CN1626370A - Energy storage driving pendant in motor - Google Patents
Energy storage driving pendant in motor Download PDFInfo
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- CN1626370A CN1626370A CN 200310109174 CN200310109174A CN1626370A CN 1626370 A CN1626370 A CN 1626370A CN 200310109174 CN200310109174 CN 200310109174 CN 200310109174 A CN200310109174 A CN 200310109174A CN 1626370 A CN1626370 A CN 1626370A
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Abstract
An active suspension with electric motor actuator and electromagnetic energy accumulating action features use of motor drive system instead of hydraulic driven system. The coded signals obtained by dynamic flexure sensor for suspension and the pulse signals obtained by rotor position sensor for motor are output to microprocessor. After they are processed, the electric motor actuator is real-time controlled for electric, reverse, or regenerative braking, so damping the shock and vibration caused by uneven road surface and recovering the braking energy.
Description
Affiliated technical field
The present invention relates to a kind of vehicle electrically controlling suspension, especially adopt the motor actuator and have the active suspension of electromagnetic storage effect.
Background technology
Vehicle suspension can be divided into passive, half active and active suspension three major types from the angle of control effort.Generally adopt passive suspension on the automobile at present, because system does not have the external energy input, spring stiffness and resistance of shock absorber coefficient are non-adjustable, can not change with outside condition of road surface, can only guarantee during design to be issued to the best performance compromise in a kind of specified link and speed.Because this intrinsic defective make the traditional passive suspension based on classical theory of vibration isolation be difficult to adapt to various condition of road surface, thereby cushioning performance is limited.Along with the development of freeway net, automobile speed is greatly improved, and traditional passive suspension has limited the further raising of automotive performance.
Recently, the electromagnetic valve damper technique of utilizing electromagnetic switch valve to regulate damping has continuously obtained more application abroad, but the responsibility of electromagnetic valve, reliability and noise problem remain problem to be solved.At present, carrying out both at home and abroad the research of magneto-rheological vibration damper, it can regulate resistance of shock absorber continuously by the viscosity that electromagnetic field directly changes magnetic rheological liquid, thereby the electromagnetic valve shock absorber responded rapid, reliable operation and noise reduction more in the past.But adopt the damp adjustable electronic controlled suspension of electromagnetic valve shock absorber or magneto-rheological vibration damper to be still half active system in essence, owing to there is not the input of active controlling force, the design of its control law will be restricted, thereby must have influence on the improvement degree of riding comfort and road-holding property.
Adopt active suspension can guarantee, thereby obviously improve riding comfort and road-holding property under the various driving conditions at various driving conditions lower suspension best performance.Its essence is served as a vibration isolation or bump leveller exactly between wheel and vehicle body, make road surface input be cancelled as far as possible or absorb through the random vibration mechanical energy of wheel conduction, continues to the vehicle body transmission so that hinder vibration mechanical energy.Therefore, the design of actuator is to influence the important step that ACTIVE CONTROL realizes in the active suspension system, the active suspension actuator that adopts mostly is the hydraulic type structure greatly at present, its principle of work is: by the pressure-gradient control valve in the modulated pressure cylinder, make the piston both sides produce different pressure reduction, promote piston and produce the motion that vehicle body is followed the tracks of in twitch.Its shortcoming is: complex structure, poor reliability, low-response, energy consumption is big, cost is high, thereby the practical difficulty of promoting.Nissan company has developed the novel energy-storage type shock absorber that utilizes vibrational energy to suppress vibration according to the energy-accumulation vibration-damping principle, and as semi-active suspension, it can significantly reduce the demand of excess power.Its principal character is: pressure-gradient control valve combines with small-sized energy storage and hydraulic ram, the vibration input of uneven road surface is absorbed by energy storage, the required flow of system is reduced relatively, and the vehicle body vibration isolation is finished jointly by the active damping and the passive damping of hydraulic systems, thereby energy consumption decreased more in the past.But this system is owing to adopt hydraulic structure, and accumulation of energy efficient is low, and speed of response is slow, and all exists bigger frictional damping between the cylinder barrel of hydraulic ram and piston ring, piston rod and oil sealing, thereby effectiveness in vibration suppression is restricted.
