CN211335494U

CN211335494U - Hydraulic semi-active suspension for special vehicle

Info

Publication number: CN211335494U
Application number: CN202020047247.XU
Authority: CN
Inventors: 李静; 王欣志; 孟令帅; 吴桐; 范天昕; 何闫; 滕飞
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2020-01-10
Filing date: 2020-01-10
Publication date: 2020-08-25
Anticipated expiration: 2030-01-10

Abstract

The utility model discloses a special type is half initiative suspension of fluid pressure type for vehicle, include: the energy feedback system consists of a hydraulic motor, a generator, a storage battery, a DC module, four groups of energy feedback regulating valve units and four groups of shock absorber hydraulic cylinders, and the automatic regulating system consists of a driving motor, a hydraulic pump, a hydraulic source oil tank, an oil filter, a low-pressure energy accumulator, a high-pressure energy accumulator, four groups of automatic regulating valve units and four groups of shock absorber hydraulic cylinders; the energy feedback regulating valve unit consists of a switch valve and a one-way valve, and the automatic regulating valve unit consists of a three-position four-way electromagnetic valve and an oil tank. The utility model discloses can adjust each suspension bumper shock absorber height according to different work condition when emergency braking, urgent acceleration and turn to will turn on one's side to improve vehicle ride comfort, handling stability and driver's security, and carry out energy recuperation when the car straight line is stably gone.

Description

Hydraulic semi-active suspension for special vehicle

Technical Field

The utility model belongs to the technical field of the automotive suspension, concretely relates to half initiative suspension of fluid pressure type for special type vehicle.

Background

The chassis suspension of the existing special vehicle adopts a plate spring structure, the height of the suspension in balance cannot be adjusted, and the severe vehicle body pitching is caused by the overhigh special vehicle in emergency braking or emergency acceleration; and the special vehicle has heavy weight and large inertia, the vehicle body is inclined violently when turning, and even rollover can be caused when turning on a road surface with low adhesion coefficient, so that the smoothness and the operation stability of the whole vehicle and the safety of a driver are reduced.

The technology of the height-adjustable suspension applied to the sedan and the passenger car at present is various, and mainly comprises a height-adjustable air suspension, a hydraulic height-adjustable suspension and the like.

The height-adjustable air suspension is mainly applied to passenger cars and high-grade cars, can control the air bag to inflate and deflate according to different road conditions to realize height adjustment, but because the air suspension has too high requirements on the working environment, if the air suspension is installed on special vehicles, the replacement and maintenance frequency can be greatly increased, and under the condition of off-road vehicles, the performance of the air suspension can also be greatly reduced.

Disclosure of Invention

To the defect that exists among the above-mentioned prior art, the utility model provides a special type is half initiative suspension of fluid pressure type for vehicle, vehicle ECU can adjust each suspension bumper shock absorber height when will turning on one's side according to different work condition emergency braking, sharp acceleration and turn to improve vehicle ride comfort, handling stability and driver's security, and carry out energy recuperation when the car sharp is stably gone. With the attached drawings, the technical scheme of the utility model is as follows:

a hydraulic semi-active suspension for special vehicles comprises an energy feedback system consisting of a hydraulic motor 1, a generator 2, a storage battery 3, a DC module 4, four groups of energy feedback regulating valve units and four groups of shock absorber hydraulic cylinders which are connected in a one-to-one correspondence manner, and an automatic regulating system consisting of a driving motor 17, a hydraulic pump 18, a hydraulic source oil tank 19, an oil filter 20, a low-pressure energy accumulator 5, a high-pressure energy accumulator 6, four groups of automatic regulating valve units and four groups of shock absorber hydraulic cylinders which are connected in a one-to-one correspondence manner;

in the energy feedback system, each group of energy feedback regulating valve units comprises two switch valves which are respectively and correspondingly connected with a rod cavity and a rodless cavity of a hydraulic cylinder of the shock absorber, the two switch valves are respectively connected with a one-way valve in a forward direction and then connected with a liquid inlet of the pressure motor 1, the two switch valves are respectively connected with a one-way valve in a reverse direction and then connected with a liquid outlet of the pressure motor 1, an execution end of the hydraulic motor 1 is connected with an input end of the generator 2, and the generator 2 is sequentially and electrically connected with the DC module 4 and the storage battery 3;

in the automatic regulating system, each group of automatic regulating valve units comprises a three-position four-way electromagnetic valve and an oil tank, a hydraulic source oil tank 19 is sequentially connected with an oil filter 20 and an oil inlet of a hydraulic pump 18, a low-pressure energy accumulator 5 is connected at an inlet of a hydraulic motor 1, a high-pressure energy accumulator 6 is connected at an outlet of the hydraulic motor 1, the hydraulic pump 18 is mechanically connected with a generator 2, an oil outlet of the hydraulic pump 18 is connected with a T port of the three-position four-way electromagnetic valve, a port B and a port A of the three-position four-way electromagnetic valve are respectively connected with a rodless cavity and a rod cavity of a shock absorber hydraulic cylinder, a port P of the three-position four-way electromagnetic valve is connected with the oil tank, and three working positions of the three-.

Further, the switch valve, the driving motor 17 and the three-position four-way electromagnetic valve are respectively in signal connection with the vehicle ECU.

Compared with the prior art, the beneficial effects of the utility model reside in that:

1. special type is semi-initiative suspension of fluid pressure type for vehicle not only can restrain and heels, can also reduce automobile body every single move effectively, and adjust time is shorter, and the reaction is quick.

2. Special type is half initiative suspension of fluid pressure type for vehicle can carry out energy recuperation when the car sharp is stably gone, and recovery efficiency is high.

3. Special type is half initiative suspension of fluid pressure type for vehicle simple structure, simple to operate, stable performance.

4. Special type is half initiative suspension of fluid pressure type for vehicle is not high to service environment requirement, strong adaptability, maintenance cycle length.

