KR20160081047A

KR20160081047A - Rotation type of Combined Electricity and Machinery Active Suspension, and Vehicle

Info

Publication number: KR20160081047A
Application number: KR1020140194229A
Authority: KR
Inventors: 유천; 김승균; 홍중식
Original assignee: 국방과학연구소
Priority date: 2014-12-30
Filing date: 2014-12-30
Publication date: 2016-07-08

Abstract

The rotary electric and mechanical hybrid suspension system of the present invention includes a speed reducer 7, an electric motor 6 and a speed reducer 7 for increasing the torque of the electric motor 6 controlled by the motor driver 5 and reducing the rotation speed Load supporting device 8 that transmits the output of the speed reducer 7 to the wheels of the vehicle with a rotation center coinciding with the driving input shaft and the output shaft of the vehicle, (4), and is applied to each wheel of a 4X4 vehicle, a 6X6 vehicle, an 8X8 vehicle or a tracked vehicle, thereby generating an electric motor (5) directly generating a control force upon operation by a control command of the controller (4) , It is possible to control the force transmitted to the car body almost constantly regardless of the disturbance of the road surface. In particular, The present invention is characterized in that it is easily extended to a 4 × 4 vehicle, a 6 × 6 vehicle, an 8 × 8 vehicle, or a tracked vehicle by using a characteristic that the required number of the water supply devices 100 is different,

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an active suspension system,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active suspension system, and more particularly, to a rotary-type electrical and mechanical hybrid active suspension system and a vehicle that overcomes the disadvantages of a rotary type active suspension system of an air pressure type in which a spring force is actively controlled by direct adjustment of gas pressure .

In general, a suspension system is applied to a vehicle to support load, to improve ride comfort by absorbing, cushioning, and canceling vibration and shock transmitted from the road surface, and to protect various mounted machines and electronic equipment.

Such a suspending device is classified into a linear type suspending device in which the up and down movements are performed and a rotating type suspension device in which the rotation operation is performed in order to support the load of the vehicle, improve the ride quality, and protect the equipment.

The rotary type suspension device may be a torsion bar type in which a torsion bar serving as a spring is combined with a linear or rotary damper or a hydraulic pressure damper combined with a gas damper It is composed of passive type with fixed spring force and damping force according to the control type, semi-active type with fixed spring force and damping force, and can control both spring force and damping force. (Active). In particular, the active type which can maintain the stable posture of the vehicle by keeping the force transmitted to the vehicle constant by adjusting the spring force and the damping force, limits the limit in terms of vibration / impact absorption and driving stability (Passive) or semi-active (semi-active) type having the advantage of effectively reducing vibration and impact transmitted from the road surface.

Therefore, in order to efficiently perform the role of vehicle load support, ride comfort and equipment protection in the rugged area, a large spring force is required, and in the case of a munition vehicle requiring a large wheel displacement, an active suspension device Is applied. Particularly, among the swing type active suspension devices, a rotary type active suspension device to which the gas pressure is directly applied in order to actively control the spring force is mainly applied.

Korean Patent Publication No. 10-1992-0006150 (April 27, 1992)

However, the rotating type active suspension system using the oil pressure method requires a large-capacity compressor for adjusting the gas pressure to be directly mounted on the vehicle. In particular, the response speed of the gas pressure for determining the spring force is slow, There is a possibility that the performance will deteriorate.

As a result, the rotating type active suspension system to which the oil pressure method is applied has a limitation that it is difficult or impossible to apply the actual vehicle.

In view of the above, the present invention overcomes the limitation of a rotary type active suspension system in which the spring force is actively controlled by directly adjusting the gas pressure due to the quick response characteristic of the electric motor which directly generates the control force, There is provided an active suspension system for vehicles, comprising: a rotary electric machine and a mechanical hybrid type active suspension system capable of controlling a force transmitted to a vehicle body substantially constant regardless of a disturbance transmitted from a road surface.

According to an aspect of the present invention, there is provided an active suspension system comprising: an electric motor for generating driving torque by control by a motor driver; A speed reducer for increasing a driving torque transmitted from an output shaft of the electric motor and reducing a rotating speed; A static load supporting device having a rotation center coinciding with a driving input shaft and an output shaft of the electric motor and the reduction gear and transmitting the driving torque and the rotation speed of the reduction gear to the wheels of the vehicle; A rotation detecting sensor for measuring a rotation angle based on a rotational center axis of the static load supporting device and transmitting the measured data to a controller for issuing a control command to the motor driver; Is included.