Summary of the invention
Technical matters to be solved by this invention is: defectives such as the complex structure, poor reliability, low-response, the energy consumption that have the existence of hydraulic type active suspension now are big in order to overcome, cost height, the Combination property of considering electric actuating unit is better than hydraulic efficiency pressure system, so a kind of motor energy-storage type active suspension that adopts the motor actuator and have the electromagnetic storage effect is provided, to realize High Performance, low-power consumption, reliable and stable, the purpose being convenient to promote.
The technical solution adopted for the present invention to solve the technical problems is: owing to be subjected to the restriction of vehicle suspension installing space, reach predetermined thrust and stroke, directly adopt DC linear electric motors actuator obviously to be difficult to realize.For improving the thrust volume ratio, should adopt ball screw driving type non-brush permanent-magnet DC motor actuator, its principal feature is: 1) can directly rotation be become straight-line motion, transmitting ratio is easy to regulate, and the thrust volume ratio is big; 2) response is fast, the efficient height, and servo-actuated is good, can realize brushless no gap operation; 3) comformability is strong, anti-vibrating and impact, and working stability is reliable, the non-maintaining long life; 4) be easy to digital controlly, the output characteristic temperature influence is less, can realize accurate displacement, speed and Acceleration Control; 5) rapid heat dissipation, stall work for a long time and unlikely burning out, and energy is easy to recycle; 6) there are not electric contact sparking, safety anti-explosive, low noise and electromagnetic interference.The principle of work of motor energy-storage type active suspension is: with suspension dynamic deflection sensor gained code signal and motor rotor position sensor gained impulse singla input microprocessor, after brushless motor phase change logic, electromagnetic storage control algorithm and active suspension control law are handled, by driving and energy storage circuit and vehicle power circuit, in real time electronic, the reversing braking of control motor actuator or regenerative brake state, that cause by Uneven road with active buffer and decay and conduct to the shock and vibration of vehicle body by wheel, simultaneously also with the recycling of regenerative brake electric energy.
The invention has the beneficial effects as follows: the active suspension actuator adopts motor transmission system to replace power hydraulic system, has improved many defectives of original hydraulic type active suspension, makes applying of active suspension become possibility.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the single-wheel illustraton of model of overall structure of the present invention.
Fig. 2 is the assembly structure figure of motor actuator among the present invention.
Fig. 3 is the algorithm flow chart of ACTIVE CONTROL rule among the present invention.
Fig. 4 is the schematic circuit diagram of electronic control system among the present invention.
The specific embodiment
Below with reference to accompanying drawing the present invention is further described.
1. in the embodiment shown in fig. 1, the single-wheel model of overall structure of the present invention (binary 1/4 car body model) by: sprung weight (or vehicle body) (1), unsprung weight (or wheel) (2), axle spring (3), motor actuator (4), driving and energy storage circuit (5), microprocessor (6), suspension dynamic deflection sensor (7), vehicle power circuit parts such as (8) are formed, and wherein: axle spring, motor actuator and suspension dynamic deflection sensor are installed in parallel between vehicle body and wheel.Its principle of work is: with suspension dynamic deflection sensor gained code signal and motor rotor position sensor gained impulse singla input microprocessor, after brushless motor phase change logic, electromagnetic storage control algorithm and active suspension control law are handled, by driving and energy storage circuit and vehicle power circuit, in real time electronic, the reversing braking of control motor actuator or regenerative brake state, that cause by Uneven road with active buffer and decay and conduct to the shock and vibration of vehicle body by wheel, simultaneously also with the recycling of regenerative brake electric energy.
