CN116494709A - Active suspension control system and control method for off-road multi-axle vehicle - Google Patents
Active suspension control system and control method for off-road multi-axle vehicle Download PDFInfo
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- 238000005096 rolling process Methods 0.000 claims abstract description 18
- 239000006096 absorbing agent Substances 0.000 claims abstract description 13
- 230000035939 shock Effects 0.000 claims abstract description 13
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 230000001960 triggered effect Effects 0.000 claims description 5
- 230000009191 jumping Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
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- 230000000007 visual effect Effects 0.000 abstract 1
- 230000036544 posture Effects 0.000 description 10
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Classifications
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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
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
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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
- B60G17/018—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
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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
- B60G17/019—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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/14—Independent suspensions with lateral arms
- B60G2200/144—Independent suspensions with lateral arms with two lateral arms forming a parallelogram
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- 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
- B60G2400/05—Attitude
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- 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
- B60G2400/25—Stroke; Height; Displacement
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- 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
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- 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
- B60G2600/182—Active control means
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- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an active suspension control system and a control method of an off-road multi-axle vehicle. The active suspension of the vehicle adopts a double-cross arm independent suspension configuration, and each wheel is provided with an active actuating mechanism with a telescopic adjusting function and a shock absorber connected with the active actuating mechanism in series. The active suspension control system calls an active suspension control method, and firstly, current wheel, suspension, body posture and wheel load data of a vehicle are output in a display screen; then according to the input of a driver through a pitching, rolling and height adjusting switch, calculating the expansion adjustment quantity required by each active executing mechanism when the control is expected, and driving each active executing mechanism to synchronously implement active control; and updating the current gesture and wheel load data of the vehicle in real time by the display screen until the active control is finished. The invention can provide flexible and effective vehicle height and vehicle attitude active control and visual man-machine interaction functions for the multi-axle active suspension vehicle to pass through extreme terrains at low speed, and improves the trafficability and stability of the off-road multi-axle vehicle.
Description
Technical Field
The invention belongs to the technical field of active suspensions, and particularly relates to the technical field of active control of body gestures of off-road multi-axle vehicles.
Background
Non-road multiaxial (including two axles and any number of axles above) vehicles, including passenger off-road vehicles, medium/heavy commercial vehicles, military vehicles, unmanned vehicles and the like, have the requirement of wide low-speed driving over non-road extreme terrains such as longitudinal and transverse slopes, potholes, rubble ruins and the like. During low-speed passing, the vehicle body posture is changed drastically, part of wheels are suspended, and even the vehicle is blocked and is difficult to continue running. If effective display of the current state of the vehicle and active control according to the body posture of the driver's intention can be implemented during this period, and thus active control is performed in real time for the body height ascent and descent, pitch and roll posture adjustment during running, it is of great value to promote the trafficability and stability of the off-road multiaxial vehicle.
Currently, real-time calculation and display of vehicle states of multi-axis vehicles, particularly vehicles with more than three axes, under non-road extreme terrain and active control according to the body posture of a driver are blank. The difficulty is that: firstly, a multiaxial vehicle under extreme topography faces complex situations such as serious inclination of a vehicle body, suspension of wheels and the like, and a vehicle state test system is required to be designed so as to construct a real-time calculation and cabin display method of the vehicle state; further, there is a need to construct an active control method of the vehicle body posture aiming at the driver's vehicle height elevation and pitch roll desire for the extreme terrain. The more the number of axles of the vehicle is, the more complex the driving environment is, and the more difficult the control system and the control method need to be constructed. In view of the above, the invention provides an active suspension control system and a control method for realizing the active control of the vehicle body and the vehicle body in the extreme terrain at low speed, so as to realize the flexible and effective man-machine interaction and active control functions of vehicles with any axle number and break through the trafficability and stability bottlenecks of off-road multi-axle vehicles.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an active suspension control system and a control method of an off-road multi-axle vehicle, which are used for solving the real-time display of the vehicle state under the off-road extreme topography and the active control function of the height lifting, pitching and rolling postures of the vehicle body according to the intention of a driver, and improving the trafficability and stability of the off-road multi-axle vehicle. In order to achieve the above purpose, the invention adopts the following technical scheme:
in one aspect, there is provided an active suspension control system for an off-road multi-axle vehicle, the wheels and body of the vehicle being connected by the active suspension, the active suspension being in a double wishbone independent suspension configuration, the control system comprising:
the number of the axles of the vehicle can be any number of axles which is equal to or larger than 2 axles, and the number of the axles is recorded as n;