The electric motor generates a damping force corresponding to a spring force of the gas spring incorporated in the static load supporting device by generating electric resistance associated with the motor driver.

Wherein the static load supporting device includes a hub assembly mounted on the wheel, a housing for blocking external impacts and foreign substances, and a mounting plate for fixing the housing to the vehicle body, wherein an oil space filled with oil, A manifold for connecting the oil space to a part of the gas space so that the gas space can be compressed through the oil by forming a filled gas space, and a cover coupled to the manifold.

The oil space includes a main cylinder formed in the inner space of the housing and filled with oil, a connecting rod for moving the main piston along the main cylinder, and a crank for transmitting repeated rotation by the center of the rotation axis of the housing to the connecting rod Configured; The gas space includes an axial pressure cylinder divided from the main cylinder and filled with gas, and a pressure accumulating piston dividing an inner space of the axial pressure cylinder into the gas region and the oil region. The accumulator piston compresses or expands the gas by a change in oil flow rate delivered to the oil space, thereby increasing or decreasing the spring force.

The mounting plate is composed of a ring gear connecting plate and a ring gear, and the ring gear connecting plate and the ring gear form a two-stage assembly. An inner gear is formed on an inner circumferential surface of the ring gear connecting plate so as to engage with a first planetary gear of the speed reducer, the ring gear forms a spline on the outer circumferential surface so as to be engaged with the crank, So that the inner gear is formed.

According to an aspect of the present invention, there is provided a vehicle including a motor driver, an electric motor, a speed reducer, a static load supporting device, a rotation sensing sensor, a hub assembly, a housing, a mounting plate, a connecting rod, a main piston, A rotary type electric and mechanical hybrid active suspension device having a pressure accumulating piston, a pressure accumulating cylinder, a crank, a ring gear connecting plate, a ring gear, a spline and an internal gear, mounted on left and right front wheels and right and left rear wheels respectively; A plurality of vehicle sensors for detecting vehicle data in operation; A sensor interface for signaling all detected vehicle data; Calculates a control command required for each wheel of the left and right front wheels and the left and right rear wheels using the built-in active control algorithm after analyzing the vehicle state based on the transmitted signal data, Lt; / RTI > A power converter for controlling the power supply of the power supply; Is included.

The control command of the controller is transmitted to a motor driver that controls the electric motor of the rotary electric and mechanical hybrid active suspension device. The power converter converts the back electromotive force generated by the reverse disturbance acting on the electric motor into electric energy required for the system to increase the energy efficiency of the system.

The rotary electric and mechanical hybrid active suspension system is applied to a 6X6 vehicle or an 8X8 vehicle or a tracked vehicle depending on the number of wheels.

The rotary type electrical and mechanical hybrid active suspension system of the present invention is similar to the conventional rotary type manual suspension system and is actively controlled by the electro-mechanical driving unit so that the force transmitted to the vehicle body is constant regardless of the disturbance of the road surface Vibration and impact are minimized and the vehicle body is maintained in a constant attitude, so that ride comfort and driving stability can be improved at the same time.

In addition, the present invention can combine a mechanical system with an electric motor having a high reaction speed to quickly respond to disturbance on the road surface, thereby making it possible to respond to the reaction of the rotary type active suspension system of the air pressure type, The limit due to the speed delay can be overcome.

In addition, the rotary type electrical and mechanical hybrid active suspension system of the present invention uses a built-in arm type structure in which a gas spring is built inside a static load supporting apparatus housing. Therefore, compared with a conventional rotary type manual suspension system, The system can be protected, and in particular, a compact design can lead to a weight saving effect.

In addition, it is possible to control the spring characteristics such as dynamic ratio by making it possible to inject and discharge oil into the manifold among the static load supporting device components of the present invention.

In addition, a gear tooth is applied to the mounting plate of the present invention so as to serve as a ring gear, and a spline that can be engaged with the crank can be applied to the outside.