2. in embodiment illustrated in fig. 2, among the present invention the keystone configuration of motor actuator by: non-brush permanent-magnet DC motor (41), ball-screw (42), nut seat (43), nut cover (44), restore bump rubber (45), compression bump rubber (46), buffering block (47) and suspension ring parts such as (48) and form.Wherein: non-brush permanent-magnet DC motor (41) mainly is made up of screw rod top cover (411), angular contact ball bearing (412), rotor-position sensor (413), cylinder casing (414), magnet steel rotor (415), armature stator (416), bearing seat (417), I/O interface parts such as (418).The screw portion segmentation of screw rod top cover is provided with prism and threaded end, the interference of top cover lower end flange embeds cylinder casing upper port, compress with the angular contact ball bearing outer ring end face, the top cover flange is axially connecting with cylinder casing upper end by several counterbore screws, and the connection place adopts lining cement locking; Angular contact ball bearing is arranged in pairs face-to-face, and the effect of supporting magnet steel rotor is played at the outer respectively both ends that are enclosed within the magnet steel rotor; Embedded winding of armature stator core and interference embed the cylinder casing, are rotor-position sensor between armature stator upper end and angular contact ball bearing, and the I/O interface lead of winding and sensor is drawn by the wire hole of cylinder casing; The embedded angular contact ball bearing of bearing seat, bearing seat upper end interference embeds cylinder casing lower port, and radially fastening by several counterbore screws, the connection place adopts lining cement locking; The bearing seat lower end connects by fine thread with the nut cover upper port, the connection place adopts lining cement locking, make nut cover upper surface and casing lower surface keep impaction state, so that will be directly passed to cylinder casing and screw rod top cover from the impact load of compression bump rubber; The magnetic conductive axis outer wall of magnet steel rotor is pasted permanent magnetic tile, is the ring-type air gap layer between rotor and stator; Lower end, nut cover aperture is provided with salient angle, matches with the chamfering of compressing bump rubber endoporus upper end, play the guiding role; The interference of nut seat upper end embeds the rotor lower port, and radially fastening by several counterbore screws, and by several fastening connections of screw, connection place employing lining cement is locking axially for nut seat flange and ball nut flange; Ball-screw is made up of ball nut (421) and ball screw (422), and the ball screw upper end is provided with tapped bore, and the bottom segmentation is provided with prism and threaded end, connects fastening by buffering block bottom ridges hole with spring washer and nut; Restoring bump rubber is made up of rubber bodies (451) and guiding collar (452), guiding collar upper end flange embeds dolioform rubber bodies endoporus, and the end is bonding is integral in contact, joint bolt connects with ball screw upper end tapped bore by restoring the bump rubber endoporus, the spring washer of locking effect has been set in the tapped bore, has made guiding collar lower surface and ball screw upper surface keep impaction state; The compression bump rubber is made up of rubber bodies (461) and guided bearing ring (462), the truncated cone-shaped rubber bodies forms by two halves is bonding, rubber bodies upper end endoporus is provided with chamfering, the guided bearing ring embeds rubber bodies endoporus middle part, and carrier ring external flange both ends of the surface contact end bonding being integral mutually with rubber bodies, carrier ring endoporus and ball screw bearing fit, the interference of bump rubber lower end embed buffering block upper port; Buffering block lower end two is supported and is connected with the fillet welding of suspension ring outer ring; Be embedded with rubber bush between the suspension ring inside/outside circle.
The principle of work of motor actuator is: the screw portion of screw rod top cover connects with vehicle body by rubber bush, the suspension ring inner ring connects with vehicle bridge by bolt, help alleviating unsprung weight and the vibratory impulse that reduces motor like this, thereby further improve suspension property and increase the service life.In the vehicle ' process, the motor actuator is done to restore and compression movement with Uneven road, ball screw is done translation up and down vertically in the motor sleeve rotor, drive ball nut and rotor and do positive and negative rotation, motor works in electronic or braking mode according to control command, thus active buffer and decay shock and vibration that cause by Uneven road and conduct to vehicle body by wheel.When running into bigger road shocks, the motor actuator works in cushion stroke, when restoring cushion stroke, restores the collision nut seat upper surface, guiding collar lower surface of bump rubber, and guiding collar slides along body of screw, makes rubber bodies be subjected to force compresses; When the compression cushion stroke, compression bump rubber upper surface collision nut cover lower surface makes rubber bodies be subjected to force compresses, and the guided bearing ring slides along ball screw, in case embed ball screw after the rubber bodies pressurized unstability, causes compression to be obstructed and rubber bodies destruction.
