WO2014040805A1 - Method for controlling an air spring system - Google Patents

Method for controlling an air spring system Download PDF

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Publication number
WO2014040805A1
WO2014040805A1 PCT/EP2013/066674 EP2013066674W WO2014040805A1 WO 2014040805 A1 WO2014040805 A1 WO 2014040805A1 EP 2013066674 W EP2013066674 W EP 2013066674W WO 2014040805 A1 WO2014040805 A1 WO 2014040805A1
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WO
WIPO (PCT)
Prior art keywords
air spring
signals
sensor
sensors
air
Prior art date
Application number
PCT/EP2013/066674
Other languages
German (de)
French (fr)
Inventor
Siegfried Reck
Ralf Schimmel
Heinz-Friedrich Ohm
Ulrich Roskoni
Hubertus Gawinski
Andreas Dienst
Johannis Sfendonis
Original Assignee
Contitech Luftfedersysteme Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Contitech Luftfedersysteme Gmbh filed Critical Contitech Luftfedersysteme Gmbh
Publication of WO2014040805A1 publication Critical patent/WO2014040805A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • B60G17/0155—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit pneumatic unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/052—Pneumatic spring characteristics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/11—Mounting of sensors thereon
    • B60G2204/111—Mounting of sensors thereon on pneumatic springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2206/00—Indexing codes related to the manufacturing of suspensions: constructional features, the materials used, procedures or tools
    • B60G2206/01—Constructional features of suspension elements, e.g. arms, dampers, springs
    • B60G2206/011—Modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/25—Stroke; Height; Displacement
    • B60G2400/252—Stroke; Height; Displacement vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/50—Pressure
    • B60G2400/51—Pressure in suspension unit
    • B60G2400/512—Pressure in suspension unit in spring
    • B60G2400/5122—Fluid spring
    • B60G2400/51222—Pneumatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/70—Temperature of vehicle part or in the vehicle
    • B60G2400/71—Temperature of vehicle part or in the vehicle of suspension unit
    • B60G2400/712—Temperature of vehicle part or in the vehicle of suspension unit of spring
    • B60G2400/7122—Fluid spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/20—Manual control or setting means
    • B60G2600/202—Manual control or setting means using a remote, e.g. cordless, transmitter or receiver unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/70—Computer memory; Data storage, e.g. maps for adaptive control
    • B60G2600/704—Electronic tags containing data, e.g. identification number of a component; Gain values for the control of the unit, etc.
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/71—Distributed control; Master - slave controllers; Remote control units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control

Definitions

  • the invention relates to a method for controlling a plurality of air springs having air spring system for vehicles, in which for the operating state of the respective air spring representative parameters determined by sensors and as signals to a central
  • Control unit are passed, which the actuators of the air spring system or the
  • Air springs depending on the evaluated signals controls. Also is one
  • Claimed air spring system which is adapted to carry out the method.
  • air spring systems for vehicles usually several air springs are present, usually at each wheel an air spring, which are controlled / controlled via a central control unit with respect to the nominal level of the suspension of the system.
  • decentralized sensors record the state variables of the individual air springs, such as the spring height, the air temperature and the pressure within the air springs, and deliver the actual values to the said central control unit via a multi-core cable.
  • the central control unit actuates the individual actuators of the air spring system or the individual air springs, i. the valves on the springs and in the valve blocks, the compressor, the dryer, etc.
  • a disadvantage of this state of the art for example, the relatively high cost of assembly and wiring of the sensors with the central control unit. Of each individual sensor usually leads its own cable to the central control unit.
  • Air springs for such air spring systems are known per se.
  • DE 101 305 07 AI a generic air spring is disclosed in the sensor elements emit electrical signals when they are deformed.
  • the sensor elements are arranged in cascade on the rolling piston, so that with increasing rolling depth more and more elements are deformed. In this way, the immersion depth of the air spring can be determined electrically. Again, a relatively expensive cable routing is required.
  • WO 2010-013019 discloses a method for observing the forces acting on a vehicle, in which among other variables, the deflection or the rolling of an air spring via sensors is determined. Again, be to
  • the operating status of the air springs (spring height, pressure, temperature) is recorded in real time and transmitted via a transmitter to a central control unit.
  • the sensors are arranged on the air springs and the signals are transmitted via the sensors associated radio transmitter, preferably UHF transmitter, unidirectional to the one receiver having sent control unit.
  • the effort for assembly and wiring for the transmission of the sensor signals is completely eliminated.
  • a plurality of parameters are determined via a group of sensors and passed as signals to a microcontroller, wherein the signals of the provided with a micro-controller sensor group (sensor cluster) assigned via one of the sensor group Radio transmitter to be sent to the receiver having a control unit. This allows a clear determination of the respective operating state of the individual springs and the overall system.
  • the sensor group (sensor cluster) has an ultrasonic height sensor for the height of the air spring or the air spring bellows, a pressure sensor for the internal pressure in the air spring and a temperature sensor for the air temperature within the air spring and by the micro-controller a clear identification of the signals with respect to the associated air springs is performed. This ensures reliable evaluation and control of the valves, etc.
  • a further advantageous embodiment consists in that the sensor group (sensor cluster) provided with a microcontroller has a data memory and the signals are evaluated inoperative by the microcontroller, combined into characteristic data and in the form of load spectra and / or values for the
  • Damage accumulation can be determined as indicators of the expected residual maturity.