the active suspension of the vehicle is provided with an active executing mechanism with an axial expansion adjusting function for each wheel, the active executing mechanism is axially connected with a shock absorber in series, and the rigidity characteristic of the shock absorber is calibrated;
the vehicle at least comprises a displacement sensor for measuring axial telescopic displacement of the active actuating mechanism, a force sensor for measuring axial force, and an inclination sensor for measuring pitch angle and roll angle of the vehicle body;
a pitch, roll and height adjusting switch is arranged in a cab of the vehicle; the pitching, rolling and height adjusting switches can be in any forms of a baffle rod, keys, a knob or touch buttons arranged in a display screen; the pitch, roll and altitude adjustment switches respectively send one or more of pitch down or pitch up, roll left or roll right, up or down commands to the active suspension controller;
a display screen with input and output functions is also arranged in the cab of the vehicle; the display screen can manually modify the reference values of the pitching, rolling and height adjustment corresponding to the pitching, rolling and height adjustment switches through a driver; the internal memory of the control system is pre-stored with reference values for pitch, roll and height adjustment, which are respectively 1 degree, 1 degree and 10cm;
the control system has artificially designated a number of key nodes reflecting the attitude of the wheels, suspensions and body, including but not limited to the connection points that produce relative positional changes of the components, such as: the center point of the bottom surface of the wheel, the contour point of the wheel, the top dead center and the bottom dead center of the active suspension, each hinge point of the double cross arm, a vehicle height reference point defined by the intersection point of a longitudinal reference line of the vehicle body and the cross section of each active suspension, and a node reflecting the contour characteristics of the vehicle body;
the vehicle is configured with an active suspension controller; an active suspension control program which can be executed is stored in the active suspension controller; when the active suspension control program is executed, an active suspension control method of the non-road multi-axle vehicle is called, and current wheel, suspension and body attitude information of the vehicle and wheel load information calculated according to axial force of each active executing mechanism are firstly output in a graphical and digital mode in the display screen; then according to the pitching, rolling and height adjusting switches triggered by a driver and the reference values of pitching, rolling and height adjustment, resolving to control the expansion adjustment quantity required by each expected active actuating mechanism, and further driving each active actuating mechanism to synchronously act so as to implement active control; and at the same time, the display screen updates the current wheel, suspension and body attitude information of the vehicle and the wheel load information in real time until the active control is finished.
According to a second aspect, an active suspension control method of a non-road multi-axle vehicle is further provided, based on the double-cross arm independent suspension configuration, the inclination angle of the vehicle body relative to a horizontal plane is consistent with the inclination angle of the vehicle wheels relative to a longitudinal symmetry plane of the vehicle, and the control method is based on the premise that the vehicle is currently driven in a non-road environment, and at least three wheels of the vehicle are reliably contacted with the ground; the control method comprises the following steps:
step 1: measuring the current pitch angle and roll angle of the vehicle body by the pitch angle sensor;
step 2: determining a local coordinate function of each key node of each axle, which specifically comprises the following steps: based on individual wheels on either side of the vehicleEstablishing a local rectangular coordinate system o of each axle in sequence from the 1 st axis to the n-th axis i x i y i z i I=1, 2, n, wherein the yz coordinate plane is concomitantly parallel to the cross section of each axle active suspension, the x-axis is vertical to the yz coordinate plane and points to the advancing direction of the vehicle, the y-axis is horizontal to the left, and the z-axis is upward; in the local direct coordinate system of each axle, sequentially establishing a local coordinate function of each key node of each axle based on the side inclination angle of the automobile body and the corner of each axle double cross arm relative to the automobile body;
step 3: the method for determining the distance between the top dead center and the bottom dead center of the active suspension on two sides of each axle specifically comprises the following steps: the displacement sensor measures the axial telescopic displacement of each active actuating mechanism of each axle, and further determines the absolute length of each active actuating mechanism; measuring the axial force of each shock absorber of each axle by the force sensor, and further determining the absolute length of each shock absorber according to the rigidity characteristic of each shock absorber; combining the two to determine the distance between the upper dead point and the lower dead point of the active suspension at both sides of each axle;
step 4: solving the corner of double cross arms on two sides of each axle relative to the vehicle body: solving the corner of the double cross arms on two sides of each axle relative to the vehicle body according to the coordinate functions of the upper dead point and the lower dead point of the active suspension on two sides of each axle and the distance between the upper dead point and the lower dead point;
step 5: and determining y-axis coordinates and z-axis coordinates of all key nodes in a local rectangular coordinate system: substituting the calculated rotation angles of the double cross arms on the two sides of each axle relative to the vehicle body into local coordinate functions of each key node of each axle, and determining y-axis and z-axis coordinates of all key nodes in a corresponding local rectangular coordinate system;
step 6: the method for determining the global coordinates of each key node of the axle where the global coordinate system is located specifically comprises the following steps: establishing a global coordinate system OXYZ by taking the origin of a local rectangular coordinate system of any axle as the origin, wherein an X axis horizontally points to the front of the vehicle, a Y axis horizontally points to the left, and a Z axis vertically points upwards; according to the pitch angle of the vehicle body measured by the inclination angle sensor and the y-axis and z-axis coordinates of each key node of the axle where the global coordinate system is located in the corresponding local rectangular coordinate system, determining the three-dimensional coordinates of each key node of the axle in the global coordinate system;
