CN105882347A - Automobile air suspension electronic control system and control method thereof - Google Patents
Automobile air suspension electronic control system and control method thereof Download PDFInfo
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- CN105882347A CN105882347A CN201610270875.2A CN201610270875A CN105882347A CN 105882347 A CN105882347 A CN 105882347A CN 201610270875 A CN201610270875 A CN 201610270875A CN 105882347 A CN105882347 A CN 105882347A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
- B60G2202/412—Pneumatic actuator
-
- 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
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
- B60G2500/204—Pressure regulating valves for air-springs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an automobile air suspension electronic control system, belonging to the technical field of automobile electronic control. The automobile air suspension electronic control system comprises a signal acquisition unit, an upper-layer control module, a bottom-layer control module and an execution mechanism, wherein mutual exchange and transfer of information flow and energy flow are implemented by a control circuit. The invention also discloses a control method of the system. The upper-layer control module can optimize the rigidity and damping of the suspension in real time according to the automobile working conditions and output the rigidity and damping to the bottom-layer control module as a reference input signal; and the bottom-layer control module calls a robust control program and generates a control instruction to adjust the execution mechanism of an air spring and a shock absorber according to the deviation between the reference rigidity and damping and the current rigidity and damping of the suspension. The system disclosed by the invention is designed by improving existing control system, the parts of original control system are continuously used as much as possible, thus the operation speed of the whole electronic control system is increased while the cost is increased slightly, and the automobile performance is perfectly improved.
Description
Technical field
The invention belongs to technical field of automobile electronic control, be specifically related to a kind of Automobile pneumatic suspension electronic and control system
System and control method thereof.
Background technology
Compared with passive suspension, Electronic Control air suspension (Electronically Controlled Air Suspension,
It is called for short ECAS) suspension parameter can be reduced when automobile good road surface travels thus improve riding comfort, or energy
Increase suspension parameter when concave-convex road surface travels thus improve control stability, and axletree vertical acceleration is little permissible
Reduce pavement destruction and improve earth-catching property；And compared with Active suspension, its have simple in construction, energy consumption low and
Easily realize.Waiting automobile developed country American-European-Japanese, ECAS has been widely used for coach luxury coach, heavy goods
Car, medium truck, trailer, special vehicle (vibration isolation requires high measuring truck, ambulance etc.) and luxurious riding
Car；And Ministry of Communications of China formulated regulation height in " operating passenger car Type division and ranking " as far back as 2010
Level passenger vehicle must configure air suspension.Predictably, should along with air suspension success on China's passenger vehicle
With, must go on track electronic, intelligentized, and coach luxury coach, heavy card will be widely used in
Come in all kinds of vehicle such as car and high-grade car.Therefore, for Automobile Industry in China circle, ECAS not only has
Wide application prospect, it is often more important that can comparatively fast promote the class of domestic automobile, technical merit and market competing
Striving power, development ECAS technology is to promoting that China's automotive engineering, economy and social development have important reality meaning
Justice and profound influence.
Although ECAS has reached initial purpose of design at present, but still there is many problems and need to solve, its
Performance and function are the most perfect, especially in Domestic Automotive Industry, for research and the application of ECAS
Having got long long way to go, wherein one of problem is, owing to ECAS automobile ECAS in road driving hangs
Frame rigidity and damping can change because of regulation and control；Additionally, car load operating mode, tire stiffness and running environment etc.
The most also can change, wait change like this.Therefore, ECAS be one by many uncertain factors
The integrated system of impact.This is accomplished by furtheing investigate ECAS performance and the phase between Parameter Perturbation, external interference
Impact, mutual restricting relation mutually.
How probabilistic impact such as inhibition Parameter Perturbation and external disturbance, keeps the steady of ECAS system
Determine and performance robustness, caused the extensive attention of motor-dom scientific and technical personnel.And μ theory is for solving the problems referred to above
Provide possibility, eliminate the defect of above-mentioned various control theoretically, make system perturb and outer in model parameter
There is under boundary's disturbance goodish stable and performance robustness, can preferably ensure the ride quality of automobile.