  • this can be done via classification methods using the Markov matrix.
  • This method is one of the known two-dimensional stress counting methods used to create load spectra.
  • the measured values of the load variable eg the spring force
  • value classes are divided into value classes. From the temporal sequence of value classes, an algorithm determines the reversal points at which the load variable changes from one relative extreme to the next.
  • the values of two successive reversal points form the coordinates of the matrix element, which is increased by one.
  • Example 1 The load quantity is sinusoidal with the amplitude 1. In this case, the value always changes between the classes "+1" and "-1". Consequently, only the elements with the coordinates (1, -1) and (-1,1) are incremented, all other elements of the matrix are zero.
  • Example 2 The load size is a random variable with normal distribution. The elements of the matrix that are close to the mean have the highest counts. The larger the distance from the center of the matrix, the smaller the counter readings.
  • the microcontroller can calculate the spring force, which in turn is an important input for higher-level systems, such as: B. the brake control of a vehicle.
  • B. the brake control of a vehicle the advantage here is the higher accuracy with which the spring force can be determined, because conventional methods count on the current bellows pressure and a constant effective area of the air spring, although this assumption applies only to the design position of the spring.
  • a further advantageous embodiment is that the electrical supply of the sensors or provided with a micro-controller sensor group (sensor cluster) via an electrical supply line or via facilities that the sensors or provided with a micro-controller sensor group (sensor cluster) via an electrical supply line or via facilities that the sensors or provided with a micro-controller sensor group (sensor cluster) via an electrical supply line or via facilities that the sensors or provided with a micro-controller sensor group (sensor cluster) via an electrical supply line or via facilities that the
  • Sensor clusters are one unit and come ready to install, with a possible Connected to electrical energy and are ready to use.
  • a power supply of the sensor cluster via a battery is possible or a
  • a further advantageous embodiment is that the electrical supply of the sensors or provided with a micro-controller sensor group (sensor cluster) via an electrical supply line and the electrical supply an AC signal is impressed signal, with the data via a filter to an LF - Interface of the micro-controller are transmitted.
  • the micro-controllers can be easily controlled from outside if necessary and possibly influenced in their processing, prioritization or in their algorithms, with appropriate training of micro-controllers with RAM capacities also changed.
  • each air spring of a vehicle is assigned a sensor group in the form of a sensor cluster with which representative parameters for the operating state of the respective air spring are determined and sent as signals to a central control unit wherein the sensor cluster further comprises a signal processing micro-controller, a UHF transmitter and a data memory, and wherein an electrical power supply for the micro-controller and sensors is provided, in particular one with
  • Air spring and sensor cluster are, as already stated above, a unit and can be installed with minimal effort.
  • a further advantageous embodiment is that further comprises a mobile and provided with a UHF transmitter hand control unit which sends manually generated control signals for controlling the valve blocks or actuators of the respective air spring to the central control unit.
  • a mobile and provided with a UHF transmitter hand control unit which sends manually generated control signals for controlling the valve blocks or actuators of the respective air spring to the central control unit.
  • This is an externally made basic adjustment or maintenance adjustment of the air spring system readily possible.
  • the use of sensor clusters reduces the wiring effort. For each pressure or height sensor, at least two electrical lines and the corresponding plug connections are eliminated.
  • the network of the central control unit, the sensor cluster and possibly existing mobile handheld control unit can configure itself by the central control unit in the context of an initialization of the
  • Identifier / identification of participating sensor clusters queries and stores.
  • FIG. 1 shows a sensor group for an air spring of an air spring system, designed for carrying out the method according to the invention
  • Fig. 2 An air spring system, adapted to carry out the
  • the sensor cluster 14 shows a sensor group for one of the air springs 2 of an air spring system, namely an intelligent sensor cluster 14, which simultaneously measures the state variables spring height, pressure and temperature in the Lugftfederbalg.
  • the sensor cluster 14 consists of an ultrasonic height sensor 6, a pressure sensor 8, and a temperature sensor 9, which output their measured data to a microcontroller 12.
  • a UHF transmitter 13 transmits the measurement data as a digital data stream via a unidirectional radio connection 18 to the central control unit 10. In addition, it transmits a unique identifier / unique identification of the data / signals of the respective spring and possibly further status information from the sensor cluster.
  • the central control unit 10 receives the digital radio telegrams, identifies the sending sensor clusters 14 and evaluates the measurement data if the sender belong to the radio network.
  • the sensor cluster 13 additionally includes a data memory 15 in which the microcontroller 12 stores the in-service computed Markov matrices and the characteristic data of the air spring. If necessary, predictions about the remaining service life of the air spring can be derived from these data.
  • 2 shows the overall system, namely an air spring system 21, in which each air spring 2 is assigned a sensor group having a plurality of sensors in the form of a sensor cluster 14, with which parameters representative of the operating state of the respective air spring are determined and passed as signals to the central control unit 10 ,
  • the sensor clusters are supplied with electrical energy via a line 20.
  • a mobile Provided is also a mobile and provided with a UHF transmitter hand control unit 16 which sends manually generated control signals for controlling the valve blocks 4 or actuators of the respective air spring to the central control unit 10.