step 7: the method for determining the three-dimensional coordinates of each key node of each other axle in the global coordinate system specifically comprises the following steps: according to the pitch angle of the vehicle body measured by the inclination angle sensor, determining the X-axis and Z-axis coordinates of the vehicle height reference points of other axles in a global coordinate system; setting the Y-axis coordinate of the vehicle height reference point in the global coordinate system to be consistent with the Y-axis coordinate of the vehicle height reference point of the axle where the global coordinate system is located in the global coordinate system; according to the y-axis and z-axis coordinates of other key nodes in the corresponding local rectangular coordinate system, determining the y-axis and z-axis distances between the vehicle height reference points and other key nodes of the corresponding axes, and further calculating the three-dimensional coordinates of all key nodes in the global coordinate system according to the three-dimensional coordinates of all the vehicle height reference points in the global coordinate system;
in the active suspension control system of the off-road multi-axle vehicle, outputting current wheel, suspension and body posture information of the vehicle and wheel load information calculated by axial force of each active executing mechanism in a display screen, by calling the steps 1 to 7 of claim 2;
step 8: detecting the ground contact condition of the wheel, and implementing ground contact adjustment: if not, the wheels are suspended, and the active executing mechanism associated with the suspended wheels is driven to axially act until all the wheels are contacted with the ground; if yes, namely, all wheels touch the ground, the steps 1 to 5 are called again, and the z-axis coordinates of all the key nodes in the corresponding local rectangular coordinate system are recalculated;
step 9: detecting pitch, roll and altitude mixture control switch instructions of a driver; picking up reference values of the pitch, roll and altitude adjustments entered by a driver or pre-stored in an internal memory;
step 10: the method for calculating the telescopic adjustment quantity of all the active execution mechanisms specifically comprises the following steps: determining the z-axis coordinate which is expected to be reached by each vehicle height reference point after active control according to the pitch angle reference value, the height adjustment reference value and the z-axis coordinate of each current vehicle height reference point in a corresponding local rectangular coordinate system; enabling the z-axis coordinate expected to be achieved by each vehicle height reference point after active control to be equal to the z-axis coordinate function of the corresponding vehicle height reference point; meanwhile, enabling the z-axis coordinate of the bottom surface center point of the opposite side wheel of the wheel where the origin of the local rectangular coordinate system of each axle is located to be equal to the z-axis coordinate function of the point; solving the corner of the double cross arms on the two sides of each axle relative to the vehicle body after active control according to the equation; substituting the rotation angles of the double cross arms on the two sides of each axle relative to the vehicle body into the coordinate functions of each key node of each axle, calculating the coordinates of the top dead center and the bottom dead center of the active suspension on the two sides of each axle after active control, and further determining the expansion adjustment quantity required by all active execution mechanisms;
step 11: and controlling all the active execution mechanisms to synchronously implement active telescopic adjustment: the active suspension control system drives all active execution mechanisms to synchronously implement active telescopic adjustment, and completes the telescopic adjustment quantity at the same time at the next moment, namely completes the active control of the pitching, rolling and height adjustment reference values corresponding to the pitching, rolling and height adjustment switch instructions triggered currently by a driver;
step 12: cycle detect driver pitch, roll and altitude adjustment switch commands stop: if the pitching, rolling or height adjusting instructions still exist, jumping to the step of detecting the wheel grounding condition and implementing grounding adjustment; if yes, the active control is ended.
Compared with the prior art, the invention has the advantages that:
the active suspension control system is taken as a carrier, and according to the axial force and displacement data of each axle active executing mechanism and the pitch angle and roll angle data of the vehicle body, the vehicle wheel, suspension, vehicle body posture information and wheel load information of the vehicle are calculated in real time and output on a display screen in a cabin by the active suspension control method, so that a driver can intuitively acquire the vehicle state, and the truest and reliable vehicle information is provided for the next active control.
According to the driver pitch, roll and altitude adjustment instructions, the desired active actuator adjustment is resolved to control. The adjustment quantity of the active actuating mechanism obtained by the control method can reach the control expectation synchronously without iteration, so that the problems of time consumption, oscillation, overshoot and even adjustment failure existing in the traditional feedback control are avoided, the flexibility, stability and safety of the active control of the vehicle body posture are improved, and the trafficability and stability of the multi-axle vehicle under non-road extreme topography are further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an active suspension control system and control method for an off-road multi-axle vehicle according to the present invention;
FIG. 2 is a schematic diagram of the structural principle of a multi-axle vehicle in the active suspension control system and control method of the off-road multi-axle vehicle of the present invention;
FIG. 3 is a schematic diagram of a display screen of the active suspension control system and control method of the off-road multi-axle vehicle of the present invention;
FIG. 4 is a block diagram illustrating the connection of the control system of the active suspension control system and the control method of the off-road multi-axle vehicle of the present invention;
FIG. 5 is a schematic diagram of a coordinate system set in an active suspension control system and control method for an off-road multi-axle vehicle according to the present invention;
FIG. 6 is a schematic diagram of key node settings in an active suspension control system and control method for an off-road multi-axle vehicle of the present invention;
FIG. 7 is a schematic diagram of the relationship between the vehicle height reference points in the active suspension control system and control method of the off-road multi-axle vehicle of the present invention.