FIG. 1 is a structural view of a rotary type electrical and mechanical hybrid active suspension system according to the present invention, FIG. 2 is a structural view of a built-in type static load supporting apparatus constituting a rotary type electrical and mechanical hybrid type active suspension system according to the present invention, 3 is a configuration diagram of a ring gear common mounting plate of a two-stage structure constituting a rotary type electrical and mechanical hybrid active suspension system according to the present invention, and FIG. 4 is a cross- Fig.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which illustrate exemplary embodiments of the present invention. The present invention is not limited to these embodiments.

1 shows a configuration of a rotary type electric and mechanical combined active suspension system 100 according to the present embodiment.

As shown, the rotary electric and mechanical hybrid active suspension system 100 includes an electric motor 6, a speed reducer 7, a static load supporting device 8, and a rotation detection sensor 1.

Specifically, the electric motor 6 generates a substantial drive torque in accordance with the control command transmitted through the motor driver 5, and the motor driver 5 drives the electric motor 6 in association with the electric motor 6, An additional electrical resistance can be applied. Therefore, when it is not possible to apply the active control of the rotary type electric and mechanical combined active suspension device 100, the electric motor 6 is controlled by the motor driver 5, And has a feature capable of performing a role as a manual attenuator corresponding to the spring force of the spring.

The speed reducer 7 increases the drive torque transmitted from the output shaft of the electric motor 6 and reduces the rotational speed corresponding thereto and transmits it to the static load supporting device 8. Therefore, the speed reducer 7 can be applied to a speed reducer of a rotary type, such as a planetary speed reducer, in which case, one or two planetary gears having different speed ratios are included.

The static load supporting device 8 has a rotation center coinciding with the drive input / output shafts of the electric motor 6 and the speed reducer 7. Therefore, the static load supporting device 8 is rotated at a control angle calculated by the controller 4 on the basis of the rotation center coinciding with the drive input / output axes of the electric motor 6 and the speed reducer 7, Thereby determining the final posture of the vehicle.

The rotation sensing sensor 1 is connected to the static load supporting device 8, and particularly measures the rotation angle based on the rotation center axis of the static load supporting device 8. Therefore, the detection value of the rotation detecting sensor 1 is inputted to the controller 4 which controls the static load supporting device 8. [

On the other hand, Fig. 2 shows an example in which the static load supporting device 8 is constructed with a built-in arm.

As shown, the arm-mounted static load supporting device 8 is divided into an outer hub assembly 11, a mounting plate 12, and a housing 13. The main piston 15, the main cylinder 16, the manifold 18, the accumulator piston 19, the pressure accumulating cylinder 20, the crank 21 ), Which is an internal mechanism (Mechanism).

Specifically, the hub assembly 11 has a structure base on which wheels can be mounted. The mounting plate 12 serves to fix the housing 13 to the vehicle body.

The main cylinder 16 is filled with oil. The connecting rod 14 moves the main piston 15 along the main cylinder 16. The crank 21 transfers the rotation of the housing 13 to the connecting rod 14 repeatedly by the center of the rotation axis. The axial pressure cylinder 20 is separated from the main cylinder 16 and filled with gas. The accumulator piston 19 divides the internal space of the pressure accumulating cylinder 20 into a gas space and an oil space connected to the main cylinder 16. The manifold 18 connects the main cylinder 16 and the oil portion of the axial pressure cylinder 20. The lid 17 is coupled to the manifold 18.

Therefore, the housing 13 is divided into an external function and an internal function. The external function is to protect internal components such as the main cylinder 16, the main piston 15, the pressure accumulating cylinder 20, the pressure accumulating piston 19, the crank 21 and the con rod 14 from external shocks and foreign matter . The internal function is to move the main piston 15 along the main cylinder 16 by means of a kinematic configuration and mechanism while the housing 13 repeats rotation around the rotation axis, It is possible to increase / decrease the spring force by compressing / expanding the gas by transmitting a load to the pressure-accumulating piston 19.

Particularly, the cover 17 is applied to the manifold 18 connecting the main cylinder 16 and the oil portion of the axial pressure cylinder 20 to the internal mechanism. Therefore, the arm built-in static load supporting device 8 is configured to be capable of additionally injecting and discharging the oil, thereby realizing a structure capable of adjusting the intrinsic characteristics such as the dynamic ratio of the spring.

3 shows an example of the configuration of the mounting plate 12. As shown in Fig. As shown in the figure, the mounting plate 12 is a ring gear common type of two-stage structure constituting a rotary type electric and mechanical combined active suspension system.