  • the electrical supply in the line 20 is an AC signal is impressed, with the data via a filter 11 to an LF interface of the micro-controller 12 can be transmitted.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention relates to a method for controlling an air spring system for motor vehicles comprising a plurality of air springs, in which for the operating state of the respective air spring representative parameters are determined via sensors and transmitted as signals to a central control device which controls the actors of the air spring system and/or the air springs in dependence of the evaluated signals, wherein the sensors are arranged on the air springs and the signals are sent via radio transmitters attributed to the sensors, preferably UHF transmitters, to the control device having a receiver.

Description

Verfahren zur Steuerung eines Luftfedersystems  Method for controlling an air spring system
Beschreibung description
Die Erfindung betrifft ein Verfahren zur Steuerung eines mehrere Luftfedern aufweisenden Luftfedersystems für Fahrzeuge, bei dem für den Betriebszustand der jeweiligen Luftfeder repräsentative Parameter über Sensoren ermittelt und als Signale an ein zentrales The invention relates to a method for controlling a plurality of air springs having air spring system for vehicles, in which for the operating state of the respective air spring representative parameters determined by sensors and as signals to a central
Steuergerät geleitet werden, welches die Aktoren des Luftfedersystems bzw. der Control unit are passed, which the actuators of the air spring system or the
Luftfedern abhängig von den ausgewerteten Signalen steuert. Ebenfalls ist ein Air springs depending on the evaluated signals controls. Also is one
Luftfedersystem beansprucht, welches zur Durchführung des Verfahrens eingerichtet ist. In Luftfedersystemen für Fahrzeuge sind üblicherweise mehrere Luftfedern vorhanden, in der Regel an jedem Rad eine Luftfeder, die über ein zentrales Steuergerät in Bezug auf das Sollniveau der Federung des Systems geregelt/gesteuert werden. Dazu erfassen dezentrale Sensoren die Zustandsgrößen der einzelnen Luftfedern, wie etwa die Federhöhe, die Lufttemperatur und den Druck innerhalb der Luftfedern und liefern die Istwerte über ein mehradriges Kabel an das genannte zentrale Steuergerät. Zur Einstellung des Niveaus auf den Sollwert betätigt das zentrale Steuergerät die einzelnen Aktoren des Luftfedersystems bzw. der einzelnen Luftfedern, d.h. die Ventile an den Federn und in den Ventilblöcken, den Kompressor, den Trockner etc. Nachteilig an diesem Stand der Technik ist beispielsweise der relativ hohe Aufwand für die Montage und die Verdrahtung der Sensoren mit dem zentralen Steuergerät. Von jedem einzelnen Sensor führt nämlich üblicherweise ein eigenes Kabel zu dem zentralen Claimed air spring system, which is adapted to carry out the method. In air spring systems for vehicles usually several air springs are present, usually at each wheel an air spring, which are controlled / controlled via a central control unit with respect to the nominal level of the suspension of the system. For this purpose, decentralized sensors record the state variables of the individual air springs, such as the spring height, the air temperature and the pressure within the air springs, and deliver the actual values to the said central control unit via a multi-core cable. To set the level to the setpoint, the central control unit actuates the individual actuators of the air spring system or the individual air springs, i. the valves on the springs and in the valve blocks, the compressor, the dryer, etc. A disadvantage of this state of the art, for example, the relatively high cost of assembly and wiring of the sensors with the central control unit. Of each individual sensor usually leads its own cable to the central
Steuergerät. Desweiteren ist es nachteilig, dass die Struktur der Zustandsüberwachung der Federung mit der Verdrahtung festliegt und sich nachträglich nur mit großem Aufwand ändern lässt. Luftfedern für derartige Luftfedersysteme sind an sich bekannt. In der DE 101 305 07 AI ist eine gattungsgemäße Luftfeder offenbart, bei der Sensorelemente elektrische Signale abgeben, wenn sie verformt werden. Die Sensorelemente sind kaskadenförmig auf dem Abrollkolben angeordnet, so dass bei zunehmender Abrolltiefe immer mehr Elemente verformt werden. Auf diese Weise lässt sich die Eintauchtiefe der Luftfeder elektrisch ermitteln. Auch hier ist eine relativ aufwendige Kabelführung erforderlich. Control unit. Furthermore, it is disadvantageous that the structure of the condition monitoring of the suspension with the wiring is fixed and can be subsequently changed only with great effort. Air springs for such air spring systems are known per se. In DE 101 305 07 AI a generic air spring is disclosed in the sensor elements emit electrical signals when they are deformed. The sensor elements are arranged in cascade on the rolling piston, so that with increasing rolling depth more and more elements are deformed. In this way, the immersion depth of the air spring can be determined electrically. Again, a relatively expensive cable routing is required.
In der DE 10 2004 003 695 AI ist eine gattungsgemäße Luftfeder mit piezo-elektrischen Elementen offenbart, bei der die piezo-elektrischen Elemente zur Energiegewinnung genutzt werden. Auf diese Weise lassen sich zwar elektrische Systeme in der Luftfeder ohne Energiezufuhr von außen betreiben, bezüglich der Datenübermittlung sind jedoch keine weiteren Erläuterungen vorhanden. In DE 10 2004 003 695 AI a generic air spring is disclosed with piezoelectric elements, in which the piezoelectric elements are used to generate energy. In this way, although electrical systems in the air spring without energy supply from the outside operate, with respect to the data transmission, however, no further explanations are available.