In the figure: 1. a vehicle; 2. a wheel; 3. a vehicle body; 4. an active suspension; 5. a cross arm; 6. an active actuator; 7. a damper; 8. ground surface; 9. a displacement sensor; 10. a force sensor; 11. an inclination sensor; 12. pitch, roll and height adjustment switches; 13. a display screen; 14. pitch, roll, and altitude adjustment reference values.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
Referring to fig. 2, 3 and 4, in order to provide an active suspension control system for an off-road multi-axle vehicle according to an embodiment of the present application, a wheel 2 and a body 3 of the vehicle 1 are connected through the active suspension 4; the active suspension 4 adopts a double-cross arm independent suspension configuration, and the system is characterized in that:
the number of axes of the vehicle 1 may be any number of axes equal to or greater than 2 axes, and the number of axes is noted as n.
The active suspension 4 of the vehicle 1 is provided with an active actuator 6 with an axial telescopic adjusting function for each wheel 2, the active actuator 6 and a shock absorber 7 are axially connected in series, and the rigidity characteristic of the shock absorber 7 is calibrated.
The vehicle 1 at least comprises a displacement sensor 9 for measuring the axial telescopic displacement of the active actuating mechanism 6, a force sensor 10 for measuring the axial force, and an inclination sensor 11 for measuring the pitch angle and the roll angle of the vehicle body 3; those skilled in the art will recognize that the displacement sensor 9, force sensor 10 and tilt sensor 11 are limited to this embodiment configuration and that there are a variety of configurations and methods for obtaining the parameters and that such different configurations and methods are within the scope of the present disclosure.
A pitch, roll and height adjustment switch 12 is arranged in the cockpit of the vehicle 1; it will be appreciated by those skilled in the art that the pitch, roll and height adjustment switches 12 may take the form of levers, buttons, knobs, or any other form of touch buttons disposed within the display 13, and that such various arrangements are within the scope of the present disclosure; the pitch, roll and altitude adjustment switches 12 send one or more of pitch down or pitch up, roll left or roll right, up or down commands, respectively, to the active suspension controller.
A display screen 13 with input and output functions is also arranged in the cab of the vehicle 1; the display 13 can be manually modified by the driver by the reference value 14 for pitch, roll and height adjustment corresponding to the pitch, roll and height adjustment switch 12; the internal memory of the control system is pre-stored with reference values for pitch, roll and height adjustment, which are 1 degree, 1 degree and 10cm respectively.
The control system has artificially designated a number of key nodes reflecting the wheel, suspension and body attitude, including but not limited to the connection points for producing relative position change of each component, such as the left wheel bottom center point E shown in fig. 6, the top dead center G, I and bottom dead center F, H of the active suspension 4, each hinge point A, B of the cross arm 5, and the body height reference point T defined by the intersection of the longitudinal reference line of the body 3 with each active suspension cross section, and the nodes reflecting the body contour characteristics.
Referring to fig. 4, the vehicle 1 is provided with an active suspension controller; an active suspension control program which can be executed is stored in the active suspension controller; when the active suspension control program is executed, an active suspension control method of the off-road multi-axle vehicle is called, and current wheel, suspension and body attitude information of the vehicle 1 and wheel load information calculated according to axial force of each active executing mechanism 6 are firstly output in a graphical and digital mode in the display screen 13; then according to the pitching, rolling and height adjusting switch 12 triggered by the driver and the reference value 14 of pitching, rolling and height adjustment, resolving to reach the expansion adjustment quantity required by controlling each expected active actuating mechanism 6, and further driving each active actuating mechanism 6 to synchronously act so as to implement active control; at the same time, the display 13 updates the current wheel, suspension and body attitude information of the vehicle 1 and the wheel load information in real time until the active control is finished.
Referring to fig. 1, in the method for controlling an active suspension of an off-road multi-axle vehicle according to the embodiment of the present application, based on the double-wishbone independent suspension configuration, an inclination angle of the vehicle body 3 with respect to a horizontal plane is consistent with an inclination angle α of the wheel 2 with respect to a longitudinal symmetry plane of the vehicle shown in fig. 6; the control method is based on the premise that the vehicle is currently driven in a non-road environment, and at least three wheels of the vehicle are reliably contacted with the ground 8; the active suspension control method includes steps 101 to 112:
step 101, measuring the current pitch angle delta and the current roll angle alpha of the vehicle body 3 by the tilt angle sensor 11.