Research discovery based on early stage and document report understand, basic thought theoretical for μ be by input, output,
Transmission function, uncertainty etc. are associated reconstruct, to isolate all of perturbation.μ method is except in theory
Do not have outside conservative, moreover it is possible to by robust stability and the robust performance coordinating and unifying, i.e. analyzed by μ and μ
Comprehensively, ECAS system dynamics design problem is made to be changed into the robustness problem of a control system.Therefore, μ
Theory can analyze the ECAS robustness under the influence of having Parameter Perturbation and disturbing outward.ECAS is made well to follow the tracks of
While automotive performance, the impact of isolation uncertainty, shows preferable stability.And how by external disturbance, no
Certainty factor and non-linear ECAS system model are associated reconstruct, to isolate all of perturbation (containing outside
Interference, uncertain factor), then analyzed comprehensive with μ by μ, make ECAS Control System Design problem turn
The robustness problem becoming a system model solves, and this is the required problem solved of the present invention.
Summary of the invention
Goal of the invention: it is an object of the invention to provide a kind of Automobile pneumatic suspension electronic control system, the present invention
Another object be provide Automobile pneumatic suspension electronic control system control method.
Technical scheme: for achieving the above object, the present invention adopts the following technical scheme that
A kind of Automobile pneumatic suspension electronic control system, it includes signal gathering unit, top level control module, the end
Layer control module and actuator, described signal gathering unit, top level control module, bottom control module and
Actuator is sequentially connected by control circuit；Described control circuit includes that MCU core circuit, signal are adopted
Collection element circuit, control output circuit, storage circuit, telecommunication circuit and power circuit；Described top level control mould
Block is provided with upper strata MCU；Described bottom control module is provided with bottom MCU；Wherein, described MCU
Core circuit provides energy stream and flow of information for upper strata MCU or the computing of bottom MCU, judgement and decision-making；
Described signal gathering unit circuit and power circuit all with the input signal interface circuits phase of top level control module
Connect, provide flow of information and energy stream, the interface circuit of output signal of top level control module for top level control module
It is connected with the input signal interface circuits of bottom control module, provides flow of information and energy for bottom control module
Stream, the control output interface circuit of bottom control module regulates and controls electricity with air compressor machine drive circuit, air spring respectively
Road is connected with vibroshock regulating circuit, and the regulation for air compressor machine, air spring and vibroshock duty exports
Instruction in addition power amplification.
Described top level control module also includes the immune control program being stored in ROM；Described bottom control module
Also include the robust control program being stored in ROM；Described immune control program can be according to the vertical acceleration of vehicle body
Degree, suspension dynamic deflection and axletree vertical acceleration information, utilize immune algorithm to solve and match with vehicle condition
Suspension rate and damping, and this digital signal is exported to bottom control module, and as its rigidity and damping
Input reference；The robust control program of bottom control module further according to suspension rate and damping reference value with work as
The deviation of front actual value, carries out computing, judgement and decision-making, and generates the execution machine of air spring and vibroshock
The regulation and control instruction of structure so that the performance dynamic tracking vehicle performance change of air spring and vibroshock.
It also includes signal gathering unit, air compressor machine relay, air spring electromagnetic valve, vibroshock motor
And vehicle power；Described signal gathering unit is connected with the I port of top level control module by holding wire, on
The O port of layer control module is connected with the I port of bottom control module by holding wire, bottom control module
O port is respectively connected with air compressor machine relay, air spring electromagnetic valve and vibroshock motor by holding wire；
Described vehicle power is by power line and top level control module, bottom control module, air compressor machine relay, sky
Air spring electromagnetic valve and vibroshock motor are respectively connected with.
It is series on automobile starting on and off switch at described power circuit.
Described power circuit is series on the startup on and off switch arranging vehicle steering steering column；When automobile key
When spoon is in startup on and off switch ON position, ECAS control circuit is energized；On the contrary, automobile key is in and opens
During galvanic electricity source switch OFF, ECAS control circuit power-off.
Between described top level control module and air compressor machine relay, air accumulator baroceptor is set.
