CN208615671U - A kind of automotive suspension damping control system - Google Patents
A kind of automotive suspension damping control system Download PDFInfo
- Publication number
- CN208615671U CN208615671U CN201821380871.0U CN201821380871U CN208615671U CN 208615671 U CN208615671 U CN 208615671U CN 201821380871 U CN201821380871 U CN 201821380871U CN 208615671 U CN208615671 U CN 208615671U
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- Prior art keywords
- damper
- control
- car body
- electric current
- suspension arm
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Abstract
The utility model discloses a kind of automotive suspension damping control systems, are mainly made of wheel, knuckle, displacement sensor, car body, upper spring acceleration transducer, suspension arm, MR damper, helical spring, horizontal and vertical acceleration transducer and electronic control unit etc..Knuckle is fixed on wheel；Displacement sensor, MR damper and helical spring are vertically fixedly mounted between car body and suspension arm；Upper spring acceleration transducer is fixed on above car body；Suspension arm vertical support is on knuckle.The signal that the utility model detects sensor is separately input to ceiling ride comfort control section, lower spring control section, scrolling position control section and the pitch position control section of electronic control unit.Control electric current is exported by target current calculating section, and then changes damping force, damping control system is made to reach satisfactory riding comfort.The utility model is highly suitable for automotive suspension vibration damping occasion.
Description
Technical field
The utility model relates to a kind of control system more particularly to a kind of automotive suspension damping control systems.
Background technique
Currently used automotive suspension damping control system is the vehicle that detection is exported in the displacement sensor of suspension setting
Angle of heel, and it is whether consistent with predetermined target value to judge by corresponding actuator control angle of heel.That is, in vehicle
After rolling, inhibit to roll by actuator.This control response has delay, will lead to automobile in angle of heel control process
The deterioration of riding comfort.
In addition, the driving status based on vehicle, automotive suspension damping control system selectively carries out improvement vehicle ride
The control of comfort and the Bit andits control for improving vehicle run stability.In control handoff procedure, the damping force meeting of damper
Sudden change, to bring jiggly driving and ride experience to driver and passenger.
Based on this, it is necessary to design a kind of new automobile suspension damping control system, which can be according to each sensing
The signal of device input, calculates suitable electric current and is input in damper electromagnetic coil, to control damping force, and then improves vapour
Suspension damping property.
Summary of the invention
In order to overcome the problems, such as that automotive suspension damping control system described in background technique exists, the utility model provides one kind
Automotive suspension damping control system.The upper spring acceleration that upper spring acceleration transducer will test is integrated by integrating gear
The vertical speed of upper spring is then input to ceiling ride comfort control section；The magnetorheological damping that displacement sensor will test
Device displacement is directly inputted to lower spring control section, while being integrated into MR damper speed by derivator I, then divides
It is not input to ceiling ride comfort control section, target current calculating section and lower spring control section；Transverse acceleration sensing
The transverse acceleration that device will test is integrated into transverse acceleration derivative value by derivator II, is then input to scrolling position control
Part processed；The longitudinal acceleration that longitudinal acceleration sensor will test is integrated into longitudinal acceleration derivative by derivator III
Value, is then input to pitch position control section.After receiving the MR damper speed integrated by derivator, rolling
Dynamic position control part output rolls control target damping force；Pitch position control section exports pitch position target damping force；
It rolls control target damping force and pitch position target damping force is input in target current calculating section；Target current calculation part
Output is divided to roll control electric current and pitch control electric current；Control electric current is rolled to be added with pitch control electric current by gain apparatus,
Obtain rolling/pitch control electric current；Rolling/pitch control electric current is input in preferential selection device, preferential selection device will
Both capricorn bettle electric current and rolling/pitch control electric current of the input of ceiling ride comfort control section compare, and choose the greater
It is input to gain apparatus；The lower spring exported by lower spring control section controls electric current and is input to gain apparatus；Gain apparatus
The two electric current is added, is then input in the electromagnetic coil of MR damper, and then controls the size of damping force, makes automobile
Suspension damping control system reaches satisfactory riding comfort.
