CN103625237B - Determine the method for electromagnetism energy feeding back type semi-active suspension energy regenerative damping force generator parameter - Google Patents

Determine the method for electromagnetism energy feeding back type semi-active suspension energy regenerative damping force generator parameter Download PDF

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CN103625237B
CN103625237B CN201310575905.7A CN201310575905A CN103625237B CN 103625237 B CN103625237 B CN 103625237B CN 201310575905 A CN201310575905 A CN 201310575905A CN 103625237 B CN103625237 B CN 103625237B
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energy regenerative
damping force
suspension
force generator
energy
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CN103625237A (en
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陈士安
赵廉健
孙宙南
厉萱
游专
汤哲鹤
姚明
武小晖
张晓娜
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Jiangsu University
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Abstract

The present invention discloses in a kind of vehicle suspension field the method determining electromagnetism energy feeding back type semi-active suspension energy regenerative damping force generator parameter, according to suspension commonly use relative velocity scope-Δ v ~ Δ v, transfer device transmitting ratio λ, be used in the magnetic linkage value Ф that charging valtage that suspension commonly uses the Vehicular accumulator cell group of relative velocity scope-Δ v ~ Δ v determines the stator list group shunt winding of energy regenerative motor; Numerical simulation is carried out, when showing that stator coil number of pole-pairs in parallel is 1, the average damping force F of energy regenerative damping force generator under different charging valtage and friction speed input according to magnetic linkage value Ф, conventional relative velocity limit value Δ v=1m/s mn-Δ v diagram of curves, determines the maximum equivalent dumping force of the electromagnetism energy regenerative damping force generator when relative velocity Δ v=1m/s and charging valtage are 0; To be in parallel number of pole-pairs according to the stator of formula determination energy regenerative motor, the present invention is that the follow-up theoretical investigation of electromagnetism energy feeding back type semi-active suspension and analysis provide the foundation.