The architectural feature of motor actuator is: for improving dynamic response, reducing volume weight, should select the ball-screw of big helical pitch, little inertia, little endplay for use as far as possible.Non-brush permanent-magnet DC motor (claims permanent magnetism square wave synchronous dynamo again, have the convenient and reliable advantage of alternating current dynamo of DC motor speed-regulating concurrently) version should select for use load and rotating speed to change work quota aperiodic, torque servocontrol operation scheme, the cold but mode of sealing casing room surface exogenous wind, antivibration, heat-resisting, the dustproof and anti-protection type that dabbles; For reducing rotor moment of inertia, improve motor dynamic characteristics and work efficiency, adopt the elongated shape electric machine structure; For making full use of the axial length of motor, employing can be inserted the salient pole type sleeve rotor structure of ball screw; Be to improve torque control effect, as far as possible little when requiring the armature circuit off state by dynamic torque; Torque fluctuation for reducing to cause because of the distortion of slot effect and magnetic flux improves low-speed stability, adopts helical teeth groove stator structure or oblique magnet steel rotor structure; For increasing work efficiency, increase torque output and simplified driving circuit, winding adopts three phase full bridge star connection two or two conduction modes and square wave current drives mode, and adopts every extremely every phase integer groove winding; Be mainly copper loss owing to often be in the loss of electric machine of low speed overload operating mode, raise the efficiency, should improve voltage and reduce electric current, but the while also should be considered the maximum safe limit and the Insulation Problems of voltage for reducing copper loss; Rotor-position sensor adopts lock zero formula hall ic; The rotor antifriction-bearing box should be able to bear bi-directional axial load, the angular contact ball bearing of optional a pair of face-to-face arrangement; For obtaining the torque fluctuation of square wave magnetic linkage to reduce to cause because of harmonic wave, and raising torque volume ratio, magnetic stability and anti-armature reaction demagnetization capability, the rotor permanent magnetic tile is selected the high HCJ type of high remanent magnetism nd-fe-b for use, diametrical magnetization, the magnetic stabilized treatment, and suitably increase air gap or improve the magnetic circuit degree of saturation; For improving magnet conductivity and obdurability, the rotor magnetic conductive axis is selected 10# carbon constructional quality steel pipe for use, must carry out magnetic annealing after the machine-shaping of magnetic conduction part and handle; For improving magnet conductivity and reducing iron loss, stator iron-core lamination selects for use non-directional cold-rolling silicon steel disc to be overrided to form, and also must carry out magnetic annealing after the machine-shaping and handle; , obdurability non magnetic and thermal diffusivity, and lightweight requirements for improving, casing is selected the cold drawn pipe of high strength duralumin for use, and anodic oxidation treatment is carried out on the surface; For improving the resistance to effect of heat of winding, coil is selected the high temperature resistant type enamel insulated round copper wire for use.
