CN105857003B - A kind of improvement capricorn bettle method of feed energy suspension system - Google Patents
A kind of improvement capricorn bettle method of feed energy suspension system Download PDFInfo
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- CN105857003B CN105857003B CN201610312324.8A CN201610312324A CN105857003B CN 105857003 B CN105857003 B CN 105857003B CN 201610312324 A CN201610312324 A CN 201610312324A CN 105857003 B CN105857003 B CN 105857003B
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- linear motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/14—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers accumulating utilisable energy, e.g. compressing air
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Abstract
The invention discloses a kind of improvement capricorn bettle method of feed energy suspension system, belong to automotive energy-saving emission-reducing field, feed energy suspension in the present invention is made of spring and linear electric motor in parallel, to take into account less suspension energy consumption and preferably riding comfort purpose in order to control, a kind of improved Skyhook control method is proposed.By judging the operating mode of linear motor to the collection of signals of vehicles to analyze, suspension is set to be in three kinds of different vibration reducing modes, at the same time can be in the case where suspension be in passive and half aggressive mode, feed energy suspension system recycles vibrational energy by energy regenerative circuit, achieves energy-saving and emission reduction purposes.
Description
Technical field
The invention belongs to automotive energy-saving emission-reducing field, and in particular to a kind of improvement capricorn bettle side of feed energy suspension system
Method.
Background technology
Traditional passive suspension all dissipates suspension vibration energy in the form of thermal energy, and because the structural parameters of its fixation
It can not adapt to changeable road conditions and limit the application on vehicle.Semi-active suspension it is vibration isolation have compared to passive suspension it is larger
Raising, but its restricted application.Active suspension is moved by providing suitable be used as power come active adaption road conditions, improvement automobile
Mechanical property, but it needs substantial amounts of extra power to be used as power to provide, and adds Fuel consumption, therefore also do not obtain
Extensive utilization.In recent years, many scholars start to focus on the electromagnetic suspension with energy regenerative potentiality, are realizing suspension vibration decay
The energy of damper dissipation is recycled at the same time, is translated into electric energy and is stored utilization.
Linear motor be electric rotating machine one kind deformation of configuration aspects, its simple in structure, efficient, armature and stator without
The advantages that radial load, in various fields extensively using developing, is particularly vehicle suspension aspect.Linear motor type electromagnetic suspension was both
Vehicle active damping can be realized by controlling linear motor, and can use its special construction recycling vibrational energy, it is real
The dual purpose of existing vehicle isolation and energy regenerative.
Suspension is caused to be in passive vibration damping and active control mostly the capricorn bettle of linear motor type electromagnetic suspension at present
State, but this control strategy meeting more energy of relative consumption, can not preferably take into account vehicle dynamic property and energy regenerative, because
This, based on reducing to greatest extent in energy consumption, how reed time controll linear motor, which can also reach preferably vibration isolation, becomes suspension urgently
Key issue to be solved.
Chinese patent CN201410176613.0 discloses a kind of feed energy suspension system and control method, by desired electrical
Non-magnetic conductor FrefThe electromagnetic damping power F in the case of DC converter is free of with energy regenerative circuitNContrast, to judge energy regenerative circuit
The boosting of middle DC converter, decompression mode, achieve the purpose that effectively to recover energy.But to feedback when it has inquired into suspension energy regenerative
The control method of energy circuit, not in view of the change of vehicle dynamic property, control is more single, and vehicle is in face of different road conditions
When, it is impossible to suspension damping is adjusted in real time, and riding comfort is poor.
The content of the invention
In view of the deficienciess of the prior art, the present invention proposes a kind of improvement capricorn bettle side of feed energy suspension system
Method, solves vehicle when in face of different road conditions, the problem of adjusting suspension damping in real time, reach preferable riding comfort.
The present invention achieves the above technical objects by the following technical means.