It includes: wheel (1), knuckle (2), displacement biography that the utility model, which solves technical solution used by its technical problem,
Sensor (3), car body (4), upper spring acceleration transducer (5), suspension arm (6), MR damper (7), helical spring (8),
Lateral acceleration sensor (9), longitudinal acceleration sensor (10) and electronic control unit (11)；Suspension is suspended on four-wheel automobile
Wheel (1) on；Knuckle (2) is fixed on wheel (1)；Displacement sensor (3) is vertically fixedly mounted on car body (4) and suspension
Between arm (6)；Upper spring acceleration transducer (5) is fixedly mounted on above car body (4)；Suspension arm (6) left end is solid by hinge
Surely it is connected on knuckle (2), right end is connected by a hinge on car body (4)；MR damper (7) is vertically fixedly mounted
Between car body (4) and suspension arm (6)；Helical spring (8) is vertically fixedly mounted between car body (4) and suspension arm (6)；Laterally
Acceleration transducer (9) and longitudinal acceleration sensor (10) are fixed on car body (4).Electronic control unit (11) is respectively used to
Receive displacement sensor (3) signal, upper spring acceleration transducer (5) signal, lateral acceleration sensor (9) signal and longitudinal direction
Acceleration transducer (10) signal；Based on above-mentioned signal, electronic control unit (11) controls electromagnetic wire in MR damper (7)
The size of current of circle, and then change output damping force.
The utility model compared with the background art, has the beneficial effect that
(1) in order to solve the problems, such as control vibration transmitting, the utility model increases lower spring control section, by damper
Speed and the product of damper displacement measure the index of lower spring resonance frequency size as an index, and by lower spring
Control electric current is input to gain apparatus II, and rolling/pitch control electric current of preferential selection device output is input to magnetic current jointly
In the electromagnetic coil of variable damping device, damping force size is controlled.If this is at present when the speed of MR damper and larger displacement
The vibration of spring region will independently be inhibited by capricorn bettle, to efficiently solve upper spring resonant frequency when capricorn bettle changes
The deficiency occurred at different frequencies with lower spring resonance frequency.
(2) when the rolling for determining damper based on transverse acceleration controls target damping force to control the roll angle of car body
When, since transverse acceleration and the phase of roll angle change simultaneously, when controlling damper it is possible that control is prolonged
Late, cause the variation phase of lateral change of acceleration prior to the variation phase of transverse acceleration.In response to this, this is practical
The novel rolling by the way that damper is arranged controls target damping force and lateral change of acceleration is proportional, can control damping
The damping force of device, further stable vehicle location, so that Accurate Position Control can be achieved at the same time and reach satisfied ride comfort
Property.
(3) the rolling control electric current and pitch control electric current that the utility model target current calculating section obtains, all can be by
Damper velocity correction, to obtain rolling control target damping force and pitch position target damping force appropriate.Even if due to
When vibration input caused by pavement roughness is larger, the deterioration of automotive suspension riding comfort all can avoid.
Detailed description of the invention
Fig. 1 is the utility model structure diagram.
Fig. 2 is the system block diagram of the utility model electronic control unit control damper.
Fig. 3 is the utility model automotive suspension schematic diagram.
Fig. 4 is the utility model scrolling position control operational flowchart.
Fig. 5 is the utility model pitch position control operational flowchart.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples:
Fig. 1 is the utility model structure diagram.Including wheel 1, knuckle 2, displacement sensor 3, car body 4, upper spring
Acceleration transducer 5, suspension arm 6, MR damper 7, helical spring 8, lateral acceleration sensor 9, longitudinal acceleration pass
Sensor 10 and electronic control unit 11.