Die WO 2010-013019 offenbart ein Verfahren zur Beobachtung der auf ein Fahrzeug einwirkenden Kräfte, bei dem unter anderen Größen auch die Einfederung bzw. das Abrollen einer Luftfeder über Sensoren ermittelt wird. Auch hier werden zur WO 2010-013019 discloses a method for observing the forces acting on a vehicle, in which among other variables, the deflection or the rolling of an air spring via sensors is determined. Again, be to
Signalübertragung Leitungsverbindungen benötigt. Signal transmission line connections needed.
Für die Erfindung bestand daher die Aufgabe, ein Verfahren zur Steuerung eines mehrere Luftfedern aufweisenden Luftfedersystems bereitzustellen, bei dem der Montageaufwand zur Leitungsverlegung für die Sensorik möglichst verringert wird und bei dem mehrere unterschiedliche Parameter auf möglichst auf einfache Weise in„Echtzeit" erfasst und über ein zentrales Steuergerät verarbeitet werden können. Gelöst wird diese Aufgabe durch die Merkmale des Hauptanspruchs. Weitere vorteilhafte Ausbildungen sind in den Unteransprüchen offenbart. For the invention therefore had the task of providing a method for controlling a plurality of air springs having air spring system, in which the assembly costs for wiring for the sensor is reduced as possible and recorded in the several different parameters as simple as possible in "real time" and a This object is achieved by the features of the main claim Further advantageous embodiments are disclosed in the subclaims.
Dabei wird der Betriebszustand der Luftfedern (Federhöhe, Druck, Temperatur) in Echtzeit zu erfasst und über einen Sender an ein zentrales Steuergerät übertragen. Die Sensoren sind an den Luftfedern angeordnet und die Signale werden über den Sensoren zugeordnete Funksender, vorzugsweise UHF-Sender, unidirektional an das einen Empfänger aufweisende Steuergerät gesendet. Der Aufwand für die Montage und die Verdrahtung für das Übertragen der Sensorsignale entfällt völlig. Außerdem ist es möglich, das System zur Überwachung in Bezug auf Art und Anzahl der Sensoren und zu frei konfigurieren und nachträglich zu verändern. The operating status of the air springs (spring height, pressure, temperature) is recorded in real time and transmitted via a transmitter to a central control unit. The sensors are arranged on the air springs and the signals are transmitted via the sensors associated radio transmitter, preferably UHF transmitter, unidirectional to the one receiver having sent control unit. The effort for assembly and wiring for the transmission of the sensor signals is completely eliminated. In addition, it is possible to configure the system for monitoring in terms of type and number of sensors and to freely and subsequently change.
Eine vorteilhafte Weiterbildung besteht darin, dass für jede Luftfeder eine Vielzahl von Parametern über ein Gruppe von Sensoren ermittelt und als Signale an einen Micro- Controller geleitet werden, wobei die Signale der mit einem Micro-Controller versehene Sensorengruppe (Sensorcluster) über einen der Sensorengruppe zugeordneten Funksender an das einen Empfänger aufweisende Steuergerät gesendet werden. Das erlaubt eine klare Bestimmung des jeweiligen Betriebszustandes der Einzelfedern und des Gesamtsystems. An advantageous development is that for each air spring, a plurality of parameters are determined via a group of sensors and passed as signals to a microcontroller, wherein the signals of the provided with a micro-controller sensor group (sensor cluster) assigned via one of the sensor group Radio transmitter to be sent to the receiver having a control unit. This allows a clear determination of the respective operating state of the individual springs and the overall system.
Eine vorteilhafte Weiterbildung besteht darin, dass die Sensorengruppe (Sensorcluster) einen Ultraschall-Höhensensor für die Höhe der Luftfeder bzw. des Luftfederbalges, einem Drucksensor für den Innendruck in der Luftfeder und einen Temperatursensor für die Lufttemperatur innerhalb der Luftfeder aufweist und durch den Micro-Controller eine eindeutige Identifizierung der Signale im Hinblick auf die zugehörigen Luftfedern durchgeführt wird. Damit ist eine sichere Auswertung und Steuerung der Ventile etc. gewährleistet. An advantageous development is that the sensor group (sensor cluster) has an ultrasonic height sensor for the height of the air spring or the air spring bellows, a pressure sensor for the internal pressure in the air spring and a temperature sensor for the air temperature within the air spring and by the micro-controller a clear identification of the signals with respect to the associated air springs is performed. This ensures reliable evaluation and control of the valves, etc.
Eine weitere vorteilhafte Ausbildung besteht darin, dass die mit einem Micro-Controller versehene Sensorengruppe (Sensorcluster) über einen Datenspeicher verfügt und die Signale durch den Micro-Controller betriebsbegleitend ausgewertet, zu Kennliniendaten zusammengefasst und in Form von Lastkollektive und/oder Werten für die A further advantageous embodiment consists in that the sensor group (sensor cluster) provided with a microcontroller has a data memory and the signals are evaluated inoperative by the microcontroller, combined into characteristic data and in the form of load spectra and / or values for the
Schadensakkumulation als Indikatoren für die zu erwartende Restlaufzeit ermittelt werden. Damage accumulation can be determined as indicators of the expected residual maturity.