Drawings

Fig. 1 is a schematic diagram of energy feedback control of a hydraulic semi-active suspension for a special vehicle according to the present invention;

fig. 2 is an emergency braking control schematic diagram of the hydraulic semi-active suspension for the special vehicle according to the present invention;

fig. 3 is a schematic diagram of rapid acceleration control of the hydraulic semi-active suspension for a special vehicle according to the present invention;

fig. 4 is a schematic view illustrating the left-turning control of the hydraulic semi-active suspension for a special vehicle according to the present invention;

fig. 5 is a schematic diagram illustrating the right-turning control of the hydraulic semi-active suspension for a special vehicle according to the present invention;

in the figure:

1 hydraulic motor 2 generator 3 accumulator 4DC module

5 low pressure accumulator 6 high pressure accumulator;

71 first check valve 72 second check valve 73 third check valve 74 fourth check valve

81 first check valve two 82 second check valve two 83 third check valve two 84 fourth check valve two

91 first switching valve-92 second switching valve-93 third switching valve-94 fourth switching valve-

101 first shock absorber cylinder 102 second shock absorber cylinder 103 third shock absorber cylinder 104 fourth shock absorber cylinder

111 first shock absorber piston rod 112 second shock absorber piston rod 113 third shock absorber piston rod 114 fourth shock absorber piston rod

121 a first switching valve two 122 a second switching valve two 123 a third switching valve two 124 a fourth switching valve two

131 first check valve three 132 second check valve three 133 third check valve three 134 fourth check valve three

141 first check valve four 142 second check valve four 143 third check valve four 144 fourth check valve four

151 first three-position four-way solenoid valve 152, second three-position four-way solenoid valve 153, third three-position four-way solenoid valve 154, fourth three-position four-way solenoid valve

161 first reservoir 162, second reservoir 163, third reservoir 164, fourth reservoir

17 drive motor 18 hydraulic pump 19 hydraulic source tank 20 oil filter.

Detailed Description

For clear and complete description of the technical solution and the specific working process of the present invention, the following embodiments are provided in conjunction with the accompanying drawings of the specification:

the utility model discloses a special type is half initiative suspension of fluid pressure type for vehicle, include: the system comprises a hydraulic motor 1, a generator 2, a storage battery 3, a DC module 4, an energy accumulator assembly, an energy feedback regulating valve unit, an automatic regulating valve unit, an electric motor 17, a hydraulic pump 18, a hydraulic source oil tank 19, an oil filter 20 and a shock absorber hydraulic cylinder. The energy feedback system consists of the hydraulic motor 1, the generator 2, the storage battery 3, the DC module 4, the energy feedback adjusting valve unit and the shock absorber hydraulic cylinder and is used for recovering energy when a vehicle stably runs in a straight line; the motor 17, the hydraulic pump 18, the hydraulic source oil tank 19, the oil filter 20, the accumulator assembly and the shock absorber hydraulic cylinder form an automatic adjusting system, and the automatic adjusting system is used for adjusting the height of a suspension shock absorber of a vehicle under different working conditions.

The energy accumulator component consists of a low-pressure energy accumulator 5 and a high-pressure energy accumulator 6;

the shock absorber hydraulic cylinder is a shared component of the energy feedback system and the automatic adjusting system, and the shock absorber hydraulic cylinder respectively comprises: the first shock absorber hydraulic cylinder, the second shock absorber hydraulic cylinder, the third shock absorber hydraulic cylinder and the fourth shock absorber hydraulic cylinder correspondingly control the height of the vehicle body corresponding to the left front position, the right front position, the left rear position and the right rear position of the vehicle in sequence.

As shown in fig. 1, the energy feedback system includes: the system comprises a hydraulic motor 1, a generator 2, a storage battery 3, a DC module 4, four groups of energy feedback regulating valve units and four groups of shock absorber hydraulic cylinders; the energy feedback regulating valve units correspond to the hydraulic cylinders of the shock absorber one by one, each group of energy feedback regulating valve units comprises two switch valves which are a switch valve I and a switch valve II respectively, each switch valve corresponds to two one-way valves, one switch valve is correspondingly connected with the switch valve I and the switch valve II, and the switch valve II is correspondingly connected with the switch valve III and the switch valve IV.

The specific composition and connection relationship of the energy feedback system are described as follows:

in four groups of shock absorber hydraulic cylinders and the energy feedback regulating valve unit which are in one-to-one matching connection, the connection mode of each group of shock absorber hydraulic cylinders and the energy feedback regulating valve unit is the same, wherein:

in the first shock absorber hydraulic cylinder, a liquid outlet of a rodless cavity of the first shock absorber cylinder body 101 is connected with a liquid inlet pipeline of the second first switch valve 121, liquid outlets of the second first switch valve 121 are respectively connected with a reverse pipeline of the third first one-way valve 131 and a forward pipeline of the fourth first one-way valve 141, that is, hydraulic oil can reversely flow from the direction of the third first one-way valve 131 to the direction of the second first switch valve 121 but cannot normally flow from the direction of the second first switch valve 121 to the direction of the third first one-way valve 131, and hydraulic oil can normally flow from the direction of the second first switch valve 121 to the direction of the fourth first one-way valve 141 but cannot reversely flow from the direction of the fourth one-way valve 141 to the direction of the second first switch valve 121; a liquid outlet of a rod cavity of the first shock absorber cylinder body 101 is connected with a liquid inlet pipeline of a first switch valve 91, a liquid outlet of the first switch valve 91 is respectively connected with a first one-way valve 71 reverse pipeline and a first one-way valve two 81 forward pipeline, namely hydraulic oil can reversely flow from the direction of the first one-way valve 71 to the direction of the first switch valve 91 and cannot normally flow from the direction of the first switch valve 91 to the direction of the first one-way valve 71, and hydraulic oil can normally flow from the direction of the first switch valve 91 to the direction of the first one-way valve two 81 and cannot reversely flow from the direction of the first one-way valve two 81 to the direction of the first switch valve 91;