Fig. 2 is the system block diagram of the utility model electronic control unit control damper.Upper spring acceleration transducer 5 will
The upper spring acceleration of detection is integrated into the vertical speed of upper spring by integrating gear 15, is then input to ceiling ride comfort
Control section S1；The damper displacement that displacement sensor 3 will test is directly inputted to lower spring control section S5, at the same time,
It is integrated into damper velocity by derivator I 16, is then separately input to ceiling ride comfort control section S1, target current
Calculating section S4 and lower spring control section S5；The transverse acceleration that lateral acceleration sensor 9 will test passes through derivator
II 17 are integrated into transverse acceleration derivative value, are then input to scrolling position control section S2；Longitudinal acceleration sensor 10 will
The longitudinal acceleration of detection is integrated into longitudinal acceleration derivative value by derivator III 18, is then input to pitch position control
Part S3.
After receiving the damper velocity integrated by derivator I 16, S2 output in scrolling position control section is rolled
Control target damping forceF x；Pitch position control section S3 exports pitch position target damping forceF y；Roll control target damping forceF xWith pitch position target damping forceF yIt is input in target current calculating section S4；Target current calculating section S4 output rolls
Control electric currentI xWith pitch control electric currentI y；Roll control electric currentI xWith pitch control electric currentI yIt is obtained by the addition of gain apparatus I 19
Obtain rolling/pitch control electric current；Rolling/pitch control electric current is input in preferential selection device 20, preferential selection device 20
The capricorn bettle electric current of ceiling ride comfort control section S1 input and both rolling/pitch control electric currents are compared, choose compared with
Big person is input to gain apparatus II 21；The lower spring control electric current of lower spring control section S5 output is input to gain apparatus II
21；The two electric current is added by gain apparatus II 21, is then input in 7 electromagnetic coil of MR damper, and then changes output
Damping force.
Fig. 3 is the utility model automotive suspension schematic diagram.Lower spring-mass block 13 connects wheel 1 by virtual spring 12；
Wheel 1 is contacted with road surface；Upper spring mass block 14 connects lower spring-mass block 13 by MR damper 7 and helical spring 8；
The damping force of MR damper 7 is changed by electronic control unit 11.
The displacement of upper spring mass block 14x 2Percentage speed variation dx 2/ dt is equal to be hung down by the upper spring that integrating gear 15 is integrated
Straight speed；The displacement of upper spring mass block 14x 2With lower spring-mass blockx 1Difference percentage speed variation d (x 2-x 1)/dt be equal to by
The MR damper speed that derivator I 16 is integrated.Work as dx 2/ dt and d (x 2-x 1When)/dt directional velocity is identical, electronic control
The damping force that unit 11 can control MR damper 7 increases；Work as dx 2/ dt and d (x 2-x 1When)/dt directional velocity is opposite, electronics
The damping force that control unit 11 can control MR damper 7 reduces.
As shown in Figure 3, it is assumed that when wheel 1 passes through raised road surface, four kinds of situation discussion can be divided into:
(1) when wheel 1 is moved up along the first half of protrusion；
Car body 4 moves up, it is assumed that upper spring vertical speed dx 2/ dt is positive value, and MR damper 7 is in retraction
State, at this time damper velocity d (x 2-x 1)/dt is negative value, i.e. the two directional velocity is on the contrary, electronic control unit 11 can control magnetic
The damping force of rheological damper 7 reduces.
(2) when wheel 1 crosses the peak of protrusion；
Due to inertia reason, car body 4 is continued to move up, it is assumed that upper spring vertical speed dx 2/ dt is positive value, due to vehicle
Body 4 be it is upward, MR damper 7 be in extended state, at this time MR damper speed d (x 2-x 1)/dt is positive value, i.e., two
Person's directional velocity is identical, and the damping force that electronic control unit 11 can control MR damper 7 increases.
(3) when wheel 1 is moved down along the lower half of protrusion；
Car body 4 moves down, it is assumed that upper spring vertical speed dx 2/ dt is negative value, due to it is downward when wheel compare body movement
Speed is fast, MR damper 7 be in extended state, at this time 7 speed d of MR damper (x 2-x 1Both)/dt is positive value, i.e.,
Directional velocity is on the contrary, the damping force that electronic control unit 11 can control MR damper 7 reduces.