Description

Determine the method for electromagnetism energy feeding back type semi-active suspension energy regenerative damping force generator parameter
Technical field
The invention belongs to vehicle suspension technical field, particularly relate to the method that one determines electromagnetism energy feeding back type semi-active suspension (ESASRE) electromagnetism energy regenerative damping force generator parameter.
Background technology
Suspension is as the important feature of vehicle and functional component, very large on the overall performance impact of vehicle.Conventional truck suspension can not be recycled the vibrational energy between axletree during running car and spring carried mass, makes the vibrational energy overwhelming majority dissipate with the form of heat energy and cause energy dissipation.Along with the utilization of electronic control technology on automobile, the electromagnetism reclaiming energy suspension that the vibrational energy between axletree and spring carried mass can be converted into again recyclable electric energy while realizing vibration-damping function obtains and uses widely.
Electromagnetism energy feeding back type semi-active suspension is structurally to use energy recycle device and electromagnetism energy regenerative damping force generator to instead of the damper of traditional suspension compared with the main difference part of traditional suspension.Electromagnetism energy regenerative damping force generator is made up of in conjunction with straight line rotating movement converting device (as ball screw assembly) energy regenerative motor usually.The selection of electromagnetism energy regenerative damping force generator parameter and determine there is important impact to the performance of electromagnetism energy feeding back type semi-active suspension.Therefore, how the parameter of electromagnetic damping forcer is determined it is one of the gordian technique of current electromagnetic energy feeding back type semi-active suspension.
Chinese Patent Application No. is 201210054782.8, name is called that " device and method that the damping of electromagnetism energy feeding back type semi-active suspension energy regenerative controls in real time " provides a kind of device and method controlled in real time based on the energy regenerative damping of classification transformation charging being applicable to electromagnetism energy feeding back type semi-active suspension, does not but provide a kind of method determining the electromagnetism energy regenerative damping force generator parameter of electromagnetism energy feeding back type semi-active suspension.
Summary of the invention
The device and method that the energy regenerative damping that the present invention is based on the charging of existing classification transformation controls in real time, a kind of method determining the electromagnetism energy regenerative damping force generator parameter of electromagnetism energy feeding back type semi-active suspension is provided, the method is simple, convenient operation, and the raising for the performance of electromagnetism energy feeding back type semi-active suspension provides a kind of effective ways.
For achieving the above object, the technical solution used in the present invention is: described energy regenerative damping force generator comprises energy regenerative motor, straight-line motion can be converted to the transfer device of rotary motion, has following steps:
(1) relative velocity scope-Δ is commonly used according to suspension v~ Δ v, transfer device transmitting ratio λ, be used in suspension and commonly use relative velocity scope-Δ v~ Δ vthe charging valtage of Vehicular accumulator cell group determine the magnetic linkage value of the stator list group shunt winding of energy regenerative motor Ф;
(2) according to magnetic linkage value Ф, conventional relative velocity limit value Δ v=1 m/s carries out numerical simulation, when showing that stator coil number of pole-pairs in parallel is 1, the average dumping force of energy regenerative damping force generator under different charging valtage and friction speed input f mn vdiagram of curves, determines when relative velocity Δ vthe maximum equivalent dumping force of electromagnetism energy regenerative damping force generator when=1 m/s and charging valtage are 0 f mn ;
(3) according to formula determine that the stator of energy regenerative motor is in parallel number of pole-pairs p p , ceil () function representation rounds up number, f maxbeing suspension speed of relative movement is Δ vmaximum during m/s requires dumping force f max.
After the present invention adopts technique scheme, the beneficial effect had is:
1, adopt the electromagnetism energy regenerative damping force generator parametric technique determining electromagnetism energy feeding back type semi-active suspension provided by the invention, simple, convenient operation, for the follow-up theoretical investigation of electromagnetism energy feeding back type semi-active suspension and analysis provide the foundation.
2, the present invention proposes a kind of method determining the electromagnetism energy regenerative damping force generator parameter of electromagnetism energy feeding back type semi-active suspension, for the Prototype Design of electromagnetism energy regenerative damping force generator and trial-production provide theoretical direction, has certain engineering significance.
Accompanying drawing explanation
Fig. 1 is the electromagnetism energy regenerative damping force generator structural representation of electromagnetism energy feeding back type semi-active suspension;
Fig. 2 is the classification transformation charging principle figure of electromagnetism energy feeding back type semi-active suspension;
Fig. 3 is that the lower energy regenerative motor stator of classification transformation charging is in parallel the electromagnetism energy regenerative damping force generator damping force characteristic figure of number of pole-pairs when being 1 group;
In figure: 1. go up hanger; 2. energy regenerative motor; 3. ball screw assembly; 4. descend hanger.
Detailed description of the invention
As shown in Figure 1, the electromagnetism energy regenerative damping force generator of electromagnetism energy feeding back type semi-active suspension of the present invention forms primarily of upper hanger 1, energy regenerative motor 2, ball screw assembly, 3 and lower hanger 4, upper hanger 1 is connected to energy regenerative motor 2 shell, ball-screw in ball screw assembly, 3 is connected to the rotor of energy regenerative motor, ball nut is connected to lower hanger 4, and electromagnetism energy regenerative damping force generator is fixedly connected between auto body and axletree by upper hanger 1 and lower hanger 4.
In vehicle travel process, be fixedly connected on the linear relative movement that the electromagnetism energy regenerative damping force generator between spring carried mass and wheel mass is upheld with uneven road surface and compressed, energy regenerative motor 2 works, produce energy regenerative damping moment, this energy regenerative damping moment converts the energy regenerative dumping force of vertical direction to by the effect of this straight line rotating movement converting device of ball screw assembly, 3, decay due to Uneven road produce spring carried mass and wheel mass between vibration.
As shown in Figure 1, according to mechanical drive principle, the dumping force that electromagnetism energy regenerative damping force generator produces ffor:
(1)
In formula: θfor the angular transposition of energy regenerative motor; Δ vfor suspension speed of relative movement; t m for the energy regenerative damping moment that energy regenerative motor produces; p s for the helical pitch of ball screw assembly; λfor ball screw assembly, transmitting ratio.