in the second shock absorber hydraulic cylinder, a rod-free cavity liquid outlet of the second shock absorber cylinder body 102 is connected with a liquid inlet pipeline of a second switch valve second 122, a liquid outlet of the second switch valve second 122 is respectively connected with a second one-way valve third 132 reverse pipeline and a second one-way valve fourth 142 forward pipeline, that is, hydraulic oil can reversely flow from the direction of the second one-way valve third 132 to the direction of the second switch valve second 122 but cannot normally flow from the direction of the second switch valve second 122 to the direction of the second one-way valve third 132, and hydraulic oil can normally flow from the direction of the second switch valve second 122 to the direction of the second one-way valve fourth 142 but cannot reversely flow from the direction of the second one-way valve fourth 142 to the direction of the second switch valve second 122; a liquid outlet of a rod cavity of the second shock absorber cylinder 102 is connected with a liquid inlet pipeline of a first second check valve 92, a liquid outlet of the first second check valve 92 is respectively connected with a reverse pipeline of a first second check valve 72 and a forward pipeline of a second check valve 82, namely, hydraulic oil can reversely flow from the direction of the first second check valve 72 to the direction of the first second check valve 92 and cannot normally flow from the direction of the first second check valve 92 to the direction of the first second check valve 72, and hydraulic oil can normally flow from the direction of the first second check valve 92 to the direction of the second check valve 82 and cannot reversely flow from the direction of the second check valve 82 to the direction of the first second check valve 92;

in the third shock absorber hydraulic cylinder, a liquid outlet of a rodless cavity of the third shock absorber cylinder 103 is connected with a liquid inlet pipeline of a third one-way valve two 123, liquid outlets of the third one-way valve two 123 are respectively connected with a third one-way valve three 133 reverse pipeline and a third one-way valve four 143 forward pipeline, that is, hydraulic oil can reversely flow from the direction of the third one-way valve three 133 to the direction of the third one-way valve two 123 but cannot normally flow from the direction of the third one-way valve two 123 to the direction of the third one-way valve three 133, and hydraulic oil can normally flow from the direction of the third one-way valve two 123 to the direction of the third one-way valve four 143 but cannot reversely flow from the direction of the third one-way valve four 143 to the direction of the third one-way valve two 123; a liquid outlet of a rod cavity of the third shock absorber cylinder 103 is connected with a liquid inlet pipeline of a first third check valve 93, a liquid outlet of the first third check valve 93 is respectively connected with a reverse pipeline of a first third check valve 73 and a forward pipeline of a second third check valve 83, namely hydraulic oil can reversely flow from the direction of the first third check valve 73 to the direction of the first third check valve 93 and cannot normally flow from the direction of the first third check valve 93 to the direction of the first third check valve 73, and hydraulic oil can normally flow from the direction of the first third check valve 93 to the direction of the second third check valve 83 and cannot reversely flow from the direction of the second third check valve 83 to the direction of the first third check valve 93;

in the fourth shock absorber hydraulic cylinder, a rod-less cavity liquid outlet of the fourth shock absorber cylinder body 104 is connected with a liquid inlet pipeline of a fourth check valve two 124, a liquid outlet of the fourth check valve two 124 is respectively connected with a fourth check valve three 134 reverse pipeline and a fourth check valve four 144 forward pipeline, that is, hydraulic oil can reversely flow from the direction of the fourth check valve three 134 to the direction of the fourth check valve two 124 but cannot normally flow from the direction of the fourth check valve two 124 to the direction of the fourth check valve three 134, and hydraulic oil can normally flow from the direction of the fourth check valve two 124 to the direction of the fourth check valve four 144 but cannot reversely flow from the direction of the fourth check valve four 144 to the direction of the fourth check valve two 124; a liquid outlet of the rod cavity of the fourth shock absorber cylinder 104 is connected with a liquid inlet pipeline of the fourth check valve one 94, a liquid outlet of the fourth check valve one 94 is respectively connected with a reverse pipeline of the fourth check valve one 74 and a forward pipeline of the fourth check valve two 84, that is, hydraulic oil can reversely flow from the direction of the fourth check valve one 74 to the direction of the fourth check valve one 94 and cannot normally flow from the direction of the fourth check valve one 94 to the direction of the fourth check valve one 74, and hydraulic oil can normally flow from the direction of the fourth check valve one 94 to the direction of the fourth check valve two 84 and cannot reversely flow from the direction of the fourth check valve two 84 to the direction of the fourth check valve one 94.

In the check valves, the other ends of the first check valve two 81, the first check valve four 141, the second check valve two 82, the second check valve four 142, the third check valve two 83, the third check valve four 143, the fourth check valve two 84 and the fourth check valve four 144 are respectively connected with an inlet pipeline of the hydraulic motor 1, and the other ends of the first check valve one 71, the first check valve three 131, the second check valve one 72, the second check valve three 132, the third check valve one 73, the third check valve three 133, the fourth check valve one 74 and the fourth check valve three 134 are respectively connected with an outlet pipeline of the hydraulic motor 1.

The hydraulic motor 1 is connected with the input end of the generator 2, the generator 2 is in circuit connection with the DC module 4, and two ends of the DC module 4 are respectively in circuit connection with two electrodes of the storage battery 3.

In the energy feedback system, the first switch valve 91, the second switch valve 121, the first second switch valve 92, the second switch valve 122, the first third switch valve 93, the second third switch valve 123, the first fourth switch valve 94 and the second fourth switch valve 124 are respectively in signal connection with the EAC of the vehicle, and the actions of the first switch valve 91, the second first switch valve 121, the first second switch valve 92, the second switch valve 122, the first third switch valve 93, the second third switch valve 123, the first fourth switch valve 94 and the second fourth switch valve 124 are controlled by the ECU of the vehicle.

As shown in fig. 1, the automatic adjustment system includes: a driving motor 17, a hydraulic pump 18, a hydraulic source oil tank 19, an oil filter 20, a low-pressure accumulator 5, a high-pressure accumulator 6, four groups of automatic regulating valve units and four groups of shock absorber hydraulic cylinders; wherein, the automatic regulating valve unit and the shock absorber pneumatic cylinder one-to-one, every automatic regulating valve unit of group includes a tribit four-way solenoid valve and an oil tank, is respectively: a first three-position four-way solenoid valve 151 and a first oil tank 161, a second three-position four-way solenoid valve 152 and a second oil tank 162, a third three-position four-way solenoid valve 153 and a third oil tank 163, and a fourth three-position four-way solenoid valve 154 and a fourth oil tank 164.

