CN201052779Y - Automatic electric assistant steering system and active suspension system centralized controller - Google Patents
Automatic electric assistant steering system and active suspension system centralized controller Download PDFInfo
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- CN201052779Y CN201052779Y CNU2007200405060U CN200720040506U CN201052779Y CN 201052779 Y CN201052779 Y CN 201052779Y CN U2007200405060 U CNU2007200405060 U CN U2007200405060U CN 200720040506 U CN200720040506 U CN 200720040506U CN 201052779 Y CN201052779 Y CN 201052779Y
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- active suspension
- suspension system
- steering system
- controller
- coordinator
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The utility model discloses a centralized controller for an electric power steering system (EPS) and active suspension system (ASS) of an automobile and relates to the automobile control field. The utility model comprises an electric power steering system controller, an active suspension system controller and a coordinator, wherein, the operating parameters of the full vehicle system are input into the coordinator, the output of coordinating signals produced by the coordinator is taken as the given input of an electric power steering system control circuit and an active suspension system control circuit. The utility model solves the technical problem that the EPS system and the ASS system in the prior art are mutually interfered caused by being independently controlled, adopts the coordinator to make centralized control to the two subsystems, ensures the driving steadiness and the operating stability of the automobile, and improves the error-tolerance property and the reliability of the whole system.
Description
Technical field
The utility model relates to field of automobile control
Background technology
Current, each subsystem of car chassis electron steering that everybody knows generally is made up of sensor, electronic control unit (ECU) and actuating unit, and this subsystem is controlled separately in the course of the work, and promptly a subsystem has an ECU.At first, by the main control parameters signal of sensor to subsystem, pass to the ECU of this system then, output command is realized control to system to actuating unit after ECU handles.Yet, car chassis comprises many subsystems, exist between them and connect each other and influence and primary and secondary relation, have some common controlled variable between some subsystems, independent improvement to a certain automatically controlled subsystem, direct or indirect influence certainly will be arranged the function of other subsystem, also can influence the control effect of this subsystem conversely.With regard to automobile electric booster steering system (EPS) and active suspension system (ASS), just exist the relation of the mutual restriction that influences each other between the two.In order to overcome influencing each other between automobile EPS and ASS system, only in analyzing EPS and ASS system on the interrelation basis between main control parameters and these parameters, adopt a total ECU (Electrical Control Unit) that two subsystems are carried out co-operative control simultaneously, just can make two systems be in optimum Working.
The utility model content
Technical problem to be solved in the utility model provides a kind of automobile electric booster steering system and active suspension system Centralized Controller, it carries out co-operative control to automobile electric booster steering system and active suspension system, improves ride of vehicle and road-holding property.
The technical scheme that the utility model adopted is: automobile electric booster steering system and active suspension system Centralized Controller comprise electric booster steering system controller, active suspension system controller, combinator.Electric booster steering system controller and electric power steering actuating unit and the sensor that is attached thereto constitute a control loop, active suspension system controller and active suspension system actuating unit and the sensor that is attached thereto constitute another control loop, the operational factor of Full Vehicle System is input to combinator, and the coordination signal output that is produced by combinator is as the given input of these two control loops.
The advantage that the utility model had is:
1, uses same ECU (Electrical Control Unit) to help realizing the complementation of a plurality of subsystem difference in functionalitys, and improve the fault-tolerance and the reliability of total system.
2, same ECU (Electrical Control Unit) reduces number of sensors, avoids repeat function, between the different subsystems, and shareable data;
3, the employing integrated manipulator helps eliminating the phase mutual interference between EPS and the ASS system, can improve ride of vehicle and road-holding property better.
Description of drawings
Fig. 1 is the utility model structure principle chart
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further described.
As shown in Figure 1, automobile electric booster steering system and active suspension system Centralized Controller, comprise electric booster steering system controller, the active suspension system controller, combinator, wherein, electric booster steering system controller and electric power steering actuating unit and the sensor that is attached thereto constitute a control loop, active suspension system controller and active suspension system actuating unit and the sensor that is attached thereto constitute another control loop, the operational factor of Full Vehicle System is input to combinator, and the coordination signal output that is produced by combinator is as the given input of these two control loops.Total system can be divided into cooperation layer, key-course, execution level.
The utility model is by analyzing the interrelation between main control parameters in EPS and the ASS system and these parameters and influencing each other, and adopts a total ECU (Electrical Control Unit) that EPS and two systems of ASS are carried out real time coordination and controls.All signals are at first passed to integrated manipulator, after the situation of analysis integrated all signals of ECU of integrated manipulator, judge the correct signal of interfering the spurious signal that causes and automobile actual travel operating mode to conform to most mutually because of two systems, and then send instruction for respectively EPS and ASS system, make it to carry out work by functional requirement separately.Can improve ride of vehicle and road-holding property better like this; Simultaneously, for the reliability by total system, integrated manipulator adopts two modules, in case integrated manipulator ECU real time coordination control fails, enter another module, make two systems of EPS and ASS carry out work separately, do not influence the function of original each subsystem at once.