A kind of improvement capricorn bettle method of feed energy suspension system, comprises the following steps：
Step 1), sprung mass acceleration transducer and unsprung mass velocity sensor accelerate the sprung mass collected
Degree signal and unsprung mass acceleration signal are transported to ECU controllers, and sprung mass is calculated in signal processing by ECU controllers
Absolute velocityWith the absolute velocity of unsprung massAnd the relative velocity between sprung mass and unsprung mass
Step 2), ECU controllers are according to the absolute velocity of sprung massPhase between sprung mass and unsprung mass
To speedWalking direction suspension work pattern：
IfThat is the absolute velocity of sprung massIt is relatively fast between sprung mass and unsprung mass
DegreeDirection on the contrary, i.e. preferable skyhook damping power with the exportable maximum damping force direction of linear motor on the contrary, ECU is controlled
Device processed exports signal, controls power supply input current into the three-phase windings of linear motor, at this time, while linear motor winding wire
The actual current signal of circle inputs to control circuit, achievees the purpose that tracing control linear motor current conditions so that straight-line electric
Machine output is used as power, and linear motor has the initiative control model, consumed energy；
IfThat is the absolute velocity of sprung massIt is relatively fast between sprung mass and unsprung mass
DegreeDirection is identical, i.e., preferable skyhook damping power is identical with the exportable maximum damping force direction of linear motor, at this time into one
Step judges the magnitude relationship between preferable skyhook damping power and the exportable maximum damping force of linear motor：
I. if preferable skyhook damping power is less than or equal to the exportable maximum damping force of linear motor, at this time ECU controllers control
Linear motor processed works in half aggressive mode, at this time, the winding coil ideal current and actual current signal of linear motor is defeated
Enter to control circuit and carry out follow-up control circuit load；Linear motor is exported semi-active damper power, while returned by energy regenerative circuit
Receive the vibrational energy of suspension；
If ii. preferable skyhook damping power is more than the exportable maximum damping force of linear motor, ECU controllers control at this time is straight
Line motor works in passive vibration reducing mode, and linear motor output maximum equivalent damping force recycles suspension by energy regenerative circuit at the same time
Vibrational energy.
Further, the structure of the feed energy suspension system is：In vertical direction, spring and linear motor are connected in parallel on respectively
Be fixed with respectively between sprung mass and unsprung mass, on sprung mass and unsprung mass sprung mass acceleration transducer and
Unsprung mass acceleration transducer, and sprung mass acceleration transducer and unsprung mass acceleration transducer and ECU controllers
Between connected respectively by signal wire.
Further, the linear motor is cartridge type permanent magnetic linear synchronous motor, and the stator of linear motor is connected with vehicle body, directly
The mover of line motor is connected with wheel.
Beneficial effects of the present invention are：Generator mode is not only operable with using linear motor, but also is operable with motor
The principle of pattern, linear motor is integrated on vehicle suspension.It is electromechanical by reed time controll straight-line electric during suspension vibration
Input and output are flowed, vehicle is can be at different working modes when in face of different road conditions, and then obtained on the premise of compared with low energy consumption
Obtain preferably riding comfort.Simultaneously as the architectural characteristic of linear motor, when it is in generator mode, but it is recyclable
Partial vibration energy, realizes suspension vibration isolation and the combination of energy regenerative.
Brief description of the drawings
Fig. 1 is 1/4 feed energy suspension system construction drawing of a kind of improvement capricorn bettle method of feed energy suspension system；
Wherein：1- sprung mass acceleration transducers；2- linear motors；3- unsprung mass acceleration transducers；4- is equivalent
Tire stiffness spring；5- unsprung mass；6- springs；7- sprung mass.
Fig. 2 is the flow chart of a kind of improvement capricorn bettle method of feed energy suspension system.
Control/feedback when Fig. 3 is a kind of improvement capricorn bettle method cathetus motor different mode of feed energy suspension system
Can circuit diagram；
When Fig. 3 (a), (c) are a kind of improvement capricorn bettle method cathetus motor different mode of feed energy suspension system
Energy regenerative circuit diagram；
When Fig. 3 (b), (d) are a kind of improvement capricorn bettle method cathetus motor different mode of feed energy suspension system
Electric operation control circuit figure；
Wherein：8- load resistances R1；9- switchs S；10- power supplys；11- linear motor equivalent internal resistances Rm；12- linear motors etc.
Imitate inductance Lm。
Fig. 4 is a kind of active tracing control of active/half of the improvement capricorn bettle method cathetus motor of feed energy suspension system
Drawing；
Wherein：idesFor the ideal current of linear motor winding coil, irealFor the actual electricity of linear motor winding coil
Stream, f are the power output of linear motor.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention will be further described, but protection scope of the present invention and unlimited
In this.