Beispielsweise kann dies über Klassierungsverfahren mit Hilfe der Markov-Matrix erfolgen. Dieses Verfahren zählt zu den bekannten zweidimensionalen Beanspruchungs- Zählverfahren, die zur Erstellung von Lastkollektiven verwendet werden. Die Messwerte der Belastungsgröße (z.B. der Federkraft) werden in Werteklassen eingeteilt. Aus der zeitlichen Folge der Werteklassen ermittelt ein Algorithmus die Umkehrpunkte, an denen die Belastungsgröße von einem relativen Extremum zum nächsten wechselt. For example, this can be done via classification methods using the Markov matrix. This method is one of the known two-dimensional stress counting methods used to create load spectra. The measured values of the load variable (eg the spring force) are divided into value classes. From the temporal sequence of value classes, an algorithm determines the reversal points at which the load variable changes from one relative extreme to the next.
Um die Beanspruchung zu beschreiben, wird die Anzahl der Übergänge zwischen den Extremwerten gezählt. Dabei bilden die Werte von jeweils zwei aufeinander folgenden Umkehrpunkten (z. B. von Klasse 4, nach Klasse 2) die Koordinaten des Matrix-Elements, das um 1 erhöht wird. To describe the stress, the number of transitions between the extreme values is counted. The values of two successive reversal points (eg of class 4, according to class 2) form the coordinates of the matrix element, which is increased by one.
Beispiel 1: Die Belastungsgröße sei sinusförmig mit der Amplitude 1. In diesem Fall wechselt der Wert immer zwischen den Klassen "+1" und "-1". Folglich werden nur die Elemente mit den Koordinaten (1,-1) und (-1,1) hochgezählt, alle anderen Elemente der Matrix sind Null. Example 1: The load quantity is sinusoidal with the amplitude 1. In this case, the value always changes between the classes "+1" and "-1". Consequently, only the elements with the coordinates (1, -1) and (-1,1) are incremented, all other elements of the matrix are zero.
Beispiel 2: Die Belastungsgröße sei eine Zufallsgröße mit Normal Verteilung. Die Elemente der Matrix, die in der Nähe des Mittelwertes liegen weisen die höchsten Zählerstände auf. Je größer der Abstand von der Mitte der Matrix, desto kleiner sind die Zählerstände. Example 2: The load size is a random variable with normal distribution. The elements of the matrix that are close to the mean have the highest counts. The larger the distance from the center of the matrix, the smaller the counter readings.
Mit Hilfe einer im Speicher abgelegten Kennlinie und den aktuellen Messwerten für die Federhöhe, den Balgdruck und die Temperatur kann der Micro-Controller die Federkraft berechnen, die wiederum eine wichtige Eingangsgröße für übergeordnete Systeme darstellt, wie z. B. die Bremssteuerung eines Fahrzeuges. Der Vorteil liegt hier in der höheren Genauigkeit, mit der die Federkraft bestimmt werden kann, denn konventionelle Verfahren rechnen mit dem aktuellen Balgdruck und einer konstanten wirksamen Fläche der Luftfeder, obwohl diese Annahme nur für die Konstruktionslage der Feder gilt. With the aid of a characteristic stored in the memory and the current spring height, bellows pressure and temperature measurements, the microcontroller can calculate the spring force, which in turn is an important input for higher-level systems, such as: B. the brake control of a vehicle. The advantage here is the higher accuracy with which the spring force can be determined, because conventional methods count on the current bellows pressure and a constant effective area of the air spring, although this assumption applies only to the design position of the spring.
Eine weitere vorteilhafte Ausbildung besteht darin, dass die elektrische Versorgung der Sensoren bzw. der mit einem Micro-Controller versehene Sensorengruppe (Sensorcluster) über eine elektrische Versorgungsleitung oder über Einrichtungen erfolgt, die die A further advantageous embodiment is that the electrical supply of the sensors or provided with a micro-controller sensor group (sensor cluster) via an electrical supply line or via facilities that the
Bewegungen der Luftfedern in elektrische Energie umwandeln. Luftfeder und Transform movements of the air springs into electrical energy. Air spring and
Sensorcluster sind eine Einheit und werden einbaufertig geliefert, mit einem allfälligen Anschluss an elektrische Energie versehen und sind sofort einsatzbereit. Natürlich ist auch eine Energieversorgung der Sensorcluster über eine Batterie möglich oder eine Sensor clusters are one unit and come ready to install, with a possible Connected to electrical energy and are ready to use. Of course, a power supply of the sensor cluster via a battery is possible or a
Einkopplung von Energie über Antennen, beispielsweise induktiv. Eine weitere vorteilhafte Ausbildung besteht darin, dass die elektrische Versorgung der Sensoren bzw. der mit einem Micro-Controller versehene Sensorengruppe (Sensorcluster) über eine elektrische Versorgungsleitung erfolgt und der elektrischen Versorgung ein Wechselspannungs signal aufgeprägt wird, mit dem Daten über ein Filter an eine LF- Schnittstelle des Micro-Controllers übermittelt werden. So können die Micro-Controller von außen bei Bedarf leicht angesteuert und ggf. in ihrer Verarbeitung, Priorisierung oder in ihren Algorithmen beeinflusst werden, bei entsprechender Ausbildung der Micro- Controller mit RAM-Kapazitäten auch verändert werden. Coupling of energy via antennas, for example inductive. A further advantageous embodiment is that the electrical supply of the sensors or provided with a micro-controller sensor group (sensor cluster) via an electrical supply line and the electrical supply an AC signal is impressed signal, with the data via a filter to an LF - Interface of the micro-controller are transmitted. Thus, the micro-controllers can be easily controlled from outside if necessary and possibly influenced in their processing, prioritization or in their algorithms, with appropriate training of micro-controllers with RAM capacities also changed.