Specifically, the mounting plate 12 is a two-stage assembly of a ring gear connecting plate 22 and a ring gear 23. The inner gear 25-1 is formed on the inner peripheral surface of the ring gear connecting plate 22 so as to mesh with the one-stage planetary gear of the speed reducer 7. [ The ring gear 23 is coupled to the crank 21 by forming a spline 24 on the outer circumferential surface of the ring gear 23. The inner gear 25 is meshed with the inner surface of the ring gear 23, . Therefore, even though the ring gear 23 is a single component, the ring gear of the speed reducer 7 and the plate of the conventional static load supporting device are commonly used to reduce the weight of the mounting plate 12. In particular, It is possible to secure a sufficient space for mounting.

Meanwhile, FIG. 4 shows a system architecture of a vehicle to which the arm-embedded electro-mechanical active suspension system according to the present invention is applied.

As shown in the figure, the logistics vehicle 200 is equipped with a rotary type electric and mechanical hybrid active suspension device 100 as left and right front wheels and right and left rear wheels, and a plurality of vehicle sensors 200 for detecting vehicle data during operation of the logistics vehicle 200 A sensor interface 2, a sensor interface 3, a controller 4, a motor drive 5, a power converter 9 and a power supply 10.

Specifically, the sensor interface 3 detects static load supporting device detection data such as the rocking angle detected by the rotation detecting sensor 1 connected to the rotational center of the rotary static load supporting device 8, Vertical speed, and vertical acceleration detected in association with the vehicle state of the vehicle 200, and performs signal processing on the vehicle load detection data and the vehicle load detection data.

The controller 4 receives the static load supporting device detection data and vehicle state detection data signal processed by the sensor interface 3, analyzes the vehicle state based on the transmitted signal data, and then uses the built-in active control algorithm And calculates control commands necessary for the left and right front wheels and the left and right rear wheels.

The motor driver 5 receives the control command calculated from the controller 4, and drives the electric motor 6 associated with the left and right front wheels and the left and right rear wheels. The electric motor 6 generates a driving force by an operation command transmitted from the motor driver 5 and drives the speed reducer 7 and the static load supporting device 8, which are mechanical elements sequentially coupled to the electric motor 6 And finally the operation of the rotary type electric and mechanical hybrid active suspension system 100 and the body movement are controlled.

The power converter 9 supplies electric power required for driving the electric motor 6 from the electric power supply 10. Particularly, the power converter 9 not only plays a role of supplying electric power but also acts to increase the energy efficiency of the system by converting the back electromotive force generated by the reverse disturbance acting on the electric motor 6 into the electric energy required for the system .

In this way, by controlling the rotary type electric and mechanical combined suspension system 100 by the control command of the controller 4, the army vehicle 200 can keep the force transmitted to the vehicle body constant, thereby minimizing vibration and shock absorption, The stable maintenance of the posture of the munition vehicle 200 is realized.

In particular, the munition vehicle 200 can be extended to a 6X6 vehicle or an 8X8 vehicle depending on the number of wheels. This is based on the fact that the overall configuration is similar to that of the 4X4 vehicle, although only the required number of rotary type electric and mechanical hybrid suspension system 100 is changed according to the wheel configuration such as 6X6 and 8X8. The munition vehicle 200 also includes a tracked vehicle.

As described above, the rotary type electrical and mechanical hybrid active suspension system according to the present embodiment includes the speed reducer 7 for increasing the torque of the electric motor 6 controlled by the motor driver 5 and reducing the rotation speed, (8) for transmitting the output of the speed reducer (7) to the wheels of the vehicle with a rotation center coinciding with the drive input shaft and the output shaft of the speed reducer (6) and the speed reducer (7) And a rotation sensing sensor 1 for measuring the rotation angle and transmitting the rotation angle to the controller 4. The rotation sensing sensor 1 is applied to each wheel of the 4X4 vehicle or the 6X6 vehicle or the 8X8 vehicle or the tracked vehicle, It is possible to overcome the limitation of the rotational type active suspension system of the air pressure type which actively adjusts the spring force by direct adjustment of the gas pressure due to the quick response characteristic of the electric motor which directly generates the control force, It is possible to control the force transmitted to the vehicle body almost constantly. In particular, it is possible to use the 4X4 vehicle , 6X6 vehicle, 8X8 vehicle or track vehicle.