The specific components and connection relationships of the automatic regulating system are described as follows:

the hydraulic source oil tank 19 is connected with one end of an oil filter 20 through a pipeline, and the other end of the oil filter 20 is connected with an oil inlet pipeline of the hydraulic pump 18; the hydraulic pump 18 is connected with the output end of the driving motor 17; the low-pressure energy accumulator 5 is arranged on a pipeline at the liquid inlet of the hydraulic pump 18, and the high-pressure energy accumulator 6 is arranged on a pipeline at the liquid outlet of the hydraulic pump 18.

The liquid outlets of the hydraulic pump 18 are respectively connected with the three-position four-way solenoid valves in the four groups of automatic regulating valve units in the same connection mode, and in the four groups of shock absorber hydraulic cylinders and the automatic regulating valve units which are in one-to-one matching connection, the connection modes of each group of shock absorber hydraulic cylinders and the automatic regulating valve units are the same, wherein:

a liquid outlet of the hydraulic pump 18 is connected with a pipeline of a T port of the first three-position four-way electromagnetic valve 151, a P port of the first three-position four-way electromagnetic valve 151 is connected with a pipeline of a first oil tank 161, in the first shock absorber hydraulic cylinder, a liquid outlet of a rodless cavity of the first shock absorber cylinder body 101 is connected with a pipeline of a B port of the first three-position four-way electromagnetic valve 151, and a liquid outlet of a rod cavity of the first shock absorber cylinder body 101 is connected with a pipeline of an A port of the first three-position four-way electromagnetic valve 151;

a liquid outlet of the hydraulic pump 18 is connected with a pipeline of a T port of the second three-position four-way solenoid valve 152, a P port of the second three-position four-way solenoid valve 152 is connected with a pipeline of a second oil tank 162, in the second shock absorber hydraulic cylinder, a liquid outlet of a rodless cavity of the second shock absorber cylinder body 102 is connected with a pipeline of a B port of the second three-position four-way solenoid valve 152, and a liquid outlet of a rod cavity of the second shock absorber cylinder body 102 is connected with a pipeline of an A port of the second three-position four-way solenoid valve 152;

a liquid outlet of the hydraulic pump 18 is connected with a pipeline of a T port of a third three-position four-way electromagnetic valve 153, a P port of the third three-position four-way electromagnetic valve 153 is connected with a pipeline of a third oil tank 163, in a hydraulic cylinder of the third shock absorber, a liquid outlet of a rodless cavity of a third shock absorber cylinder body 103 is connected with a pipeline of a B port of the third three-position four-way electromagnetic valve 153, and a liquid outlet of a rod cavity of the third shock absorber cylinder body 103 is connected with a pipeline of an A port of the third three-position four-way electromagnetic valve 153;

a liquid outlet of the hydraulic pump 18 is connected to a T port of the fourth three-position four-way solenoid valve 154, a P port of the fourth three-position four-way solenoid valve 154 is connected to a fourth oil tank 164 via a pipe, a rodless chamber liquid outlet of the fourth shock absorber cylinder body 104 is connected to a B port of the fourth three-position four-way solenoid valve 154 in the fourth shock absorber hydraulic cylinder, and a rod chamber liquid outlet of the fourth shock absorber cylinder body 104 is connected to an a port of the fourth three-position four-way solenoid valve 154 via a pipe.

The first three-position four-way solenoid valve 151, the second three-position four-way solenoid valve 152, the third three-position four-way solenoid valve 153, and the fourth three-position four-way solenoid valve 154 have the same structure, and each of the three working positions is provided, wherein the first three-position four-way solenoid valve 151 is taken as an example:

the first working position of the first three-position four-way solenoid valve 151 is in a 'TB/AP' state, at this time, the hydraulic pump 18 pumps hydraulic oil into the first three-position four-way solenoid valve 151 through a T port of the first three-position four-way solenoid valve 151 and into a rodless cavity of the first shock absorber cylinder body 101 through a B port of the first three-position four-way solenoid valve 151, the hydraulic oil in a rod cavity of the first shock absorber cylinder body 101 is pumped into the first three-position four-way solenoid valve 151 through an a port of the first three-position four-way solenoid valve 151 and flows back to the first oil tank 161 through a P port of the first three-position four-way solenoid valve 151, and at this time, the first shock absorber piston rod 111 of the first shock absorber hydraulic cylinder is;

the second working position of the first three-position four-way solenoid valve 151 is in a '0' state, at this time, the first three-position four-way solenoid valve 151 is in a power-off state, at this time, the first shock absorber hydraulic cylinder is isolated from an external pipeline, no hydraulic oil flows in a rod cavity and a rodless cavity of the first shock absorber cylinder body 101, and at this time, the shock absorber piston rod 111 is not controlled by an external hydraulic system and is in a shock absorption working state;

the third working position of the first three-position four-way solenoid valve 151 is in a "TA/BP" state, at this time, the hydraulic pump 18 pumps the hydraulic oil into the first three-position four-way solenoid valve 151 through a T port of the first three-position four-way solenoid valve 151 and into a rod chamber of the first damper cylinder body 101 through an a port of the first three-position four-way solenoid valve 151, the hydraulic oil in a rodless chamber of the first damper cylinder body 101 is pumped into the first three-position four-way solenoid valve 151 through a B port of the first three-position four-way solenoid valve 151 and flows back to the first oil tank 161 through a P port of the first three-position four-way solenoid valve 151, and at this time, the first damper piston rod 111 of the first damper hydraulic cylinder is in an inwardly contracted.

In the automatic regulating system, the driving motor 17, the first three-position four-way solenoid valve 151, the second three-position four-way solenoid valve 152, the third three-position four-way solenoid valve 153 and the fourth three-position four-way solenoid valve 154 are respectively in signal connection with the vehicle ECU, and the actions of the driving motor 17, the first three-position four-way solenoid valve 151, the second three-position four-way solenoid valve 152, the third three-position four-way solenoid valve 153 and the fourth three-position four-way solenoid valve 154 are controlled by the vehicle ECU.