3. in the embodiment shown in fig. 3, the algorithm flow of ACTIVE CONTROL rule is among the present invention: 1) for avoiding the motor frequent starting to turn to, improve electrical efficiency and life-span, reduce system energy consumption, and avoid high frequency noise and sideband overlap problem, bandpass filter was set before sampler, signal beyond frequency band is because ending of bandpass filter acts on the ACTIVE CONTROL conductively-closed, change passive electromagnetic damping control over to, i.e. motor maximum regeneration braking mode; Bound frequency band [the f of bandpass filter
l, f
h] should cover sprung weight m
bWith unsprung weight m
wNatural frequency and seat level and the sensitive frequency scope of vertical direction that influences travelling comfort.2) cause the zero creep s of suspension dynamic deflection by vehicle-mounted variation (unloaded to fully loaded)
e, can be behind each closed door (variable load) and driving period t (oil consumption or change seat), by the survey suspension dynamic deflection (s of institute
b-s
w) average statistical revise, its precision is determined by the data number n in each sample data set; Disturb for eliminating the outer buffer limit of suspension play motion, improve survey precision, can adopt the interference protection mean value method: get in the sample data set and satisfy | s
b-s
w|≤l
f/ 2 (l
fBe the suspension play motion) continuous data segment ask average.3) be further to reduce system energy consumption, end vehicle body acceleration a according to the lower limit that influences travelling comfort
Bd, lower limit can be set by suspension dynamic deflection δ
Sd=(m
b-k
ss
e/ g) a
Bd/ k
s(k
sBe suspension equivalent static rigidity, for reducing calculated amount, δ
SdDesirable normal value); For reducing the impact load in the suspension cushion stroke, the upper limit can be set by suspension dynamic deflection ten thousand δ
Su=l
f/ 2: outside the bound district, make suspension change passive electromagnetic damping control over to equally.4) for simplifying control program and reducing to transmit time lag, here adopt active suspension rigidity segment control method, its principal feature is: by the power output of in good time control actuator, the compound rigidity of suspension is changed with the size of vibration input, increase the dynamic deflection in the suspension play motion as far as possible, and reduce to enter the probability of bump clearance of suspension (crusherbull zone piece) as far as possible, and reduce vehicle body acceleration so that make full use of the limited play motion of suspension, also help reducing simultaneously the tire live load; Secondly, also must be by choosing suitable active vibration isolation rate of attenuation k
d, come complex optimum riding comfort (vehicle body acceleration, suspension dynamic deflection) and road-holding property (tire live load) index.5) by active suspension rigidity segment control method and energy-accumulation vibration-damping principle, can getting initiatively, suspension electrical magnetic accumulation of energy control algorithm is: 1. when active controlling force Fa and passive electromagnetic damping power Fp in the same way and | Fa|≤| Fp| (be ACTIVE CONTROL electric current I a and passive em induced current Ip in the same way and | Ia|≤| in the time of Ip|), make motor be in the regenerative brake state, be that armature circuit is connected energy storage circuit, and press Ia and charge: 2. under all the other control operating modes to the vehicle power circuit, make motor be in motoring condition or reversing braking state, be that armature circuit is connected driving circuit, and press Ia by the vehicle power circuit supply.
In the algorithm flow chart indication computing formula embody as follows:
Formula (1):
Formula (2):
Formula (3):
The physical significance of referential symbolism parameter and measure unit are as follows in the algorithm flow chart:
The driving time-delay (s) at interval of t-suspension dynamic deflection signal sampling; s
eThe zero creep (m) of-suspension dynamic deflection signal sampling;
The number of the selected k group of n-suspension dynamic deflection signal sampling continuous data; K-program loop number of times: k
d-active vibration isolation rate of attenuation;
(s
b-s
wThe relative displacement of)-vehicle body and wheel (m):
The relative velocity of-vehicle body and wheel (m/s):
[f
l, f
hThe bound frequency band (Hz) of]-bandpass filter; δ
Su, δ
Sd-be respectively bound by suspension dynamic deflection (m);
I
a, I
p-be respectively the ACTIVE CONTROL electric current and the passive em induced current (A) of motor; The equivalent resistance of R-motor (Ω);
I
MaxThe top limit (A) of-motor ACTIVE CONTROL electric current; K
TThe equivalent torque constant (Nm/A) of-motor;
p
hThe helical pitch of-ball-screw (m); η
tThe driving efficiency of-ball-screw; G-acceleration due to gravity (9.8m/s
2);
k
s-suspension equivalent static rigidity (N/m); m
bThe overhead charge material amount (kg) of-spring; l
f-suspension play motion (m).