1: rotation sensor 2: vehicle sensor
3: Sensor interface 4: Controller
5: motor drive 6: electric motor
7: Reducer 8: Fixed load support device
9: Power converter 10: Power supply
11: hub assembly 12: mounting plate
13: housing 14: connecting rod
15: main piston 16: main cylinder
17: lid 18: manifold
19: Pressure accumulating piston 20: Pressure accumulating cylinder
21: crank 22: ring gear connecting plate
23: ring gear 24: spline
25, 25-1: internal gear
100: Rotary electric and mechanical hybrid active suspension system
200: munition vehicle

Claims

An electric motor for generating drive torque by control by a motor driver;
A speed reducer for increasing a driving torque transmitted from an output shaft of the electric motor and reducing a rotating speed;
A static load supporting device having a rotation center coinciding with a driving input shaft and an output shaft of the electric motor and the reduction gear and transmitting the driving torque and the rotation speed of the reduction gear to the wheels of the vehicle;
A rotation detecting sensor for measuring a rotation angle based on a rotational center axis of the static load supporting device and transmitting the measured data to a controller for issuing a control command to the motor driver; / RTI >
The static load supporting device includes a hub assembly for mounting the wheel, a oil space filled with oil, and a gas space filled with a gas compressed through oil, the inner space defining a housing for blocking external shocks and foreign substances And a mounting plate for fixing the housing to the vehicle body.

The rotary electric and mechanical hybrid suspension system according to claim 1, wherein the electric motor forms a damping force corresponding to a spring force of a gas spring incorporated in the static load supporting device by generating electric resistance associated with the motor driver Device.

[3] The apparatus of claim 1, wherein the housing has a manifold connecting the oil space to a part of the gas space so that the gas space can be compressed through the oil, and a cover coupled to the manifold. A rotating electrical and mechanical hybrid active suspension system.

[4] The apparatus according to claim 3, wherein the oil space comprises a main cylinder formed in an inner space of the housing and filled with oil, a connecting rod for moving the main piston along the main cylinder, To the crankshaft;
Wherein the gas space comprises an axial pressure cylinder divided from the main cylinder and filled with gas, and a pressure accumulating piston dividing an inner space of the axial pressure cylinder into the gas region and the oil region. Device.

The rotary type electrical and mechanical hybrid active suspension system according to claim 4, wherein the accumulator piston compresses or expands gas by a change in oil flow rate transferred to the oil space to increase or decrease the spring force.

The rotary type electrical and mechanical hybrid active suspension system according to claim 1, wherein the mounting plate comprises a ring gear connecting plate and a ring gear, and the ring gear connecting plate and the ring gear form a two-stage assembly type.

7. The planetary gearset of claim 6, wherein an inner gear is formed on an inner circumferential surface of the ring gear connecting plate so as to mesh with the one-stage planetary gear of the speed reducer, and the ring gear forms a spline on the outer circumferential surface to be engaged with the crank, And an internal gear is formed on the inner circumferential surface so as to engage with the planetary gear.

A rotary type electric and mechanical hybrid active suspension device having components according to any one of claims 1 to 7 mounted on left and right front wheels and right and left rear wheels;
A plurality of vehicle sensors for detecting vehicle data in operation;
A sensor interface for signaling all detected vehicle data;
Calculates a control command required for each wheel of the left and right front wheels and the left and right rear wheels using the built-in active control algorithm after analyzing the vehicle state based on the transmitted signal data, Lt; / RTI >
A power converter for controlling the power supply of the power supply;
And a control unit for controlling the operation of the vehicle.

The vehicle according to claim 8, wherein the control command of the controller is transmitted to a motor driver for controlling an electric motor of the rotary electric and mechanical combined active suspension device.

9. The system of claim 8, wherein the power converter converts the back electromotive force generated by the reverse disturbance acting on the electric motor to electrical energy required by the system to increase the energy efficiency of the system. Vehicle with Suspension.

[Claim 9] The vehicle according to claim 8, wherein the rotary electric and mechanical hybrid active suspension system is applied to a 6X6 vehicle or an 8X8 vehicle or a tracked vehicle depending on the number of wheels.