Step 102, determining a local coordinate function of each key node of each axle, which specifically includes: referring to fig. 5, a local rectangular coordinate system o of each axle is sequentially established in order from the 1 st axis to the n-th axis based on the wheels 2 on either side of the vehicle i x i y i z i I=1, 2, n, wherein the yz coordinate plane is concomitantly parallel to the cross section of each axle active suspension, the x-axis is vertical to the yz coordinate plane and points to the advancing direction of the vehicle, the y-axis is horizontal to the left, and the z-axis is upward; in the local direct coordinate system of each axle, based on the roll angle alpha of the vehicle body 3 and the rotation angles beta and gamma of each axle double cross arm 5 relative to the vehicle body 3, a local coordinate function of each key node of each axle is sequentially established, for example, as shown in fig. 6, according to the coordinate transformation theory, the key node A of the 3 rd axle is in a local rectangular coordinate system o 3 x 3 y 3 z 3 The y-axis and z-axis coordinates in (2) satisfy the formula
R in formula 1 w Radius of wheel, r f 1/2 of the height difference of the double transverse arms, rot (x, alpha) is a coordinate transformation matrix, and the formula is satisfied
The key node B of the 3 rd axis is in a local rectangular coordinate system o 3 x 3 y 3 z 3 The intermediate coordinates can be obtained according to the coordinate recurrence of the key node A, and the formula is satisfied
In formula 3 l d The length of the cross arm 5 is the corner of the right cross arm relative to the vehicle body 3.
The coordinate function of each key node of each axle can be analogized from the above method, and it can be understood that the coordinates of the key node in the corresponding local rectangular coordinates are functions of the angles beta and gamma of each axle cross arm 5 relative to the vehicle body 3.
Step 103, determining the distance between the top dead center G, I and the bottom dead center F, H of the active suspension on two sides of each axle, which specifically comprises:
the displacement sensor 9 measures the axial telescopic displacement of each active actuator 6 of each axle, and thus determines the absolute length of each active actuator 6.
The force sensor 10 measures the axial force of each damper 7 of each axle, and determines the absolute length of each damper 7 from its stiffness characteristics.
Combining the two to determine the distance between the upper dead point and the lower dead point of the active suspension 4 at both sides of each axle, namely L GF And L HI 。
Step 104, solving the corners beta and gamma of the double cross arms 5 on the two sides of each axle relative to the vehicle body 3, and specifically comprising the following steps:
one way may be to solve, for each axle, the rotation angles β and γ of the double cross arm 5 on both sides of each axle relative to the vehicle body 3 according to the coordinate functions of the top dead center and the bottom dead center of the active suspension 4 on both sides of each axle and the determined distance between the top dead center and the bottom dead center.
Alternatively, it may be according to L GF Critical node G, B length L GB Critical node F, B length L FB The rotation angle beta can be solved according to a triangle angle calculation formula; similarly, according to L HI Critical node I, C length L IC Critical node C, H length L CH The rotation angle gamma can be solved according to a triangle angle calculation formula.
Step 105, determining y-axis coordinates and z-axis coordinates of all key nodes in a local rectangular coordinate system, specifically including:
it can be understood that the calculated angles β and γ of the double cross arms on both sides of each axle relative to the vehicle body 3 are substituted into the coordinate function of each key node of each axle in step 102, so as to determine the y-axis and z-axis coordinates of all key nodes in the corresponding local rectangular coordinate system.
Step 106, determining global coordinates of each key node of the axle where the global coordinate system is located, specifically including:
referring to fig. 5, a global coordinate system ozz is established with the origin of the local rectangular coordinate system of any axle as the origin, the X axis is directed horizontally to the front of the vehicle, the Y axis is directed horizontally to the left, and the Z axis is directed vertically upwards;
referring to fig. 7, according to the pitch angle δ of the vehicle body 3 measured by the tilt sensor 11 and the y-axis and z-axis coordinates of each key node of the axle where the global coordinate system is located in the corresponding local rectangular coordinate system, determining the three-dimensional coordinates of each key node of the axle in the global coordinate system;
for example, the body reference point T shown in FIG. 7 3 Subscript 3 represents that it belongs to axle 3. T (T) 3 In a local rectangular coordinate system o 3 x 3 y 3 z 3 The y-axis and z-axis coordinates of (2) areThe three-dimensional coordinates of the three-dimensional coordinates in the global coordinate system OXYZ satisfy the following formula under the condition of neglecting a plurality of small amounts
The three-dimensional coordinates of each key node of the axle can be analogized by the method described above.
Step 107, determining three-dimensional coordinates of each key node of each other axle in a global coordinate system, which specifically includes:
and according to the pitch angle delta of the vehicle body 3 measured by the inclination angle sensor 11, determining the X-axis and Z-axis coordinates of the vehicle height reference points of other axles in a global coordinate system. And setting the Y-axis coordinate of the vehicle height reference point in the global coordinate system to be consistent with the Y-axis coordinate of the vehicle height reference point of the axle where the global coordinate system is located in the global coordinate system. For example, the body reference point T shown in FIG. 7 2 Subscript 2 represents that it belongs to axle 2, and its three-dimensional coordinates in global coordinate system OXYZ satisfy the following formula, ignoring a number of small amounts
In formula 5 l c1 Is the distance between the 2 nd and 3 rd axles.