Special type vehicle is with half active suspension's of fluid pressure type working process includes: the energy feedback method comprises an energy feedback mode working process and an active adjustment mode working process, wherein the energy feedback mode refers to a process of recovering energy when a vehicle runs stably in a straight line without emergency braking, emergency acceleration or steering operation; the active adjustment mode includes: emergency braking, rapid acceleration, left turn, and right turn.

Firstly, the specific working process of the energy feedback mode is as follows:

as shown in fig. 1, when the vehicle is in a straight line stable driving state, the suspension enters an energy feedback control mode, at this time, the vehicle ECU controls the first switching valve 91, the second switching valve 121, the first switching valve 92, the second switching valve 122, the first switching valve 93, the second switching valve 123, the fourth switching valve 94 and the second switching valve 124 to be opened and in a communicated state, and the vehicle ECU controls the first three-position four-way solenoid valve 151, the second three-position four-way solenoid valve 152, the third three-position four-way solenoid valve 153 and the fourth three-position four-way solenoid valve 154 to be in a "0" state in the second working position;

when the suspension is excited upward by the ground, in the first shock absorber hydraulic cylinder, the first shock absorber piston rod 111 contracts inward, the hydraulic oil is discharged through the rodless cavity of the first shock absorber cylinder body 101, because the first three-position four-way solenoid valve 151 is in the "0" state at the second working position, the hydraulic oil flows out through the second first switch valve 121, and because the second first switch valve 121 is connected with the third one-way valve 131 in the reverse direction and is connected with the fourth one-way valve 141 in the forward direction, the hydraulic oil flows out through the fourth one-way valve 141 and flows into the hydraulic motor 1 through the pipeline, the hydraulic oil flowing out through the hydraulic motor 1 respectively flows to the first one-way valve one 71 and the second one-way valve two 81, because the first switch valve one 91 is connected with the first one-way valve one 71 in the reverse direction and is connected with the second one-way valve two 81 in the forward direction, the hydraulic oil flows to the first switch valve one 91 through the first one-way valve one 71, and flows back to the rod cavity of the first shock absorber cylinder 101 through the first switching valve 91, meanwhile, the hydraulic motor 1 converts the pressure potential energy of the flowing hydraulic oil into mechanical energy at the input end of the generator 2, the generator 2 converts the mechanical energy into electric energy, and the electric energy generated by the generator 2 is subjected to voltage stabilization treatment through the DC module 4 and then is charged into the storage battery 3, so that energy recovery is realized.

Like the first shock absorber hydraulic cylinder described above: in the second shock absorber hydraulic cylinder, a second shock absorber piston rod 112 contracts inwards, hydraulic oil is discharged through a rodless cavity of the second shock absorber cylinder body 102, then flows back to a rod cavity of the second shock absorber cylinder body 102 through a second switch valve II 122, a second one-way valve IV 142, a hydraulic motor 1, a second one-way valve I72 and a second switch valve I92 in sequence, meanwhile, the hydraulic oil flowing through the hydraulic motor 1 is converted into electric energy through a generator 2, and is stored in a storage battery 3 after being subjected to voltage stabilization treatment through a DC module 4, so that energy recovery is realized; in the third shock absorber hydraulic cylinder, a third shock absorber piston rod 113 contracts inwards, hydraulic oil is discharged through a rodless cavity of a third shock absorber cylinder body 103, then flows back to a rod cavity of the third shock absorber cylinder body 103 through a second third switch valve 123, a fourth third one-way valve 143, a hydraulic motor 1, a first third one-way valve 73 and a first third switch valve 93 in sequence, meanwhile, the hydraulic oil flowing through the hydraulic motor 1 is converted into electric energy through a generator 2, and is stored in a storage battery 3 after being subjected to voltage stabilization treatment through a DC module 4, so that energy recovery is realized; in the fourth shock absorber hydraulic cylinder, a fourth shock absorber piston rod 114 contracts inwards, hydraulic oil is discharged through a rodless cavity of the fourth shock absorber cylinder body 104, then flows back to a rod cavity of the fourth shock absorber cylinder body 104 through a fourth switch valve II 124, a fourth one-way valve IV 144, a hydraulic motor 1, a fourth one-way valve I74 and a fourth switch valve I94 in sequence, meanwhile, the hydraulic oil flowing through the hydraulic motor 1 is converted into electric energy through a generator 2, and is stored in a storage battery 3 after being subjected to voltage stabilization treatment through a DC module 4, so that energy recovery is realized;

when the suspension is excited downward by the ground, in the first shock absorber hydraulic cylinder, the first shock absorber piston rod 111 is extended outward, the hydraulic oil is discharged through the rod cavity of the first shock absorber cylinder body 101, because the first three-position four-way solenoid valve 151 is in the "0" state at the second working position, the hydraulic oil flows out through the first switch valve 91, and because the first switch valve 91 is connected with the first check valve 71 in the reverse direction and is connected with the first check valve 81 in the forward direction, the hydraulic oil flows out through the first check valve 81 and flows into the hydraulic motor 1 through the pipeline, the hydraulic oil flowing out through the hydraulic motor 1 respectively flows to the first check valve three 131 and the first check valve four 141, because the first switch valve two 121 is connected with the first check valve three 131 in the reverse direction and is connected with the first check valve four 141 in the forward direction, the hydraulic oil flows to the first switch valve two 91 through the first check valve two 121, and the hydraulic energy flows back to the rodless cavity of the first shock absorber cylinder body 101 through the second first switch valve 121, meanwhile, the hydraulic motor 1 converts the pressure potential energy of the flowing hydraulic oil into mechanical energy at the input end of the generator 2, the generator 2 converts the mechanical energy into electric energy, and the electric energy generated by the generator 2 is subjected to voltage stabilization treatment through the DC module 4 and then is charged into the storage battery 3, so that energy recovery is realized.

