of the vehicle and combining the signals with the vibration acceleration information of the suspension, so that the target current value can be calculated on the basis of simultaneously considering various factors such as the vibration condition of the suspension, the actual driving condition of the vehicle and the like, the damping force of the shock absorber is more accurately controlled, and the smoothness and the stability of the driving process of the vehicle are further ensured.
It should be noted that, according to the implementation requirement, each component/step described in the embodiment of the present invention may be divided into more components/steps, and two or more components/steps or partial operations of the components/steps may also be combined into a new component/step to achieve the purpose of the embodiment of the present invention.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A distributed semi-active suspension system is characterized by comprising a chassis domain controller, a communication bus and at least one damping adjustable shock absorber assembly;
the damping adjustable shock absorber assembly comprises a shock absorber, an electromagnetic valve and a driver, wherein the damping force of the shock absorber changes along with the change of the control current of the electromagnetic valve, the driver comprises an acceleration sensor module and an electromagnetic valve driving module, the acceleration sensor module is used for collecting the vibration acceleration information of the suspension, and the electromagnetic valve driving module is used for adjusting the control current of the electromagnetic valve;
the chassis domain controller is respectively in communication connection with the acceleration sensor module and the solenoid valve driving module through communication buses, and is used for determining a target current value according to the acceleration information and sending the target current to the solenoid valve driving module so that the solenoid valve driving module controls the control current of the solenoid valve to change to the target current value.
2. The distributed semi-active suspension system of claim 1 wherein said chassis domain controller determines a target current value from said acceleration information comprising:
(1) According to the formula
Figure FDA0003855268920000011
Calculating the road surface roughness R, wherein a 1 The suspension vibration acceleration at the ith moment is acquired by the acceleration sensor module;
(2) According to the formula
Figure FDA0003855268920000012
Calculating the relative movement velocity V of the damper, where a zi Vertical vibratory acceleration of the center of mass of a vehicle bodyDegree, beta i Is the angle of roll, theta i To pitch angle, Δ t The sampling time interval is defined as x, the longitudinal distance of the upper mounting point of the shock absorber relative to the mass center and y, the lateral distance of the upper mounting point of the shock absorber relative to the mass center;
(3) According to the formula
Figure FDA0003855268920000013
Calculating a target damping force of the shock absorber, where K RV Coefficient related to road roughness and damper speed, K vV As a factor related to vehicle speed and damper speed, K RR As a function of the road roughness and the roll angle of the body, K vR As a coefficient relating to vehicle speed and roll angle of the vehicle body, K RP As a coefficient related to the road surface roughness and the pitch angle of the vehicle body, K vP As a function of vehicle speed and body pitch angle, K RB Is a coefficient related to the roughness of the road surface and the vertical movement speed of the vehicle body, K vB The coefficients related to the vehicle speed and the vertical movement speed of the vehicle body are obtained;
(4) According to the formula
Figure FDA0003855268920000021
Calculating a target current value of the solenoid valve, wherein a 0 、a 1 、S b All parameters are obtained by fitting the damping force of the shock absorber by using a least square method.
3. A distributed semi-active suspension system as claimed in claim 2 wherein said K is RV 、K vV 、K RR 、K vR 、K RP 、K vP 、K RB The vehicle control mode includes one or more of a comfort mode, an off-road mode, a sport mode, a snow mode, a sand mode, an energy saving mode, and an economy mode according to a vehicle control mode setting.
4. The distributed semi-active suspension system as claimed in claim 3, further comprising a human-computer interaction device, wherein the chassis domain controller is communicatively connected to the human-computer interaction device via a communication bus for obtaining a vehicle control mode determined by the human-computer interaction device based on a user selection operation.
5. The distributed semi-active suspension system according to claim 1, further comprising a steering system, a power system and a braking system, wherein the chassis domain controller is in communication connection with the steering system, the power system and the braking system respectively through communication buses.
6. The distributed semi-active suspension system as claimed in claim 1, wherein said solenoid valve and said actuator are disposed on said shock absorber, and a first wire harness is connected between said solenoid valve and said actuator.
7. The distributed semi-active suspension system according to claim 1, wherein the damping adjustable shock absorber assembly further comprises a driver connector, a second wire harness is connected between the driver and the driver connector, and the driver connector is used for connecting the whole vehicle wire harness.
8. The distributed semi-active suspension system of claim 1 wherein the driver further comprises a communication module, and the chassis domain controller is in communication connection with the acceleration sensor module and the solenoid valve driving module respectively through a communication bus and the communication module in sequence.
9. The distributed semi-active suspension system of claim 1 further comprising a power source electrically connected to said chassis domain controller and said adjustable damping shock absorber assembly, respectively.
10. A distributed semi-active suspension system as claimed in any one of claims 1 to 9 wherein said at least one adjustable-damping shock absorber assembly comprises a front suspension adjustable-damping shock absorber assembly and a rear suspension adjustable-damping shock absorber assembly.
CN202211146016.4A 2022-09-20 2022-09-20 Distributed semi-active suspension system Pending CN115534609A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211146016.4A CN115534609A (en) 2022-09-20 2022-09-20 Distributed semi-active suspension system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211146016.4A CN115534609A (en) 2022-09-20 2022-09-20 Distributed semi-active suspension system

Publications (1)

Publication Number Publication Date
CN115534609A true CN115534609A (en) 2022-12-30

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211146016.4A Pending CN115534609A (en) 2022-09-20 2022-09-20 Distributed semi-active suspension system

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Country Link
CN (1) CN115534609A (en)

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