4. in the embodiment shown in fig. 4, among the present invention the keystone configuration of electronic control system by: Microprocessor Interface circuit (1), driving and energy storage circuit (2), system protection circuit (3), sensor interface circuitry (4) and vehicle power circuit parts such as (5) are formed.Its circuit theory is: microprocessor comes detection rotor position of magnetic pole information by catching three road impulse singlas of three-phase brushless motor rotor-position sensor, and draws the commutation control signal according to the phase change logic relation; Simultaneously, microprocessor detects suspension dynamic deflection information, and draws torque control signal according to the active suspension control law by catching the code signal of absolute optical encoder, obtains pwm signal again after the pulsewidth modulation.Microprocessor is judged the brushless motor current working state according to the electromagnetic storage control algorithm: 1. when brushless motor is in motoring condition or reversing braking state, send control word, through photoelectricity isolate and power gain after, make that the driving power switching valve is opened, the shutoff of accumulation of energy power switch pipe; Simultaneously pwm signal and commutation control signal logical AND (are also promptly passed through to regulate the dutycycle of pwm signal, change the conducting order and the time of power switch pipe in the three phase inverter bridge), obtain six tunnel drive control signal output of microprocessor, behind photoelectricity isolation, power gain and three phase inverter bridge, export three road driving power signals to brushless motor, realize to brushless motor commutation, turn to, PWM speed governing and reversing braking control.2. when brushless motor is in the regenerative brake state, send control word, through photoelectricity isolate and power gain after, the power switch pipe of driving power switching valve and three phase inverter bridge is all turn-offed, the accumulation of energy power switch pipe is open-minded; Microprocessor (also promptly passes through to regulate the dutycycle of pwm signal with pwm signal and accumulation of energy power switch signal logical AND simultaneously, change the ON time of accumulation of energy power switch pipe), obtain one tunnel accumulation of energy control signal output of microprocessor, through photoelectricity isolation, power gain and accumulation of energy power switch, realize PWM speed governing and regenerative brake control to brushless motor.The regenerative brake control process is: the three-phase regenerative brake electric energy of brushless motor is after the flywheel diode rectification of three phase inverter bridge, to the accumulation of energy induction charging, the voltage that detects accumulation of energy inductance two ends when piezoelectric detector is during near its resistance drop (showing that the accumulation of energy induction charging finishes), send control word, behind photoelectricity isolation and power gain, the accumulation of energy power switch pipe is turn-offed, regenerative brake voltage and the stack of accumulation of energy inductive discharge voltage are boosted, through diode to energy storage capacitor and battery charge, the electric current that detects the accumulation of energy inductive circuit when current probe (showing that the energy storage capacitor charging finishes) near zero time, it is open-minded to control the accumulation of energy power switch pipe once more; Repeat above-mentioned charge and discharge process, and control discharges and recharges time history, makes the regenerative brake electric current meet the ACTIVE CONTROL electric current, so just can with the three-phase regenerative brake electric energy of brushless motor by the size of ACTIVE CONTROL electric current progressively pump rise to energy storage capacitor and storage battery.For improving the precision and the dynamic response of torque control, detect the three phase armature electric current of brushless motor by current probe, feed back to microprocessor again and carry out A/D conversion, electric current loop digital processing and control signal output, thereby realize the Current Feedback Control of brushless motor.
The architectural feature of Microprocessor Interface circuit is: for reducing to calculate time lag; improve system reliability; realize the digital control of brushless motor and the high-speed real-time response of active suspension; (DSP adopts the Harvard structure of multibus with 16 fixed-point dsps to adopt vehicle-mounted electric machine control; possess the independently program space and data space; allow access simultaneously and carry out many data and instruction; has high-revolving data-handling capacity; can realize vector controlled; Direct Torque Control; intelligent control algorithms such as adaptive control), it has two road independent signal input and output; hardware fault diagnosis and processing (switching to the energy consumption of electrical machinery braking mode immediately); failure code storage and analysis; function such as System Fault Tolerance and protection.