Bei einem in vorteilhafter Weise zur Durchführung des Verfahrens eingerichtetes und mehrere Luftfedern aufweisenden Luftfedersystem ist jeder Luftfeder eines Fahrzeuges eine mehrere Sensoren aufweisende Sensorgruppe in Form eines Sensorclusters zugeordnet, mit denen für den Betriebszustand der jeweiligen Luftfeder repräsentative Parameter ermittelt und als Signale an ein zentrales Steuergerät geleitet werden, wobei der Sensorcluster weiterhin einen die Signale verarbeitenden Micro-Controller, einen UHF- Sender und einen Datenspeicher aufweist, und wobei eine elektrische Energieversorgung für den Micro-Controller und Sensoren vorgesehen ist, insbesondere eine mit In an air spring system that is advantageously configured to carry out the method and has a plurality of air springs, each air spring of a vehicle is assigned a sensor group in the form of a sensor cluster with which representative parameters for the operating state of the respective air spring are determined and sent as signals to a central control unit wherein the sensor cluster further comprises a signal processing micro-controller, a UHF transmitter and a data memory, and wherein an electrical power supply for the micro-controller and sensors is provided, in particular one with
aufmodulierten Signalen versehene und über einen Filter an den Micro-Controller angeschlossene Energieversorgung. Luftfeder und Sensorcluster sind, wie oben bereits dargelegt eine Einheit und werden und können mit geringstem Aufwand eingebaut werden. modulated signals and connected via a filter to the micro-controller power supply. Air spring and sensor cluster are, as already stated above, a unit and can be installed with minimal effort.
Eine weitere vorteilhafte Ausbildung besteht darin, dass weiterhin ein mobiles und mit einem UHF-Sender versehenes Handsteuergerät aufweist, welches manuell erzeugte Steuersignale zur Steuerung der Ventilblöcke oder Aktoren der jeweiligen Luftfeder an das zentrale Steuergerät sendet. Damit ist eine von außen erfolgende Grundeinstellung oder Wartungseinstellung des Luftfedersystems ohne Weiteres möglich. Durch den Einsatz der Sensor-Cluster verringert sich der Aufwand bei der Verdrahtung, Für jeden Druck- bzw. Höhensensor entfallen mindestens zwei elektrische Leitungen und die entsprechenden Steckverbindungen. Das Netzwerk aus dem zentralen Steuergerät, dem Sensor-Cluster und dem ggf. vorhandenen mobilen Hand-Steuergerät kann sich selbst konfigurieren, indem das zentrale Steuergerät im Rahmen einer Initialisierung die A further advantageous embodiment is that further comprises a mobile and provided with a UHF transmitter hand control unit which sends manually generated control signals for controlling the valve blocks or actuators of the respective air spring to the central control unit. This is an externally made basic adjustment or maintenance adjustment of the air spring system readily possible. The use of sensor clusters reduces the wiring effort. For each pressure or height sensor, at least two electrical lines and the corresponding plug connections are eliminated. The network of the central control unit, the sensor cluster and possibly existing mobile handheld control unit can configure itself by the central control unit in the context of an initialization of the
Identifier/Identifizierung der teilnehmenden Sensor-Cluster abfragt und speichert. Identifier / identification of participating sensor clusters queries and stores.
Anhand eines Ausführungsbeispiels soll die Erfindung näher erläutert werden. Es zeigen Reference to an embodiment of the invention will be explained in more detail. Show it
Fig. 1 Einen Sensorgruppe für eine Luftfedern eines Luftfedersystems, ausgebildet zur Durchführung des erfindungsgemäßen Verfahrens 1 shows a sensor group for an air spring of an air spring system, designed for carrying out the method according to the invention
Fig. 2 Ein Luftfedersystem, eingerichtet zur Durchführung des Fig. 2 An air spring system, adapted to carry out the
erfindungsgemäßen Verfahrens  inventive method
Die Fig. 1 zeigt eine Sensorgruppe für eine der Luftfedern 2 eines Luftfedersystems, nämlich ein intelligentes Sensor-Cluster 14, welcher in dem Lugftfederbalg gleichzeitig die Zustandsgrößen Federhöhe, Druck und Temperatur misst. Der Sensor- Cluster 14 besteht hierzu aus einem Ultraschall-Höhensensor 6, einem Drucksensor 8, und einem Temperatursensor 9, die ihre Messdaten an einen Micro-Controller 12 ausgeben. Ein UHF-Sender 13 überträgt die Messdaten als digitalen Datenstrom über eine unidirektionale Funkverbindung 18 an das zentrale Steuergerät 10. Zusätzlich überträgt sie einen eindeutigen Identifier / eine eindeutige Identifizierung der Daten/Signale der jeweiligen Feder und ggf. weitere Statusinformationen aus dem Sensor-Cluster. 1 shows a sensor group for one of the air springs 2 of an air spring system, namely an intelligent sensor cluster 14, which simultaneously measures the state variables spring height, pressure and temperature in the Lugftfederbalg. For this purpose, the sensor cluster 14 consists of an ultrasonic height sensor 6, a pressure sensor 8, and a temperature sensor 9, which output their measured data to a microcontroller 12. A UHF transmitter 13 transmits the measurement data as a digital data stream via a unidirectional radio connection 18 to the central control unit 10. In addition, it transmits a unique identifier / unique identification of the data / signals of the respective spring and possibly further status information from the sensor cluster.