As shown in Figure 1, the structure chart of feed energy suspension system, in vertical direction, spring 6 and linear motor 2 are in parallel respectively
Between sprung mass 7 and unsprung mass 5, sprung mass acceleration biography is fixed with sprung mass 7 and unsprung mass 5 respectively
Sensor 1 and unsprung mass acceleration transducer 3, and sprung mass acceleration transducer 1 and unsprung mass acceleration transducer 3 with
Connected respectively by signal wire between ECU controllers, 5 lower end of unsprung mass is connected with equivalent tire stiffness spring 4.Linear motor 2
For cartridge type permanent magnetic linear synchronous motor, the stator of linear motor 2 is connected with vehicle body, and the mover of linear motor 2 is connected with wheel.
As shown in Fig. 2, the flow chart of a kind of improvement capricorn bettle method of feed energy suspension system, including step：
Step 1), sprung mass acceleration transducer 1 and unsprung mass velocity sensor 3 add the sprung mass collected
Speed signal and unsprung mass acceleration signal are transported to ECU controllers, and matter on spring is calculated in signal processing by ECU controllers
The absolute velocity of amount 7With the absolute velocity of unsprung mass 5And the relative velocity between sprung mass 7 and unsprung mass 5
Step 2), ECU controllers are according to the absolute velocity of sprung mass 7Between sprung mass 7 and unsprung mass 5
Relative velocityWalking direction suspension work pattern：
IfThat is the absolute velocity of sprung mass 7Phase between sprung mass 7 and unsprung mass 5
To speedDirection on the contrary, i.e. preferable skyhook damping power with the exportable maximum damping force direction of linear motor on the contrary, this
When, it is divided into two kinds of situations：
a)AndWhen, ECU controllers control power supply to be carried out actively to 2 input current of linear motor at this time
Control, shown in its control circuit such as Fig. 3 (b), the cathode output end of power supply is connected with the electrode input end of linear motor 2, straight line
The cathode output end of motor 2 and variable resistor R1Electrode input end connection, variable resistor R1Cathode output end and power supply it is negative
Pole input terminal connection, current direction is as shown in the arrow in Fig. 3 (b).At this time, as shown in figure 4, ECU controllers are according to suspension system
The sampled signal of system, after carrying out pattern discrimination, exports ideal current ides, electric current idesSize be：
Wherein cskyFor preferable skyhook damping coefficient, kfFor the thrust coefficient of linear motor；
At the same time the actual current i of 2 winding coil of linear motorrealSignal inputs to control circuit, and control circuit passes through
Adjust variable resistor R in Fig. 3 (b)1To achieve the purpose that 2 current conditions of tracing control linear motor so that linear motor 2 exports
Be used as power f, whereinLinear motor has the initiative control model at this time, consumed energy.
b)AndWhen, ECU controllers control power supply to be carried out actively to 2 input current of linear motor at this time
Control, shown in its control circuit such as Fig. 3 (d), current direction is as shown in the arrow in Fig. 3 (d).At this time, as shown in figure 4, ECU is controlled
Device processed after carrying out pattern discrimination, exports ideal current i according to the sampled signal of suspension systemdes, electric current idesSizeAt the same time the actual current i of 2 winding coil of linear motorrealSignal inputs to control circuit, and circuit passes through tune
Save variable resistor R in Fig. 3 (d)1To achieve the purpose that 2 current conditions of tracing control linear motor so that the output of linear motor 2 is made
Power f, is used as powerLinear motor has the initiative control model at this time, consumed energy.