The architectural feature of driving and energy storage circuit is: mainly comprise parts such as three phase inverter bridge (six road MOSFET power switch pipe and flywheel diode), driving power switch (a road MOSFET power switch pipe and flywheel diode), accumulation of energy power switch (a road MOSFET power switch pipe and flywheel diode), power gain (aerotron power amplifier), piezoelectric detector, current probe, energy storage capacitor, accumulation of energy inductance, diode.For increasing work efficiency, increase torque output and reducing torque fluctuation, armature loop adopts three phase full bridge star connection two or two conduction modes and square wave current drives mode.For improving precision, the linearity, dynamic response and the Signal Spacing of electric current and voltage detecting, adopt magnetic field bogie type hall current detector (LEM module) and magnetic field bogie type Hall voltage detector.
The architectural feature of system protection circuit is: mainly be made up of circuit buffer circuit, signal isolation circuit, Drive Protecting Circuit three parts.The circuit buffer circuit selects for use inside to have the voltage module of isolating transformer; driving voltage and control voltage isolation are opened, be divided into many cover power voltage supplies systems, when driving circuit takes place when unusual; avoid having influence on control circuit, realize protection control circuit by power unit.Signal isolation circuit mainly is that control and drive signal between control and the driving circuit are carried out Signal Spacing by photoisolator, realizes the signal transmission between the different voltages.Drive Protecting Circuit mainly contains functions such as overcurrent protection, under-voltage protection, overheating protection, dead band adjusting; in the operational process of system; by detecting the running state of current system; when taking place if any abnormal condition; will pin the output of follow-up pwm signal; start the power drives protection of DSP simultaneously, make all EV module output pins be changed to high-impedance state, realize protection control system by hardware.
The architectural feature of sensor interface circuitry is: absolute optical encoder is adopted in the detection of suspension dynamic deflection (displacement of suspension play motion mid point relatively) signal, and (code signal of sending out is not subjected to the influence of on/off, can from the coding pattern of circulating code disk, draw absolute location information immediately after the energising), for improving dynamic response and dwindling installing space, select rotary encoder for use, the corner displacement amount of surveying can get the straight-line displacement amount of suspension dynamic deflection by converting.When rotary encoder is installed, its support is fixed on the vehicle frame, the rotating shaft with swing arm under its shaft extension and the suspension links to each other again; Also the combination code-disc can be directly installed in the brushless motor, substitute the Hall-type rotor-position sensor, install and cost-cutting to simplify.The sensor corner resolution is a pi/2
N-1(n is the code-disc figure place), straight line resolution is π l/2
N-1(l be under the suspension arm shaft to actuator suspension ring spacing).
The architectural feature of vehicle power circuit is: adopt vehicle-mounted three-phase synchronous AC generator to connect with storage battery and energy storage capacitor through three-phase bridge rectifier circuit.Be mainly copper loss owing to often be in the loss of electric machine of low speed overload operating mode, raise the efficiency for reducing copper loss, should improve voltage and reduce electric current, but the while also should be considered the maximum safe limit and the Insulation Problems of voltage, so publishing the motor rated voltage is 42V, the storage battery rated voltage is 36V.The advantage of storage battery is: energy density height, electrode voltage generally do not change with charge volume is different, but its shortcoming is: power density is lower, charging rate is slow, efficient is lower, the life-span is short, low temperature properties is poor; On the contrary, though the energy storage capacitor energy density is lower, electrode voltage raises with the charge volume increase, but has very high power density, can provide very big electric current and power instantaneous, and have and discharge and recharge advantages such as fast (capacitance is more little, and the speed that discharges and recharges is fast more), efficient height, the life-span is long, low temperature properties is good; Storage battery use in parallel with energy storage capacitor can avoid storage battery to discharge and recharge with bigger instantaneous peak current, drives and accumulation of energy efficient thereby significantly improve, and prolongs the service life of storage battery greatly.