Das zentrale Steuergerät 10 empfängt die digitalen Funktelegramme, identifiziert die absenden Sensor-Cluster 14 und wertet die Messdaten aus, sofern die Absender zum Funk- Netzwerk gehören. Der Sensor-Cluster 13 enthält zusätzliche einen Datenspeicher 15, in dem der Micro-Controller 12 die betriebsbegleitend berechneten Markow-Matrizen speichert sowie die Kennliniendaten der Luftfeder. Aus diesen Daten lassen sich ggf. Vorhersagen über die Restlebensdauer der Luftfeder ableiten. Fig. 2 zeigt das Gesamtsystem, nämlich ein Luftfedersystem 21, bei dem jeder Luftfeder 2 eine mehrere Sensoren aufweisende Sensorgruppe in Form eines Sensorclusters 14 zugeordnet ist, mit denen für den Betriebszustand der jeweiligen Luftfeder repräsentative Parameter ermittelt und als Signale an das zentrales SteuergerätlO geleitet werden. Die Sensorcluster sind über eine Leitung 20 mit elektrischer Energie versorgt. Vorgesehen ist weiterhin ein mobiles und mit einem UHF-Sender versehenes Handsteuergerät 16, welches manuell erzeugte Steuersignale zur Steuerung der Ventilblöcke 4 oder Aktoren der jeweiligen Luftfeder an das zentrale Steuergerät 10 sendet. The central control unit 10 receives the digital radio telegrams, identifies the sending sensor clusters 14 and evaluates the measurement data if the sender belong to the radio network. The sensor cluster 13 additionally includes a data memory 15 in which the microcontroller 12 stores the in-service computed Markov matrices and the characteristic data of the air spring. If necessary, predictions about the remaining service life of the air spring can be derived from these data. 2 shows the overall system, namely an air spring system 21, in which each air spring 2 is assigned a sensor group having a plurality of sensors in the form of a sensor cluster 14, with which parameters representative of the operating state of the respective air spring are determined and passed as signals to the central control unit 10 , The sensor clusters are supplied with electrical energy via a line 20. Provided is also a mobile and provided with a UHF transmitter hand control unit 16 which sends manually generated control signals for controlling the valve blocks 4 or actuators of the respective air spring to the central control unit 10.
Der elektrischen Versorgung in der Leitung 20 ist ein Wechselspannungssignal aufgeprägt wird, mit dem Daten über ein Filter 11 an eine LF-Schnittstelle des Micro-Controllers 12 übermittelt werden können. The electrical supply in the line 20 is an AC signal is impressed, with the data via a filter 11 to an LF interface of the micro-controller 12 can be transmitted.
Bezugszeichenliste LIST OF REFERENCE NUMBERS
(Teil der Beschreibung)  (Part of the description)
2 Luftfeder 2 air spring
4 Ventilblock  4 valve block
6 Höhensensor  6 height sensor
8 Drucksensor  8 pressure sensor
9 Temperatursensor  9 temperature sensor
10 zentrales Steuergerät  10 central control unit
11 Filter  11 filters
12 Micro-Controller  12 micro-controllers
13 UHF-Sender  13 UHF stations
14 Sensor/Sensor-Cluster  14 sensor / sensor cluster
15 Datenspeicher  15 data storage
16 Hand-Steuergerät  16 hand controller
18 unidirektionale Funkverbindung  18 unidirectional radio connection
19 bidirektionale Funkverbindung  19 bidirectional radio link
20 elektr. Versorgung (m. aufgeprägtem Datenstrom) 20 electr. Supply (with impressed data stream)
21 Luftfedersystem 21 air spring system

Claims

Patentansprüche claims
1. Verfahren zur Steuerung eines mehrere Luftfedern (2) aufweisenden Luftfedersystems für Fahrzeuge, bei dem für den Betriebszustand der jeweiligen Luftfeder (2) repräsentative Parameter über Sensoren (14) ermittelt und als Signale an ein zentrales Steuergerät (10) geleitet werden, welches die Aktoren (4) des Luftfedersystems bzw. der Luftfedern (2) abhängig von den ausgewerteten Signalen steuert, dadurch gekennzeichnet, dass die Sensoren (14) an den Luftfedern angeordnet sind und die Signale über den Sensoren zugeordnete Funksender (13), vorzugsweise UHF-Sender, an das einen Empfänger aufweisende Steuergerät (10) gesendet werden. 1. A method for controlling a plurality of air springs (2) having air spring system for vehicles, in which for the operating condition of the respective air spring (2) representative parameters determined by sensors (14) and passed as signals to a central control unit (10) which the Actuators (4) of the air spring system or the air springs (2) depending on the evaluated signals controls, characterized in that the sensors (14) are arranged on the air springs and the signals via the sensors associated radio transmitter (13), preferably UHF transmitter to be sent to the controller having a receiver (10).
2. Verfahren nach Anspruch 1, bei dem eine Vielzahl von Parametern über eine Gruppe von Sensoren ermittelt und als Signale an einen Micro-Controller geleitet werden, wobei die Signale der mit einem Micro-Controller (12) versehene Sensoren gruppe (Sensorcluster) über einen der Sensorengruppe (14) zugeordneten Funksender an das einen Empfänger aufweisende Steuergerät (10) gesendet werden. 2. The method of claim 1, wherein a plurality of parameters determined by a group of sensors and passed as signals to a micro-controller, wherein the signals of the micro-controller (12) provided with a sensor group (sensor cluster) via a the sensor group (14) associated radio transmitter to the receiver having a control unit (10) are sent.