IfThat is the absolute velocity of sprung mass 7Phase between sprung mass 7 and unsprung mass 5
To speedDirection is identical, i.e., preferable skyhook damping power is identical with the exportable maximum damping force direction of linear motor, at this time
Determine whether preferable skyhook damping powerWith the exportable maximum damping force of linear motor(ceqFor straight line
Motor Equivalent damping coefficient) between magnitude relationship：
A) whenAndWhen, ifI.e. preferable skyhook damping power is less than straight-line electric
The exportable maximum damping force of machine, this is meant that in the available damping force range of linear motor, more preferable in order to reach
Ride performance, it should self-control when making the suspension face different road conditions.The linear motor 2 of ECU controllers control at this time works in
Half aggressive mode, shown in energy regenerative circuit such as Fig. 3 (a), switch closes at upper, circuit load resistance R1For variable resistor.Road surface
Random vibration cause the absolute velocity of sprung massReal-time transform, the ideal current i of linear motor 2desAlso change in real time immediately
Become, while monitor the relative velocity between sprung mass and unsprung massChange, adjust R in real time using following formula1,
Wherein, UmFor the induced electromotive force of linear motor, keFor the induced electromotive force coefficient of linear motor, RmFor straight-line electric
The equivalent internal resistance of machine,
Comprehensive energy regenerative circuit 3 (a), formula (1), (2), the electromagnetic damping power of the output of linear motor 2 at this time：
Meanwhile feed energy suspension system recycles the vibrational energy of suspension by Fig. 3 (a).
B) whenAndWhen, ifI.e. preferable skyhook damping power is more than straight-line electric
The exportable maximum damping force of machine, at this time linear motor 2 damping force of bigger cannot be provided again, ECU controllers control straight-line electric
Machine 2 works in passive vibration reducing mode, and shown in energy regenerative circuit such as Fig. 3 (a), switch closes at bottom, and at this time, linear motor 2 exports
Maximum equivalent damping force is：
Meanwhile feed energy suspension system recycles suspension vibration energy by energy regenerative circuit diagram 3 (a).
C) whenAndWhen, ifI.e. preferable skyhook damping power is less than straight-line electric
The exportable maximum damping force of machine, the linear motor 2 of ECU controllers control at this time work in half aggressive mode, energy regenerative circuit such as Fig. 3
(c) shown in, switch closes at upper, circuit load resistance R1For variable resistor.The random vibration on road surface causes sprung mass
Absolute velocityThe ideal current i of real-time transform, at this time linear motor 2desAlso change in real time, while monitor sprung mass and spring
Relative velocity between lower qualityChange, by formulaAdjust R in real time1。
At this time, linear motor 2 exports electromagnetic damping powerMeanwhile feed energy suspension system passes through energy regenerative
Circuit diagram 3 (c) recycles suspension vibration energy.
D) whenAndWhen, ifI.e. preferable skyhook damping power is more than straight-line electric
The exportable maximum damping force of machine, at this time linear motor 2 damping force of bigger cannot be provided again, ECU controllers control straight-line electric
Machine 2 works in passive vibration reducing mode；Shown in energy regenerative circuit such as Fig. 3 (c), switch closes at bottom, and at this time, linear motor 2 exports
Equivalent damping power isMeanwhile feed energy suspension system recycles suspension vibration energy by energy regenerative circuit diagram 3 (c)
Amount.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention, should
Understand, the present invention is not limited to implementation as described herein, the purpose of these implementations description is to help this area
In technical staff put into practice the present invention.Any those of skill in the art are easy to do not departing from spirit and scope of the invention
In the case of be further improved and perfect, therefore the present invention is only subject to the content of the claims in the present invention and limiting for scope
System, its intention cover all alternatives being included in the spirit and scope of the invention being defined by the appended claims and wait
Same scheme.