According to the y-axis and z-axis coordinates of all the key nodes in the corresponding local rectangular coordinate system, determining the y-axis and z-axis distances between the vehicle height reference points and other key nodes of the corresponding axes, and further calculating the three-dimensional coordinates of all the key nodes in the global coordinate system according to the three-dimensional coordinates of all the vehicle height reference points in the global coordinate system;
critical node G, e.g. axle 2 2 In a local rectangular coordinate system o 2 x 2 y 2 z 2 The y-axis and z-axis coordinates of (2) areCorresponding vehicle height reference point T 2 The y-axis and z-axis coordinates of +.>The key node G ignores some small amounts 2 The three-dimensional coordinates in the global coordinate system OXYZ satisfy the following formula
The three-dimensional coordinates of all key nodes in the global coordinate system ozz can be analogized by the method described above. Those skilled in the art will appreciate that the critical nodes listed in this embodiment are for explanation only, and that the number of critical nodes supplemented on this basis, and the extension of discrete critical nodes leading thereto to the structural lines, planes, are within the scope of the present disclosure.
Step 108, detecting the ground contact condition of each wheel 2 by the force sensor: if not, i.e. the wheels 2 are suspended, driving the active executing mechanism 6 associated with each suspended wheel 2 to axially act until all the wheels 2 are contacted with the ground 8; if yes, namely, all wheels 2 touch the ground, the steps 101 to 105 are called again, and the z-axis coordinates of all key nodes in the corresponding local rectangular coordinate system are recalculated;
step 109, detecting the instructions of the pitch, roll and height adjustment switch 12 of the driver; pick up driver input or pre-stored pitch, roll and altitude adjustment reference values 14;
step 110, resolving the telescopic adjustment amount of all the active actuating mechanisms 6, specifically including:
and determining the z-axis coordinate which is expected to be reached by each vehicle height reference point after active control according to the pitch angle reference value, the height adjustment reference value and the z-axis coordinate of each current vehicle height reference point in the corresponding local rectangular coordinate system.
With reference point T of the body shown in FIG. 7 2 For example, assuming that the driver simultaneously triggers the pitch, roll and rise adjustment switch commands and the reference values 14 for pitch, roll and height adjustments are default values, the rear body reference point T is actively controlled 2 The z-axis coordinate of (2) satisfiesWherein Deltaz is a height adjustment reference value of 10cm, k 1 To raise the pointer, the adjustment time k is raised 1 =1, decreasing k at modulation 1 -1; delta is pitch angle regulating reference value 1 DEG, k 2 Is pitching the pointer, pitching downTime of adjustment k 2 = -1, elevation adjustment k 2 ＝1。
Enabling the z-axis coordinate expected to be achieved by each vehicle height reference point after active control to be equal to the z-axis coordinate function of the corresponding vehicle height reference point established in the step 102; and meanwhile, enabling the z-axis coordinate of the bottom surface center point of the opposite side wheel of the wheel where the origin of the local rectangular coordinate system of each axle is positioned to be equal to the z-axis coordinate function of the point. It should be noted that the z-axis coordinate function of the vehicle height reference point and the z-axis coordinate function of the center point of the bottom surface of the opposite side wheel are functions of the rotation angles beta and gamma of each axle double cross arm 5 relative to the vehicle body 3. The rotation angle of the double cross arms on the two sides of each axle relative to the vehicle body 3 after active control can be solved according to the equation.
Substituting the rotation angles of the double cross arms on the two sides of each axle relative to the vehicle body 3 into the step 102, and calculating the coordinates of the top dead center and the bottom dead center of the active suspension 4 on the two sides of each axle after active control. Calculating the distance L between the upper dead point and the lower dead point of the active control rear axle according to the upper dead point and the lower dead point coordinates of the active suspension 4 on the two sides of each axle after the active control GF And L HI And subtracting the distance between the current top dead center and the current bottom dead center from the distance between the current top dead center and the current bottom dead center to determine the expansion adjustment quantity required by all the active execution mechanisms 6.
Step 111, controlling all the active actuators 6 to synchronously implement active telescopic adjustment:
the active suspension control system drives all the active executing mechanisms 6 to synchronously implement active telescopic adjustment, and completes the telescopic adjustment amount at the same time at the next moment, namely completes the active control of the pitch, roll and height adjustment reference values corresponding to the pitch, roll and height adjustment switch commands 12 currently input by a driver.
In order to achieve the above-described telescopic adjustment amount simultaneously, the telescopic adjustment speed of each active actuator 6 should be set to be proportional to the absolute value of the telescopic adjustment amount.