3. Verfahren nach Anspruch loder 2, bei dem die Sensorengruppe (14) einen Ultraschall- Höhensensor (6) für die Höhe der Luftfeder bzw. des Luftfederbalges, einem 3. The method according to claim loder 2, wherein the sensor group (14) has an ultrasonic height sensor (6) for the height of the air spring or the air spring bellows, a
Drucksensor (8) für den Innendruck in der Luftfeder und einen Temperatursensor (9) für die Lufttemperatur innerhalb der Luftfeder(2) aufweist und durch den Micro- Controller (12) eine eindeutige Identifizierung der Signale im Hinblick auf die zugehörigen Luftfedern durchgeführt wird.  Pressure sensor (8) for the internal pressure in the air spring and a temperature sensor (9) for the air temperature within the air spring (2) and by the micro-controller (12) a clear identification of the signals is carried out with respect to the associated air springs.
4. Verfahren nach einem der Ansprüche 1 bis 3, bei dem die mit einem Micro-Controller (12) versehene Sensorengruppe (14) über einen Datenspeicher (15) verfügt und die Signale durch den Micro-Controller (12) betriebsbegleitend ausgewertet, zu 4. The method according to any one of claims 1 to 3, wherein the provided with a micro-controller (12) sensor group (14) has a data memory (15) and the signals through the micro-controller (12) evaluated in-service, to
Kennliniendaten zusammengefasst und in Form von Lastkollektive und/oder Werten für die Schadensakkumulation als Indikatoren für die zu erwartende Restlaufzeit ermittelt werden. Verfahren nach einem der Ansprüche 1 bis 4, bei dem die elektrische Versorgung der Sensoren bzw. der mit einem Micro-Controller versehene Sensorengruppe (14) über eine elektrische Versorgungsleitung (20) oder über Einrichtungen erfolgt, die die Bewegungen der Luftfedern in elektrische Energie umwandeln. Characteristic data summarized and determined in the form of load spectra and / or values for the damage accumulation as indicators for the expected residual maturity. Method according to one of claims 1 to 4, wherein the electrical supply of the sensors or the micro-controller provided with a sensor group (14) via an electrical supply line (20) or via means which convert the movements of the air springs into electrical energy ,
Verfahren nach einem der Ansprüche 1 bis 5, bei dem die elektrische Versorgung der Sensoren bzw. der mit einem Micro-Controller versehene Sensorengruppe (14) über eine elektrische Versorgungsleitung (20) erfolgt und der elektrischen Versorgung ein Wechselspannungssignal aufgeprägt wird, mit dem Daten über ein Filter (11) an eine LF-Schnittstelle des Micro-Controllers (12) übermittelt werden. Method according to one of Claims 1 to 5, in which the electrical supply of the sensors or the sensor group (14) provided with a microcontroller is effected via an electrical supply line (20) and the electrical supply is impressed with an alternating voltage signal with which data are transmitted a filter (11) is transmitted to an LF interface of the microcontroller (12).
Luftfedersystem, eingerichtet zur Durchführung des Verfahrens nach Anspruch 1 bis 6, bei dem jeder Luftfeder (2) eines mehrere Luftfedern aufweisenden Air spring system, arranged for carrying out the method according to claim 1 to 6, wherein each air spring (2) of a plurality of air springs having
Luftfedersystems (21) für Fahrzeuge eine mehrere Sensoren (6,8,9) aufweisende Sensorgruppe in Form eines Sensorclusters (14) zugeordnet ist, mit denen für den Betriebszustand der jeweiligen Luftfeder repräsentative Parameter ermittelt und als Signale an ein zentrales Steuergerät geleitet werden, wobei der Sensorcluster weiterhin einen die Signale verarbeitenden Micro-Controller (12), einen UHF-Sender (13) und einen Datenspeicher (15) aufweist, und wobei eine elektrische Energieversorgung (20) für den Micro-Controller und Sensoren vorgesehen ist, insbesondere eine mit aufmodulierten Signalen versehene und über einen Filter an den Micro-Controller angeschlossene Energieversorgung. An air spring system (21) for vehicles a multiple sensors (6,8,9) having sensor group is assigned in the form of a sensor cluster (14), which determines representative of the operating condition of the respective air spring parameters and fed as signals to a central control unit, wherein the sensor cluster further comprises a microcontroller (12) processing the signals, a UHF transmitter (13) and a data memory (15), and wherein an electrical power supply (20) is provided for the microcontroller and sensors, in particular one with modulated signals and connected via a filter to the micro-controller power supply.
Luftfedersystem nach Anspruch 7, das weiterhin ein mobiles und mit einem UHF- Sender versehenes Handsteuergerät (16) aufweist, welches manuell erzeugte An air spring system according to claim 7, further comprising a mobile handset (16) provided with a UHF transmitter which generates manually
Steuersignale zur Steuerung der Ventilblöcke oder Aktoren der jeweiligen Luftfeder an das zentrale Steuergerät (10) sendet. Control signals for controlling the valve blocks or actuators of the respective air spring to the central control unit (10) sends.
PCT/EP2013/066674 2012-09-17 2013-08-09 Method for controlling an air spring system WO2014040805A1 (en)

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