Be illustrated in figure 2 the electromagnetism energy feeding back type semi-active suspension fundamental diagram of classification transformation charging, wherein q 1, q 2, q 3, q 4, q 5with q 6these six diode composition three phase full wave rectification bridges; u 0represent single storage battery rated voltage; Dotted line represents can increase storage battery number as required, to provide the battery pack of multiple different voltage charging.The signal that control system detects according to sensor group, according to the control-Strategy analysis designed, judging the energy regenerative dumping force size that suspension vibration damping needs, then selecting the battery charge voltage that can meet described energy regenerative dumping force to charge to Vehicular accumulator cell by controlling corresponding gate-controlled switch connecting and disconnecting.
As shown in Figure 2, have:
(2)
(3)
(4)
(5)
In formula: Фfor energy regenerative motor magnetic linkage value; ηfor the number of battery charge; i a , i b , i c for energy regenerative motor three-phase induction electric current; e a , e b , e c for energy regenerative motor three-phase induction electro-motive force; l- mfor energy regenerative motor inductances; rfor energy regenerative motor stator phase resistance; f( θ) be the relevant function of energy regenerative motor rotor position.
Determine that the concrete implementation step of the electromagnetism energy regenerative damping force generator parameter of electromagnetism energy feeding back type semi-active suspension is:
1, according to relative velocity the scope (-Δ that suspension is conventional v~ Δ v, such as Δ v u =1 m/s), straight-line motion-rotary motion transfer device transmitting ratio λ(when only using ball screw assembly, , p s for selecting the helical pitch of ball screw assembly, such as 0.02 m), (vehicular electricity storage cell voltage pressure is suspension and commonly uses dead zone voltage when relative velocity limit value equals 1 m/s vehicular electricity storage cell voltage (the vehicle-mounted battery tension of such as car is 12V, and in-between car vehicular electricity storage cell voltage is 24V etc.) e dz-1 ) determine the magnetic linkage value of the stator list group shunt winding of energy regenerative motor Ф.
(6)
2, formula (3), formula (4) and formula (5) and determined magnetic linkage value is utilized Ф, conventional relative velocity limit value 1 m/s carries out numerical simulation, the average dumping force of electromagnetism energy regenerative damping force generator under different charging valtage and friction speed input when the stator coil number of pole-pairs in parallel drawing as shown in Figure 3 is 1 f mn vdiagram of curves, when suspension speed of relative movement Δ vwhen=1 m/s and charging valtage are 0 f mn the maximum equivalent dumping force of electromagnetism energy regenerative damping force generator when to be stator coil number of pole-pairs in parallel be 1 f mn .
3, according to electromagnetism energy regenerative damping force generator list group maximum equivalent dumping force f mn and ESASRE suspension speed of relative movement is Δ vmaximum during m/s requires dumping force f maxthe energy regenerative motor stator determining in following formula (7) is in parallel number of pole-pairs p p , wherein, described ESASRE suspension speed of relative movement is Δ vmaximum during m/s requires dumping force f maxdefining method see Chinese Patent Application No. be 201310475719.6, name is called technical scheme disclosed in the patent documentation of " a kind of method determining semi-active suspension equivalent damping maxim ".
(7)
In formula, ceil () function representation rounds up number.
4, the battery pack being used in suspension common speed scope is connected several storage battery (number is more than or equal to 1), be greater than suspension exceed common speed limit value Δ to meet v u charging voltage control after=1 m/s;
5, the voltage spaces of classification voltage control is that Vehicular accumulator cell is connected the integral multiple (as 2V, 4V, 6V etc.) of single cell pressure.
Below provide one embodiment of the present of invention.
With certain heavy goods vehicles prototype Suspension Construction Parameters for embodiment: nonspring carried mass m 1=350kg, spring carried mass m 2=5000kg, the equivalent stiffness of tire k 1=3000000N/m, suspension rate k 2=505000N/m, the structural damping of suspension system c s=1000Ns/m, the helical pitch of ball screw assembly, p s =0.02m, vehicular electricity storage cell voltage is 24V.The ode23t choosing variable step is solver, and simulation time is 20s.
Carry out emulating according to above-described embodiment and add up and can obtain suspension speed of relative movement Δ vstandard deviation σ Δ v =0.2934.For ease of computation and analysis, first suppose suspension speed of relative movement Δ vthe absolute value of amplitude is no more than 1m/s, and the product of probability submeter according to normal distribution can be found, suspension speed of relative movement Δ vthe absolute value of amplitude is more than 3.29 σ Δ v the probability of=0.9653m/s is 0.1%, can verify hypothesis be therefore set up, i.e. conventional operating mode lower suspension speed of relative movement Δ vthe absolute value of amplitude is no more than 1m/s.
In addition, conventional single Vehicular accumulator cell rated voltage u 0for 2V, choose the battery pack that 12 storage batterys form and be suspended in suspension speed of relative movement Δ as meeting ESASRE vscope is less than needed for the work under this conventional operating mode of 1 m/s, therefore the energy regenerative motor magnetic linkage value determined is as follows:
(8)
According to magnetic linkage value Ф=38.2mVs and formula (1) ~ (5) and correlation modules such as the energy regenerative motors utilizing Matlab/SimPowerSyetems to provide, set up energy regenerative motor stator and to be in parallel number of pole-pairs p p with suspension speed of relative movement Δ during for singly organizing vwith storage battery classification charging valtage u ba for input, equivalent energy regenerative dumping force f mn for the electromagnetism energy regenerative damping force generator realistic model exported.
Classification charging valtage simulation related parameter is: l-M=1.8554mH, Ф=38.2mVs, p p =1, r=0.6276 Ω.The ode23t choosing variable step is solver, and simulation time is 20s.
Be illustrated in figure 3 the lower energy regenerative motor stator of classification transformation charging to be in parallel number of pole-pairs p p for electromagnetism energy regenerative damping force generator damping force characteristic figure during single group, as can be seen from the figure, at Δ v=1m/s and charging valtage u ab during for 0V, electromagnetism energy regenerative damping force generator list group equivalent damping power maxim f mn for 274.18N.
According to maxim f mn =274.18N and the equivalent damping power maxim obtained f max for 92399N, and formula (7) obtains energy regenerative motor stator and to be in parallel number of pole-pairs p p be 337.Can determine that the voltage being used in suspension common speed scope is the battery pack of 24V, the battery pack of 12 single battery tensions of connecting to be 2V total voltage be 24V, be greater than suspension exceed the charging voltage control after common speed limit value 1 m/s to meet.The voltage spaces of classification voltage control is that Vehicular accumulator cell is connected the integral multiple (as 2V, 4V, 6V etc.) of single cell pressure.