Step 112, loop detect whether the driver's pitch, roll and altitude adjustment switch commands stop: if pitch, roll or altitude regulation instructions still exist, jumping to step 108 and continuing to execute the remaining steps; if yes, the active control is ended.
The active suspension control system of the off-road multi-axle vehicle provided by the embodiment of the application, wherein the current wheel, suspension and body posture information of the vehicle and the wheel load information calculated by the axial force of each active actuator 6 are output in the display screen 13, and the active suspension control system can be realized by calling steps 101 to 107.
In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", "1 st", "2 nd", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description of the present application and for simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
Finally, it should be noted that the foregoing description is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (3)
1. The utility model provides an initiative suspension control system of off-road multiaxis vehicle, the wheel and the automobile body of vehicle pass through initiative suspension connection, initiative suspension adopts double-wishbone independent suspension configuration, its characterized in that:
the number of the axles of the vehicle can be any number of axles which is equal to or more than 2 axles, and the number of the axles is recorded as n;
the active suspension of the vehicle is provided with an active executing mechanism with an axial expansion adjusting function for each wheel, the active executing mechanism is axially connected with a shock absorber in series, and the rigidity characteristic of the shock absorber is calibrated;
the vehicle at least comprises a displacement sensor for measuring axial telescopic displacement of the active actuating mechanism, a force sensor for measuring axial force, and an inclination sensor for measuring pitch angle and roll angle of the vehicle body;
a pitch, roll and height adjusting switch is arranged in a cab of the vehicle; the pitching, rolling and height adjusting switches can be in any forms of a baffle rod, keys, a knob or touch buttons arranged in a display screen; the pitch, roll and altitude adjustment switches respectively send one or more of pitch down or pitch up, roll left or roll right, up or down commands to the active suspension controller;
a display screen with input and output functions is also arranged in the cab of the vehicle; the display screen may allow a driver to manually modify reference values of pitch, roll and height adjustments corresponding to the pitch, roll and height adjustment switches; the internal memory of the control system is pre-stored with reference values for pitch, roll and height adjustment, which are respectively 1 degree, 1 degree and 10cm;
the control system has artificially designated a number of key nodes reflecting the attitude of the wheels, suspensions and body, including but not limited to the connection points that produce relative positional changes of the components, such as: the center point of the bottom surface of the wheel, the contour point of the wheel, the top dead center and the bottom dead center of the active suspension, each hinge point of the double cross arm, a vehicle height reference point defined by the intersection point of a longitudinal reference line of the vehicle body and the cross section of the active suspension, and a node reflecting the contour characteristics of the vehicle body;
the vehicle is configured with an active suspension controller; an active suspension control program which can be executed is stored in the active suspension controller; when the active suspension control program is executed, an active suspension control method of the non-road multi-axle vehicle is called, and current wheel, suspension and body attitude information of the vehicle and wheel load information calculated according to axial force of each active executing mechanism are firstly output in a graphical and digital mode in the display screen; then according to the pitching, rolling and height adjusting switches triggered by a driver and the reference values of pitching, rolling and height adjustment, resolving to control the expansion adjustment quantity required by each expected active actuating mechanism, and further driving each active actuating mechanism to synchronously act so as to implement active control; and at the same time, the display screen updates the current wheel, suspension and body attitude information of the vehicle and the wheel load information in real time until the active control is finished.
2. The active suspension control method of the non-road multiaxial vehicle is based on the double-cross arm independent suspension configuration, the inclination angle of the vehicle body relative to the horizontal plane is consistent with the inclination angle of the vehicle wheels relative to the longitudinal symmetrical plane of the vehicle, the control method is based on the premise that the vehicle is currently driven in a non-road environment, and the vehicle has at least three wheels which are reliably contacted with the ground, and is characterized by comprising the following steps:
step 1: measuring the current pitch angle and roll angle of the vehicle body by the pitch angle sensor;
step 2: determining a local coordinate function of each key node of each axle, which specifically comprises the following steps: based on the wheels on either side of the vehicle, sequentially establishing a local rectangular coordinate system o of each axle in the sequence from the 1 st axle to the n-th axle i x i y i z i I=1, 2, n, wherein the yz coordinate plane is concomitantly parallel to the cross section of each axle active suspension, the x-axis is vertical to the yz coordinate plane and points to the advancing direction of the vehicle, the y-axis is horizontal to the left, and the z-axis is upward; in the local direct coordinate system of each axle, sequentially establishing a local coordinate function of each key node of each axle based on the side inclination angle of the automobile body and the corner of each axle double cross arm relative to the automobile body;
step 3: the method for determining the distance between the top dead center and the bottom dead center of the active suspension on two sides of each axle specifically comprises the following steps: the displacement sensor measures the axial telescopic displacement of each active actuating mechanism of each axle, and further determines the absolute length of each active actuating mechanism; measuring the axial force of each shock absorber of each axle by the force sensor, and further determining the absolute length of each shock absorber according to the rigidity characteristic of each shock absorber; combining the two to determine the distance between the upper dead point and the lower dead point of the active suspension at both sides of each axle;