Like the first shock absorber hydraulic cylinder described above: in the second shock absorber hydraulic cylinder, a second shock absorber piston rod 112 extends outwards, hydraulic oil is discharged through a rod cavity of the second shock absorber cylinder body 102, then flows back to a rodless cavity of the second shock absorber cylinder body 102 through a first second switch valve 92, a second one-way valve 82, a hydraulic motor 1, a third second one-way valve 132 and a second switch valve 122 in sequence, meanwhile, the hydraulic oil flowing through the hydraulic motor 1 is converted into electric energy through a generator 2, is subjected to pressure stabilizing treatment through a DC module 4 and then is stored in a storage battery 3, and energy recovery is realized; in the third shock absorber hydraulic cylinder, a third shock absorber piston rod 113 extends outwards, hydraulic oil is discharged through a rod cavity of a third shock absorber cylinder body 103, then flows back to a rodless cavity of the third shock absorber cylinder body 103 through a first third switch valve 93, a second third one-way valve 83, a hydraulic motor 1, a third one-way valve 133 and a second third switch valve 123 in sequence, meanwhile, the hydraulic oil flowing through the hydraulic motor 1 is converted into electric energy through a generator 2, and is stored in a storage battery 3 after being subjected to pressure stabilizing treatment through a DC module 4, so that energy recovery is realized; in the fourth shock absorber hydraulic cylinder, a fourth shock absorber piston rod 114 extends outwards, hydraulic oil is discharged through a rod cavity of the fourth shock absorber cylinder body 104, then flows back to a rodless cavity of the fourth shock absorber cylinder body 104 through a fourth switch valve I94, a fourth one-way valve II 84, the hydraulic motor 1, a fourth one-way valve III 134 and a fourth switch valve II 124 in sequence, meanwhile, the hydraulic oil flowing through the hydraulic motor 1 is converted into electric energy through the generator 2, and is stored in the storage battery 3 after being subjected to voltage stabilization treatment through the DC module 4, and energy recovery is achieved.

Second, the active regulation mode

1. The emergency braking process is as follows:

as shown in fig. 2, when the vehicle is emergently braked and the front depression angle of the vehicle exceeds a preset value, the suspension enters an emergency brake control state in an active adjustment mode, at this time, the vehicle ECU controls a first switching valve 91, a second switching valve 121, a first switching valve 92, a second switching valve 122, a first switching valve 93, a second switching valve 123, a fourth switching valve 94 and a second switching valve 124 to be closed and in an off state, the vehicle ECU controls a first three-position four-way solenoid valve 151 corresponding to the front left position of the suspension and a second three-position four-way valve 152 corresponding to the front right position of the suspension to be in a "TB/AP" state in a first working position, the vehicle ECU controls a third three-position four-way solenoid valve 153 corresponding to the rear left position of the suspension and a fourth three-position four-way valve 154 corresponding to the rear right position of the suspension to be in a "TA/BP" state in a third working position, the vehicle ECU controls the drive motor 17 to start operating.

Under the drive of the drive motor 17, the liquid oil in the hydraulic source oil tank 19 is filtered by the oil filter 20 and then pumped into the hydraulic pump 18, because the low-pressure accumulator 5 is installed at the oil inlet of the hydraulic pump 18, and the high-pressure accumulator 6 is installed at the oil outlet of the hydraulic pump 18, the pressure at the oil outlet of the hydraulic pump 18 is greater than the pressure at the oil inlet, and the hydraulic oil pumped out by the hydraulic pump 18 flows to the first three-position four-way electromagnetic valve 151, the second three-position four-way electromagnetic valve 152, the third three-position four-way electromagnetic valve 153 and the fourth three-position four-way electromagnetic valve 154.

The hydraulic oil flowing to the first three-position four-way solenoid valve 151 flows in through the T port of the first three-position four-way solenoid valve 151 and flows into the rodless cavity of the first shock absorber hydraulic cylinder 101 through the B port of the first three-position four-way solenoid valve 151, and the hydraulic oil in the rod cavity of the first shock absorber hydraulic cylinder 101 flows in through the a port of the first three-position four-way solenoid valve 151 and flows back to the first oil tank 161 through the P port of the first three-position four-way solenoid valve 151;

the hydraulic oil flowing to the second three-position four-way solenoid valve 152 flows in through the T port of the second three-position four-way solenoid valve 152 and flows into the rodless chamber of the second shock absorber hydraulic cylinder 102 through the B port of the second three-position four-way solenoid valve 152, and the hydraulic oil in the rod chamber of the second shock absorber hydraulic cylinder 102 flows in through the a port of the second three-position four-way solenoid valve 152 and flows back to the second oil tank 162 through the P port of the second three-position four-way solenoid valve 152;

the hydraulic oil flowing to the third three-position four-way solenoid valve 153 flows in through the T port of the third three-position four-way solenoid valve 153 and flows into the rod cavity of the third door damper hydraulic cylinder 103 through the a port of the third three-position four-way solenoid valve 153, and the hydraulic oil in the rodless cavity of the third damper hydraulic cylinder 103 flows in through the B port of the third three-position four-way solenoid valve 153 and flows back to the third oil tank 163 through the P port of the third three-position four-way solenoid valve 153;

the hydraulic oil flowing to the fourth three-position four-way solenoid valve 154 flows in through the T port of the fourth three-position four-way solenoid valve 154 and flows into the rod chamber of the fourth door damper hydraulic cylinder 104 through the a port of the fourth three-position four-way solenoid valve 154, and the hydraulic oil in the rod-less chamber of the fourth damper hydraulic cylinder 104 flows in through the B port of the fourth three-position four-way solenoid valve 154 and flows back to the fourth oil tank 164 through the P port of the fourth three-position four-way solenoid valve 154;

in the process, the first damper piston rod 111 of the first damper hydraulic cylinder and the second damper piston rod 112 of the second damper hydraulic cylinder both extend outwards, and at the moment, the front end of the vehicle body is lifted under the action of the first damper hydraulic cylinder and the second damper hydraulic cylinder; the third damper piston rod 113 of the third damper hydraulic cylinder and the fourth damper piston rod 114 of the fourth damper hydraulic cylinder both contract inward, and the rear end of the vehicle body is lowered under the action of the third damper hydraulic cylinder and the fourth damper hydraulic cylinder; when the vehicle ECU detects that the vehicle body is adjusted to a specified posture, the vehicle height sensor sends a signal to the vehicle ECU, the vehicle ECU controls the driving motor 1, the first three-position four-way electromagnetic valve 151, the second three-position four-way electromagnetic valve 152, the third three-position four-way electromagnetic valve 153 and the fourth three-position four-way electromagnetic valve 154 to be powered off and not work, the vehicle body is kept in the existing posture state, front depression of the vehicle body caused by emergency braking can be effectively reduced or counteracted through the control process, and therefore driving smoothness is improved.