Claims (3)

1. determine a method for electromagnetism energy feeding back type semi-active suspension energy regenerative damping force generator parameter, energy regenerative damping force generator comprises energy regenerative motor, straight-line motion can be converted to the transfer device of rotary motion, it is characterized in that having following steps:
(1) relative velocity scope-Δ is commonly used according to suspension v~ Δ v, transfer device transmitting ratio λ, be used in suspension and commonly use relative velocity scope-Δ v~ Δ vthe charging valtage of Vehicular accumulator cell group determine the magnetic linkage value of the stator list group shunt winding of energy regenerative motor Ф;
(2) according to magnetic linkage value Ф, conventional relative velocity limit value Δ v=1 m/s carries out numerical simulation, when showing that stator coil number of pole-pairs in parallel is 1, the average dumping force of energy regenerative damping force generator under different charging valtage and friction speed input f mn vdiagram of curves, determines when relative velocity Δ vthe maximum equivalent dumping force of electromagnetism energy regenerative damping force generator when=1 m/s and charging valtage are 0 f mn ;
(3) according to formula determine that the stator of energy regenerative motor is in parallel number of pole-pairs p p , ceil () function representation rounds up number, f maxbeing suspension speed of relative movement is Δ vmaximum during m/s requires dumping force f max.
2. determining the method for electromagnetism energy feeding back type semi-active suspension energy regenerative damping force generator parameter according to claim 1, it is characterized in that: commonly using relative velocity scope-Δ to being used in suspension v~ Δ vbattery pack to connect several storage battery, meet and be greater than suspension and exceed relative velocity Δ vcharging voltage control after=1 m/s.
3. determine the method for electromagnetism energy feeding back type semi-active suspension energy regenerative damping force generator parameter according to claim 1, it is characterized in that: described magnetic linkage value , for vehicular electricity storage cell voltage, λfor the transmitting ratio of transfer device.
CN201310575905.7A 2013-11-18 2013-11-18 Determine the method for electromagnetism energy feeding back type semi-active suspension energy regenerative damping force generator parameter Expired - Fee Related CN103625237B (en)

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