Claims (4)
1. a vehicle active suspension serves as a vibration isolation or bump leveller between wheel and vehicle body, makes road surface input be cancelled as far as possible or absorb through the random vibration mechanical energy of wheel conduction, continues to the vehicle body transmission so that hinder vibration mechanical energy; It is characterized in that: overall structure mainly is made up of sprung weight (or vehicle body), unsprung weight (or wheel), axle spring, motor actuator, driving and energy storage circuit, microprocessor, suspension dynamic deflection sensor, vehicle power circuit eight major parts, and axle spring wherein, motor actuator and suspension dynamic deflection sensor are installed in parallel between vehicle body and wheel; Principle of work is: with suspension dynamic deflection sensor gained code signal and motor rotor position sensor gained impulse singla input microprocessor, after brushless motor phase change logic, electromagnetic storage control algorithm and active suspension control law are handled, by driving and energy storage circuit and vehicle power circuit, in real time electronic, the reversing braking of control motor actuator or regenerative brake state, that cause by Uneven road with active buffer and decay and conduct to the shock and vibration of vehicle body by wheel, simultaneously also with the recycling of regenerative brake electric energy.
2. vehicle active suspension according to claim 1, it is characterized in that: the structure of motor actuator mainly is made up of non-brush permanent-magnet DC motor, ball-screw, nut seat, nut cover, recovery bump rubber, compression bump rubber, buffering block, suspension ring eight parts, principle of work is: the screw portion of screw rod top cover connects with vehicle body by rubber bush, and the suspension ring inner ring connects with vehicle bridge by bolt; In the vehicle ' process, the motor actuator is done to restore and compression movement with Uneven road, ball screw is done translation up and down vertically in the motor sleeve rotor, drive ball nut and rotor and do positive and negative rotation, and motor works in electronic or braking mode according to control command; When running into bigger road shocks, the motor actuator works in cushion stroke, when restoring cushion stroke, restores the collision nut seat upper surface, guiding collar lower surface of bump rubber, and guiding collar slides along body of screw, makes rubber bodies be subjected to force compresses; When the compression cushion stroke, compression bump rubber upper surface collision nut cover lower surface makes rubber bodies be subjected to force compresses, and the guided bearing ring slides along ball screw.
3. vehicle active suspension according to claim 1, it is characterized in that: the flow process of ACTIVE CONTROL rule is mainly by the bandpass filtering of sensitive frequency, the correction of suspension dynamic deflection zero creep, bound is by the setting of suspension dynamic deflection, active suspension rigidity segment control method and electromagnetic storage control algorithm five parts are formed, the principle of rigidity segment control method is: by the power output of in good time control actuator, the compound rigidity of suspension is changed with the size of vibration input, increase the dynamic deflection in the suspension play motion as far as possible, and reduce to enter the probability of bump clearance of suspension (crusherbull zone piece) as far as possible, reduce vehicle body acceleration so that make full use of the limited play motion of suspension, simultaneously also help reducing the tire live load, secondly also must come complex optimum riding comfort and road-holding property index by choosing suitable active vibration isolation rate of attenuation; The principle of electromagnetic storage control algorithm is: by the comparison to ACTIVE CONTROL electric current and passive em induced current direction and size, the control armature circuit is connected with driving circuit or energy storage circuit respectively.
4. vehicle active suspension according to claim 1, it is characterized in that: the structure of electronic control system mainly is made up of Microprocessor Interface circuit, driving and energy storage circuit, system protection circuit, sensor interface circuitry, vehicle power circuit five parts, circuit theory is: microprocessor is according to suspension dynamic deflection information and position of rotor of brushless motor information, carrying out active suspension control law and brushless motor commutation control logic handles, obtain torque control signal and commutation control signal respectively, torque control signal obtains pwm signal again after the pulsewidth modulation; In addition, judge brushless motor current working state (motoring condition, reversing braking state or regenerative brake state) according to the electromagnetic storage control algorithm, the conducting order and the time of the power switch pipe by controlling and driving power switch pipe, accumulation of energy power switch pipe and three phase inverter bridge, realize to brushless motor commutation, turn to, PWM speed governing, reversing braking and regenerative brake control; During the motor regenerative brake, the time history by control accumulation of energy inductance discharges and recharges makes the regenerative brake electric current meet the ACTIVE CONTROL electric current, just can with the three-phase regenerative brake electric energy of brushless motor by the size of ACTIVE CONTROL electric current progressively pump rise to energy storage capacitor and storage battery.
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