(4) when wheel 1 passes through protrusion completely；
Due to inertia reason, wheel 1 continues to move down, it is assumed that upper spring vertical speed dx 2/ dt is negative value, due to vehicle
Wheel 1 moves downward, and MR damper 7 is in retracted state, at this time 7 speed d of MR damper (x 2-x 1)/dt is negative value, i.e.,
The two directional velocity is identical, and the damping force that electronic control unit 11 can control MR damper 7 increases.
Therefore, noise and discomfort can be effectively reduced by the damping force that capricorn bettle calculates, improves vehicle ride and relaxes
Adaptive.Wherein, capricorn bettle electric currentIEqual to a certain proportionality coefficientCMultiplied by upper spring vertical speed dx 2/ dt, i.e.,I=C·dx 2/
dt。
Fig. 4 is the utility model scrolling position control operational flowchart.Cross is detected by lateral acceleration sensor 9 first
To accelerationa x；Transverse acceleration is integrated into lateral change of acceleration by derivator II 17；Then it calculates and rolls control
Target damping force processedF x, wherein rolling control target damping forceF xEqual to proportionality coefficientC 1Multiplied by lateral change of acceleration, i.e.,F x=C 1·；Then the displacement of MR damper 7 is detected by displacement sensor 3L=(x 2 -x 1)；MR damper 7
Displacement is integrated into 7 speed of MR damper by derivator I 16v；Ideal electric current calculating section S4 is according to input
Roll control target damping forceF xWith 7 speed of MR damperv, obtain and roll control electric currentI x, wherein rolling control electric currentI x
Equal to a certain proportionality coefficientC 2Target damping force is controlled multiplied by rollingF xMultiplied by damper velocityv, i.e.,I x=C 2·F x·v；Output
Roll control electric currentI x, it is input in gain apparatus I 19.
Fig. 5 is the utility model pitch position control operational flowchart.It is detected first by longitudinal acceleration sensor 10
Longitudinal accelerationa y；Longitudinal acceleration is integrated into longitudinal acceleration change rate by derivator III 18；Then pitching is calculated
Control target damping forceF y, wherein pitch control target damping forceF yEqual to proportionality coefficientC 3Multiplied by longitudinal acceleration change rate,
I.e.F y=C 3×；Then the displacement of MR damper 7 is detected by displacement sensor 3L=(x 2 -x 1)；MR damper 7
Displacement is integrated into 7 speed of MR damper by derivator I 16v；Ideal electric current calculating section S4 is according to input
Pitch control target damping forceF yWith 7 speed of MR damperv, wherein pitch control electric currentI yEqual to a certain proportionality coefficientC 4
Multiplied by pitch control target damping forceF yMultiplied by the speed of MR damper 7V, i.e.,I y=C 4·F y·v；Export pitch control
Electric currentI y, it is input in gain apparatus I 19.
Utility model works principle is as follows:
When the work of automotive suspension damping control system, upper spring acceleration that upper spring acceleration transducer 5 will test
It is integrated into the vertical speed of upper spring by integrating gear 15, is then input to ceiling ride comfort control section S1；Displacement passes
The displacement for the MR damper 7 that sensor 3 will test is directly inputted to lower spring control section S5 and passes through differential at the same time
Device I 16 is integrated into MR damper speed, is then separately input to ceiling ride comfort control section S1, target current meter
Calculate part S4 and lower spring control section S5；The transverse acceleration that lateral acceleration sensor 9 will test passes through derivator II
17 are integrated into transverse acceleration derivative value, are then input to scrolling position control section S2；Longitudinal acceleration sensor 10 will be examined
The longitudinal acceleration of survey is integrated into longitudinal acceleration derivative value by derivator III 18, is then input to pitch position control unit
Divide S3.After receiving 7 speed of MR damper integrated by derivator I 16, scrolling position control section S2 output
Roll control target damping force；Pitch position control section S3 exports pitch position target damping force；Roll control target damping
Power and pitch position target damping force are input in target current calculating section S4；Target current calculating section S4 output rolls control
Electric current processed and pitch control electric current；Rolling control electric current, which is added with pitch control electric current by gain apparatus I 19, to be rolled/is bowed
Face upward control electric current；Rolling/pitch control electric current is input in preferential selection device 20, preferential selection device 20 takes ceiling
Both capricorn bettle electric current and rolling/pitch control electric current of comfortable control section S1 input compare, and choose the greater and are input to
Gain apparatus II 21；The lower spring control electric current of lower spring control section S5 output is input to gain apparatus II 21；Gain apparatus
II 21 are added the two electric current, are then input in the electromagnetic coil of MR damper 7, and then control the size of damping force.