2. The rapid acceleration process is concretely as follows:

as shown in fig. 3, when the vehicle accelerates suddenly and the vehicle rear elevation angle exceeds the preset value, the suspension enters a sudden acceleration control state in the active adjustment mode, and at this time, the vehicle ECU controls the first switch valve 91, the second switch valve 121, the second switch valve 92 and the second switch valve 122, the first switching valve 93, the second switching valve 123, the first fourth switching valve 94 and the second fourth switching valve 124 are all closed and are in an off state, the vehicle ECU controls the first three-position four-way electromagnetic valve 151 corresponding to the front left position of the suspension and the second three-position four-way valve 152 corresponding to the front right position of the suspension to be in a 'TA/BP' state under a third working position, the vehicle ECU controls the third three-position four-way electromagnetic valve 153 corresponding to the rear left position of the suspension and the fourth three-position four-way valve 154 corresponding to the rear right position of the suspension to be in a 'TB/AP' state under the first working position, and the vehicle ECU controls the driving motor 17 to start working.

The hydraulic oil flowing to the first three-position four-way solenoid valve 151 flows in through the T port of the first three-position four-way solenoid valve 151 and flows into the rod chamber of the first shock absorber hydraulic cylinder 101 through the a port of the first three-position four-way solenoid valve 151, and the hydraulic oil in the rodless chamber of the first shock absorber hydraulic cylinder 101 flows in through the B port of the first three-position four-way solenoid valve 151 and flows back to the first oil tank 161 through the P port of the first three-position four-way solenoid valve 151;

the hydraulic oil flowing to the second three-position four-way solenoid valve 152 flows in through the T port of the second three-position four-way solenoid valve 152 and flows into the rod chamber of the second shock absorber hydraulic cylinder 102 through the a port of the second three-position four-way solenoid valve 152, and the hydraulic oil in the rod-less chamber of the second shock absorber hydraulic cylinder 102 flows in through the B port of the second three-position four-way solenoid valve 152 and flows back to the second oil tank 162 through the P port of the second three-position four-way solenoid valve 152;

the hydraulic oil flowing to the third three-position four-way solenoid valve 153 flows in through the T port of the third three-position four-way solenoid valve 153 and flows into the rodless cavity of the third door damper hydraulic cylinder 103 through the B port of the third three-position four-way solenoid valve 153, and the hydraulic oil in the rod cavity of the third damper hydraulic cylinder 103 flows in through the a port of the third three-position four-way solenoid valve 153 and flows back to the third oil tank 163 through the P port of the third three-position four-way solenoid valve 153;

the hydraulic oil flowing to the fourth three-position four-way solenoid valve 154 flows in through the T port of the fourth three-position four-way solenoid valve 154 and flows into the rodless chamber of the fourth door damper hydraulic cylinder 104 through the B port of the fourth three-position four-way solenoid valve 154, and the hydraulic oil in the rod chamber of the fourth damper hydraulic cylinder 104 flows in through the a port of the fourth three-position four-way solenoid valve 154 and flows back to the fourth oil tank 164 through the P port of the fourth three-position four-way solenoid valve 154;

in the process, the first damper piston rod 111 of the first damper hydraulic cylinder and the second damper piston rod 112 of the second damper hydraulic cylinder both contract inwards, and at the moment, the front end of the vehicle body is lowered under the action of the first damper hydraulic cylinder and the second damper hydraulic cylinder; the third damper piston rod 113 of the third damper hydraulic cylinder and the fourth damper piston rod 114 of the fourth damper hydraulic cylinder both extend outward, and at this time, the rear end of the vehicle body is lifted under the action of the third damper hydraulic cylinder and the fourth damper hydraulic cylinder; when the vehicle ECU detects that the vehicle body is adjusted to a specified posture, the vehicle height sensor sends a signal to the vehicle ECU, the vehicle ECU controls the driving motor 1, the first three-position four-way electromagnetic valve 151, the second three-position four-way electromagnetic valve 152, the third three-position four-way electromagnetic valve 153 and the fourth three-position four-way electromagnetic valve 154 to be powered off and not work, the vehicle body is kept in the existing posture state, and the backward depression of the vehicle body caused by rapid acceleration can be effectively reduced or counteracted through the control process, so that the driving smoothness is improved.

3. The left turn process is as follows:

as shown in fig. 4, when the vehicle turns left and the vehicle may roll over due to a low road surface adhesion coefficient, the suspension enters a left-turning control state in the active adjustment mode, at this time, the vehicle ECU controls the first switching valve 91, the second switching valve 121, the first switching valve 92, the second switching valve 122, the first switching valve 93, the second switching valve 123, the fourth switching valve 94 and the fourth switching valve 124 to be closed and in an off state, the vehicle ECU controls the first three-position four-way solenoid valve 151 corresponding to the front left position of the suspension and the third three-position four-way solenoid valve 153 corresponding to the rear left position of the suspension to be in a "TA/BP" state in the third operating position, the vehicle ECU controls the second three-position four-way valve 152 corresponding to the front right position of the suspension and the fourth three-position four-way valve 154 corresponding to the rear right position of the suspension to be in a "TB/AP" state in the first operating position, the vehicle ECU controls the drive motor 17 to start operating.