step 4: solving the corner of double cross arms on two sides of each axle relative to the vehicle body: solving the corner of the double cross arms on two sides of each axle relative to the vehicle body according to the coordinate functions of the upper dead point and the lower dead point of the active suspension on two sides of each axle and the distance between the upper dead point and the lower dead point;
step 5: and determining y-axis coordinates and z-axis coordinates of all key nodes in a local rectangular coordinate system: substituting the calculated rotation angles of the double cross arms on the two sides of each axle relative to the vehicle body into local coordinate functions of each key node of each axle, and determining y-axis and z-axis coordinates of all key nodes in a corresponding local rectangular coordinate system;
step 6: the method for determining the global coordinates of each key node of the axle where the global coordinate system is located specifically comprises the following steps: establishing a global coordinate system OXYZ by taking the origin of a local rectangular coordinate system of any axle as the origin, wherein an X axis horizontally points to the front of the vehicle, a Y axis horizontally points to the left, and a Z axis vertically points upwards; according to the pitch angle of the vehicle body measured by the inclination angle sensor and the y-axis and z-axis coordinates of each key node of the axle where the global coordinate system is located in the corresponding local rectangular coordinate system, determining the three-dimensional coordinates of each key node of the axle in the global coordinate system;
step 7: the method for determining the three-dimensional coordinates of each key node of each other axle in the global coordinate system specifically comprises the following steps: according to the pitch angle of the vehicle body measured by the inclination angle sensor, determining the X-axis and Z-axis coordinates of the vehicle height reference points of other axles in a global coordinate system; setting the Y-axis coordinate of the vehicle height reference point in the global coordinate system to be consistent with the Y-axis coordinate of the vehicle height reference point of the axle where the global coordinate system is located in the global coordinate system; according to the y-axis and z-axis coordinates of other key nodes in the corresponding local rectangular coordinate system, determining the y-axis and z-axis distances between the vehicle height reference points and other key nodes of the corresponding axes, and further calculating the three-dimensional coordinates of all key nodes in the global coordinate system according to the three-dimensional coordinates of all the vehicle height reference points in the global coordinate system;
step 8: detecting the ground contact condition of the wheel, and implementing ground contact adjustment: if not, the wheels are suspended, and the active executing mechanism associated with the suspended wheels is driven to axially act until all the wheels are contacted with the ground; if yes, namely, all wheels touch the ground, the steps 1 to 5 are called again, and the z-axis coordinates of all the key nodes in the corresponding local rectangular coordinate system are recalculated;
step 9: detecting pitch, roll and altitude mixture control switch instructions of a driver; picking up reference values of the pitch, roll and altitude adjustments entered by a driver or pre-stored in an internal memory;
step 10: the method for calculating the telescopic adjustment quantity of all the active execution mechanisms specifically comprises the following steps: determining the z-axis coordinate which is expected to be reached by each vehicle height reference point after active control according to the pitch angle reference value, the height adjustment reference value and the z-axis coordinate of each current vehicle height reference point in a corresponding local rectangular coordinate system; enabling the z-axis coordinate expected to be achieved by each vehicle height reference point after active control to be equal to the z-axis coordinate function of the corresponding vehicle height reference point; meanwhile, enabling the z-axis coordinate of the bottom surface center point of the opposite side wheel of the wheel where the origin of the local rectangular coordinate system of each axle is located to be equal to the z-axis coordinate function of the point; solving the corner of the double cross arms on the two sides of each axle relative to the vehicle body after active control according to the equation; substituting the rotation angles of the double cross arms on the two sides of each axle relative to the vehicle body into the coordinate functions of each key node of each axle, calculating the coordinates of the top dead center and the bottom dead center of the active suspension on the two sides of each axle after active control, and further determining the expansion adjustment quantity required by all active execution mechanisms;
step 11: and controlling all the active execution mechanisms to synchronously implement active telescopic adjustment: the active suspension control system drives all active execution mechanisms to synchronously implement active telescopic adjustment, and completes the telescopic adjustment quantity at the same time at the next moment, namely completes the active control of the pitching, rolling and height adjustment reference values corresponding to the pitching, rolling and height adjustment switch instructions triggered currently by a driver;
step 12: cycle detect driver pitch, roll and altitude adjustment switch commands stop: if the pitching, rolling or height adjusting instructions still exist, jumping to the step of detecting the wheel grounding condition and implementing grounding adjustment; if yes, the active control is ended.
3. The active suspension control system according to claim 1 or 2, wherein the outputting of the current wheel, suspension, body attitude information of the vehicle and wheel load information calculated from the axial force of each active actuator in the display screen is achieved by invoking steps 1 to 7 of claim 2.
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