Claims (2)
1. a kind of automotive suspension damping control system, characterized by comprising: wheel (1), knuckle (2), displacement sensor
(3), car body (4), upper spring acceleration transducer (5), suspension arm (6), MR damper (7), helical spring (8), transverse direction
Acceleration transducer (9), longitudinal acceleration sensor (10) and electronic control unit (11)；Suspension is suspended on the vehicle of four-wheel automobile
It takes turns on (1)；Knuckle (2) is fixed on wheel (1)；Displacement sensor (3) is vertically fixedly mounted on car body (4) and suspension arm
(6) between；Upper spring acceleration transducer (5) is fixedly mounted on above car body (4)；Suspension arm (6) left end is fixed by hinge
It is connected on knuckle (2), right end is connected by a hinge on car body (4)；MR damper (7) is vertically fixedly mounted on
Between car body (4) and suspension arm (6)；Helical spring (8) is vertically fixedly mounted between car body (4) and suspension arm (6)；Laterally add
Velocity sensor (9) and longitudinal acceleration sensor (10) are fixed on car body (4).
2. a kind of automotive suspension damping control system according to claim 1, it is characterised in that: electronic control unit (11)
It is respectively used to receive displacement sensor (3) signal, upper spring acceleration transducer (5) signal, lateral acceleration sensor (9) letter
Number and longitudinal acceleration sensor (10) signal；Based on above-mentioned signal, electronic control unit (11) controls MR damper (7)
The size of current of middle electromagnetic coil, and then change output damping force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821380871.0U CN208615671U (en) | 2018-08-27 | 2018-08-27 | A kind of automotive suspension damping control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821380871.0U CN208615671U (en) | 2018-08-27 | 2018-08-27 | A kind of automotive suspension damping control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208615671U true CN208615671U (en) | 2019-03-19 |
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ID=65716843
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821380871.0U Expired - Fee Related CN208615671U (en) | 2018-08-27 | 2018-08-27 | A kind of automotive suspension damping control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208615671U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764078A (en) * | 2019-03-25 | 2019-05-17 | 浙江春风动力股份有限公司 | The driving hanger and shock-dampening method of a kind of vehicle and its all-terrain vehicle |
| WO2021155658A1 (en) * | 2020-02-03 | 2021-08-12 | 陈刚 | Vehicle body height measuring device, and vehicle employing same |
| CN114379307A (en) * | 2020-10-16 | 2022-04-22 | 丰田自动车株式会社 | Suspension stroke related value estimation device and method |
| CN115447680A (en) * | 2022-10-08 | 2022-12-09 | 东风柳州汽车有限公司 | Semi-active suspension control method and system for commercial vehicle cab |
-
2018
- 2018-08-27 CN CN201821380871.0U patent/CN208615671U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764078A (en) * | 2019-03-25 | 2019-05-17 | 浙江春风动力股份有限公司 | The driving hanger and shock-dampening method of a kind of vehicle and its all-terrain vehicle |
| WO2021155658A1 (en) * | 2020-02-03 | 2021-08-12 | 陈刚 | Vehicle body height measuring device, and vehicle employing same |
| CN114379307A (en) * | 2020-10-16 | 2022-04-22 | 丰田自动车株式会社 | Suspension stroke related value estimation device and method |
| CN115447680A (en) * | 2022-10-08 | 2022-12-09 | 东风柳州汽车有限公司 | Semi-active suspension control method and system for commercial vehicle cab |
| CN115447680B (en) * | 2022-10-08 | 2023-06-16 | 东风柳州汽车有限公司 | Semi-active suspension control method and system for commercial vehicle cab |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190319 Termination date: 20190827 |