in the process, the first damper piston rod 111 of the first damper hydraulic cylinder and the third damper piston rod 113 of the third damper hydraulic cylinder both contract inward, and at this time, the left side of the vehicle body is lowered under the action of the first damper hydraulic cylinder and the third damper hydraulic cylinder; the second shock absorber piston rod 112 of the second shock absorber hydraulic cylinder and the fourth shock absorber piston rod 114 of the fourth shock absorber hydraulic cylinder extend outwards, and at the moment, the right side of the vehicle body is lifted under the action of the second shock absorber hydraulic cylinder and the fourth shock absorber hydraulic cylinder; when the vehicle ECU detects that the vehicle body is adjusted to a specified posture, the vehicle height sensor sends a signal to the vehicle ECU, the vehicle ECU controls the driving motor 1, the first three-position four-way electromagnetic valve 151, the second three-position four-way electromagnetic valve 152, the third three-position four-way electromagnetic valve 153 and the fourth three-position four-way electromagnetic valve 154 to be powered off and not work, the vehicle body is kept in the existing posture state, the right side inclination of the vehicle body caused by left rotation can be effectively reduced or counteracted through the control process, the vehicle rollover accident can be avoided, and therefore the vehicle operation stability and the driving safety are improved.

4. The right-turn process is as follows:

as shown in fig. 5, when the vehicle turns to the right and the vehicle rollover is likely to occur due to a low road surface adhesion coefficient, the suspension enters a left-turn control state in the active regulation mode, at this time, the vehicle ECU controls the first switching valve 91, the second switching valve 121, the first switching valve 92, the second switching valve 122, the first switching valve 93, the second switching valve 123, the fourth switching valve 94 and the fourth switching valve 124 to be closed and in an off state, the vehicle ECU controls the first three-position four-way solenoid valve 151 corresponding to the front left position of the suspension and the third three-position four-way solenoid valve 153 corresponding to the rear left position of the suspension to be in a "TB/AP" state in the third operating position, the vehicle ECU controls the second three-position four-way valve 152 corresponding to the front right position of the suspension and the fourth three-position four-way valve 154 corresponding to the rear right position of the suspension to be in a "TA/BP" state in the first operating position, the vehicle ECU controls the drive motor 17 to start operating.

in the process, the first damper piston rod 111 of the first damper hydraulic cylinder and the third damper piston rod 113 of the third damper hydraulic cylinder both extend outwards, and at the moment, the left side of the vehicle body is lifted under the action of the first damper hydraulic cylinder and the third damper hydraulic cylinder; the second shock absorber piston rod 112 of the second shock absorber hydraulic cylinder and the fourth shock absorber piston rod 114 of the fourth shock absorber hydraulic cylinder both contract inwards, and at the moment, the right side of the vehicle body is lowered under the action of the second shock absorber hydraulic cylinder and the fourth shock absorber hydraulic cylinder; when the vehicle ECU detects that the vehicle body is adjusted to a specified posture, the vehicle height sensor sends a signal to the vehicle ECU, the vehicle ECU controls the driving motor 1, the first three-position four-way electromagnetic valve 151, the second three-position four-way electromagnetic valve 152, the third three-position four-way electromagnetic valve 153 and the fourth three-position four-way electromagnetic valve 154 to be powered off and not work, the vehicle body is kept in the existing posture state, the left side inclination of the vehicle body caused by right rotation can be effectively reduced or counteracted through the control process, the vehicle rollover accident can be avoided, and therefore the vehicle operation stability and the driving safety are improved.

In the above active adjustment control method, the body height sensor may be a hall ic height sensor, or other types of sensors having the same function. The body height sensor is used for feeding back the body posture to the vehicle ECU, and the vehicle ECU adjusts the body posture through a feedback signal to form a closed loop system so as to accurately adjust the body posture.

Claims

1. The utility model provides a special type vehicle is with half initiative suspension of fluid pressure type which characterized in that:

the energy feedback system comprises a hydraulic motor (1), a generator (2), a storage battery (3), a DC module (4), four groups of energy feedback regulating valve units and four groups of shock absorber hydraulic cylinders which are connected in a one-to-one corresponding manner, and an automatic regulating system which comprises a driving motor (17), a hydraulic pump (18), a hydraulic source oil tank (19), an oil filter (20), a low-pressure energy accumulator (5), a high-pressure energy accumulator (6), four groups of automatic regulating valve units and four groups of shock absorber hydraulic cylinders which are connected in a one-to-one corresponding manner;

in the energy feedback system, each group of energy feedback regulating valve units comprises two switch valves which are respectively and correspondingly connected with a rod cavity and a rodless cavity of a hydraulic cylinder of the shock absorber, the two switch valves are respectively connected with a one-way valve in a forward direction and then connected with a liquid inlet of the pressure motor (1), the two switch valves are respectively connected with a one-way valve in a reverse direction and then connected with a liquid outlet of the pressure motor (1), an execution end of the hydraulic motor (1) is connected with an input end of the generator (2), and the generator (2) is sequentially and electrically connected with the DC module (4) and the storage battery (3);

in the automatic regulating system, each group of automatic regulating valve units comprises a three-position four-way electromagnetic valve and an oil tank, a hydraulic source oil tank (19) is sequentially connected with an oil filter (20) and an oil inlet of a hydraulic pump (18), a low-pressure energy accumulator (5) is connected at an oil inlet of the hydraulic motor (1), a high-pressure energy accumulator (6) is connected at an oil outlet of the hydraulic motor (1), the hydraulic pump (18) is mechanically connected with a generator (2), an oil outlet of the hydraulic pump (18) is connected with a T port of the three-position four-way electromagnetic valve, a port B and a port A of the three-position four-way electromagnetic valve are respectively connected with a rodless cavity and a rod cavity of a hydraulic cylinder of a shock absorber, a port P of the three-position four-way electromagnetic valve is connected with the oil tank, and three working positions of the three-.

2. The hydraulic semi-active suspension for special vehicles according to claim 1, characterized in that:

the switch valve, the driving motor (17) and the three-position four-way electromagnetic valve are respectively in signal connection with the vehicle ECU.