From above-mentioned explanation as can be seen, two sub-system coordination controls are finished by combinator to EPS, ASS, and concerning a concrete vehicle, the parameter of combinator is in case determine that the control effect has also just been determined.And the parameter designing of combinator is decided as the case may be, and it is different and different to look vehicle.The specific design method can adopt the method for designing of Comtemporary Control Theory, and whole chassis is considered as the control system of a multiinput-multioutput, sets up based on horizontal, vertical and vertical dynamic (dynamical) car load non-linear dynamic model.At first, detect the system signal of reflection vehicle body running state in real time by the sensor that is distributed in vehicle body, then, based on these detected signals, choose suitable state variable, structural regime equation and output equation and objective function, just set up math modeling, and this model is optimized design, be regulation and control power steering square, suspension control effort f to determine the parameter of combinator, finally to control purpose
1Thereby, suspension, steering swivel system are coordinated, make car load ride comfort, road-holding property reach better effects.
Claims (1)
1. automobile electric booster steering system and active suspension system Centralized Controller, comprise electric booster steering system controller, the active suspension system controller, combinator, it is characterized in that: electric booster steering system controller and electric power steering actuating unit and the sensor that is attached thereto constitute a control loop, active suspension system controller and active suspension system actuating unit and the sensor that is attached thereto constitute another control loop, the operational factor of Full Vehicle System is input to combinator, and the coordination signal output that is produced by combinator is as the given input of these two control loops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200405060U CN201052779Y (en) | 2007-07-06 | 2007-07-06 | Automatic electric assistant steering system and active suspension system centralized controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200405060U CN201052779Y (en) | 2007-07-06 | 2007-07-06 | Automatic electric assistant steering system and active suspension system centralized controller |
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| Publication Number | Publication Date |
|---|---|
| CN201052779Y true CN201052779Y (en) | 2008-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2007200405060U Expired - Fee Related CN201052779Y (en) | 2007-07-06 | 2007-07-06 | Automatic electric assistant steering system and active suspension system centralized controller |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975714A (en) * | 2012-11-19 | 2013-03-20 | 北京工业大学 | Electric vehicle chassis system and collaborative control method thereof |
| CN103310694A (en) * | 2012-03-06 | 2013-09-18 | 天津职业技术师范大学 | All-in-one teaching and practical training device of automobile active suspension and power-driven steering system |
| CN104691267A (en) * | 2015-03-03 | 2015-06-10 | 安徽农业大学 | Automobile chassis power coordination system |
| CN106394560A (en) * | 2016-09-09 | 2017-02-15 | 山东理工大学 | Chassis coordinated control system for hub drive electric automobile |
| CN107436596A (en) * | 2016-05-26 | 2017-12-05 | 上海拿森汽车电子有限公司 | The major-minor MCU redundancies monitoring method of electric boosting steering system |
| CN108146430A (en) * | 2017-11-08 | 2018-06-12 | 南京航空航天大学 | A kind of Active suspension and active steering integrated system and its robust control method |
| CN108909396A (en) * | 2018-06-29 | 2018-11-30 | 四川理工学院 | vehicle active suspension and electric power steering system integrated control device and working method |
-
2007
- 2007-07-06 CN CNU2007200405060U patent/CN201052779Y/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103310694A (en) * | 2012-03-06 | 2013-09-18 | 天津职业技术师范大学 | All-in-one teaching and practical training device of automobile active suspension and power-driven steering system |
| CN102975714A (en) * | 2012-11-19 | 2013-03-20 | 北京工业大学 | Electric vehicle chassis system and collaborative control method thereof |
| CN102975714B (en) * | 2012-11-19 | 2015-10-14 | 北京工业大学 | A kind of elec. vehicle chassis system |
| CN104691267A (en) * | 2015-03-03 | 2015-06-10 | 安徽农业大学 | Automobile chassis power coordination system |
| CN107436596A (en) * | 2016-05-26 | 2017-12-05 | 上海拿森汽车电子有限公司 | The major-minor MCU redundancies monitoring method of electric boosting steering system |
| CN107436596B (en) * | 2016-05-26 | 2020-04-07 | 上海拿森汽车电子有限公司 | Main and auxiliary MCU redundancy monitoring method of electric power steering system |
| CN106394560A (en) * | 2016-09-09 | 2017-02-15 | 山东理工大学 | Chassis coordinated control system for hub drive electric automobile |
| CN106394560B (en) * | 2016-09-09 | 2018-08-28 | 山东理工大学 | A kind of wheel hub driving electric automobile chassis coordinated control system |
| CN108146430A (en) * | 2017-11-08 | 2018-06-12 | 南京航空航天大学 | A kind of Active suspension and active steering integrated system and its robust control method |
| CN108909396A (en) * | 2018-06-29 | 2018-11-30 | 四川理工学院 | vehicle active suspension and electric power steering system integrated control device and working method |
| CN108909396B (en) * | 2018-06-29 | 2020-11-03 | 四川理工学院 | Integrated control device for automobile active suspension and electric power steering system and working method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080430 Termination date: 20100706 |