Claims (3)
1. a kind of improvement capricorn bettle method of feed energy suspension system, step 1), under sprung mass acceleration transducer (1) and spring
The sprung mass acceleration signal collected and unsprung mass acceleration signal are transported to ECU controls by mass velocity sensor (3)
The absolute velocity of sprung mass (7) is calculated in signal processing by device processed, ECU controllersWith the absolute speed of unsprung mass (5)
DegreeAnd the relative velocity between sprung mass (7) and unsprung mass (5)
It is characterised in that it includes following steps：
Step 2), ECU controllers are according to the absolute velocities of sprung mass (7)Between sprung mass (7) and unsprung mass (5)
Relative velocityWalking direction suspension work pattern：
IfThat is the absolute velocity of sprung mass (7)Between sprung mass (7) and unsprung mass (5)
Relative velocityDirection on the contrary, i.e. preferable skyhook damping power with the exportable maximum damping force direction of linear motor on the contrary,
ECU controller output signals, control power supply input current into the three-phase windings of linear motor (2), at this time, while straight-line electric
The actual current signal of machine (2) winding coil inputs to control circuit, reaches the mesh of tracing control linear motor (2) current conditions
So that linear motor (2) output is used as power, and linear motor (2) has the initiative control model, consumed energy；
IfThat is the absolute velocity of sprung mass (7)Phase between sprung mass (7) and unsprung mass (5)
To speedDirection is identical, i.e., preferable skyhook damping power is identical with the exportable maximum damping force direction of linear motor, at this time
Determine whether the magnitude relationship between preferable skyhook damping power and the exportable maximum damping force of linear motor：
If i. preferable skyhook damping power is less than or equal to the exportable maximum damping force of linear motor, ECU controllers control at this time is straight
Line motor (2) works in half aggressive mode, at this time, by the winding coil ideal current and actual current signal of linear motor (2)
It is input to control circuit and carrys out follow-up control circuit load；Linear motor (2) is set to export semi-active damper power, while feed energy suspension system
System recycles the vibrational energy of suspension by energy regenerative circuit；
If ii. preferable skyhook damping power is more than the exportable maximum damping force of linear motor, the straight-line electric of ECU controllers control at this time
Machine (2) works in passive vibration reducing mode, linear motor (2) output maximum equivalent damping force, while feed energy suspension system passes through feedback
The vibrational energy of energy circuit recycling suspension.
A kind of 2. improvement capricorn bettle method of feed energy suspension system according to claim 1, it is characterised in that the feedback
Can the structure of suspension system be：In vertical direction, spring (6) and linear motor (2) are connected in parallel on sprung mass (7) and spring respectively
Between lower quality (5), be fixed with respectively on sprung mass (7) and unsprung mass (5) sprung mass acceleration transducer (1) and
Unsprung mass acceleration transducer (3), and sprung mass acceleration transducer (1) and unsprung mass acceleration transducer (3) with
Connected respectively by signal wire between ECU controllers.
3. the improvement capricorn bettle method of a kind of feed energy suspension system according to claim 1, it is characterised in that described straight
Line motor (2) is cartridge type permanent magnetic linear synchronous motor, and the stator of linear motor (2) is connected with vehicle body, the mover of linear motor (2)
It is connected with wheel.
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| CN201610312324.8A CN105857003B (en) | 2016-05-11 | 2016-05-11 | A kind of improvement capricorn bettle method of feed energy suspension system |
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| CN201610312324.8A CN105857003B (en) | 2016-05-11 | 2016-05-11 | A kind of improvement capricorn bettle method of feed energy suspension system |
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| CN105857003B true CN105857003B (en) | 2018-04-17 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108891220B (en) * | 2018-07-19 | 2020-07-28 | 燕山大学 | Ceiling control improvement method for semi-active suspension system of vehicle |
| CN109747497B (en) * | 2019-01-17 | 2021-07-13 | 南京农业大学 | Self-adaptive control method for seat suspension |
| CN111125837B (en) * | 2019-12-31 | 2022-12-09 | 北京理工大学 | Control method for optimizing dynamic performance and energy consumption of active suspension |
| CN112339517B (en) * | 2020-11-13 | 2023-10-10 | 成都九鼎科技(集团)有限公司 | Semi-active suspension control method and control system |
| CN112572086A (en) | 2020-12-22 | 2021-03-30 | 华为技术有限公司 | Vehicle, control method of vehicle suspension and related equipment |
| CN115742650B (en) * | 2022-12-08 | 2024-06-18 | 湘潭大学 | Two-stage integrated active energy feedback suspension system and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3722127B2 (en) * | 2003-02-05 | 2005-11-30 | 日産自動車株式会社 | Electromagnetic suspension device for vehicle |
| CN102729760B (en) * | 2012-07-17 | 2014-06-18 | 山东理工大学 | Real-time optimal damping control algorithm of automobile semi-active suspension system |
| CN103921641B (en) * | 2014-04-29 | 2016-03-02 | 江苏大学 | A kind of energy regenerative suspension system and control method |
| CN104015582B (en) * | 2014-06-18 | 2016-04-13 | 吉林大学 | The automobile energy regenerative active suspension system of a kind of stiffness variable and damping |
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