The control method of described Automobile pneumatic suspension electronic control system, comprises the steps:
1) automobile key inserts power on switch and turns to ON position, the electronic control system of air suspension
Circuit and Vehicular accumulator cell connect, the sensor of signal gathering unit enters duty, is acquired gas storage
The signals such as tank air pressure, vehicle body vertical acceleration, suspension dynamic deflection and axletree vertical acceleration；
2) electronic control system will be stored in ROM air accumulator Reference pressure PrefAdopt with air accumulator baroceptor
Collect to currently practical air pressure P compare, and control air compressor machine relay duty by both deviations,
If deviation is more than 0.1bar, air compressor machine relay Guan Bi makes air compressor machine startup work, to air accumulator inflation until gas
Pressure deviation is recovered air compressor machine relay when 0 and is disconnected；If air pressure deviation is less than 0.1bar, enter step 3)；
3) top level control module is according to other information of signal gathering unit, enables the immunity being stored in ROM
Control program, to vehicle body vertical acceleration, suspension dynamic deflection and axletree vertical acceleration weighting sum be considered as antibody,
Air spring rigidity and resistance of shock absorber are accordingly to be regarded as B cell, are considered as antigen with optimal car load integrated performance index,
And encode for antibody, antigen and B cell, through breeding, make a variation and update a series of process, utilizing
Antibody concentration preference pattern method solves suspension rate and the damping coordinating to mate with automotive performance, and by this number
Word signal flows to the I port of bottom control module, as suspension rate and the damping input of bottom control module
Reference, enters step 4)；
4), after bottom control module receives input signal, the robust control journey being stored in bottom ROM is started
Sequence, on the one hand generates air spring regulation and control instruction according to suspension rate deviation, and instruction is performed to air spring
Mechanism sends, until rigidity deviation is 0；Meanwhile, generate vibroshock regulation and control instruction according to damping deviation,
And instruction is sent to vibroshock actuator, until damping deviation convergence 0, enter step 5)；
5), after a regulation and control end cycle of electronic control system, signal gathering unit enters next one sampling week
Phase, control system repeats step 2) to step 4) process, move in circles until automobile starting power supply according to this
Till switch cutoff power supply.
Beneficial effect: compared with prior art, a kind of Automobile pneumatic suspension electronic control system of the present invention and
Control method, advantage is:
1) bottom control module is developed based on μ theory, can isolate the impact of uncertain factor,
And system stability and performance robustness can be taken into account；
2) top level control module is developed based on immune algorithm, can plan suspension rate with Real-time and Dynamic
And damping, make ECAS suspension parameter dynamic tracking vehicle performance change；
3) Curve guide impeller on the basis of existing control system of the present invention, inherits original control as far as possible
System hardware so that performance is well improved in the case of cost increases a little；
4) electronic control system uses stratified energy mechanism, by top level control module and bottom control module
Share out the work and help one another, the arithmetic speed of whole electronic control system can be improved, shorten the control cycle.
Accompanying drawing explanation
Fig. 1 is the structure composition schematic diagram of electronic control system；
The control circuit graph of a relation of Fig. 2 system；
Fig. 3 is air accumulator air pressure control flow chart；
Fig. 4 is the immune control flow chart of top level control module；
Fig. 5 is the robust control flow chart of bottom control module；
Fig. 6 is electronic control system master control flow chart.
Detailed description of the invention
Below in conjunction with the accompanying drawings and detailed description of the invention, it is further elucidated with the present invention.
A kind of Automobile pneumatic suspension electronic control system, it include signal gathering unit, top level control module 102,
Bottom control module 103 and actuator, described signal gathering unit, top level control module 102, bottom
Control module 103 and actuator make to be sequentially connected each other by control circuit.Control circuit includes MCU core
Electrocardio road, signal gathering unit circuit, control output circuit, storage circuit, telecommunication circuit and power circuit；
Top level control module 102 includes upper strata MCU, memory element and immune control program；Bottom control module 103
Including robust control program, bottom MCU and memorizer.
As it is shown in figure 1, Automobile pneumatic suspension electronic control system includes signal gathering unit 101, top level control
Module 102, bottom control module 103, air compressor machine relay 104, air spring electromagnetic valve 105, vibroshock
Motor 106 and vehicle power 108；Described signal gathering unit 101 is by holding wire and top level control
The I port of module 102 is connected, and the O port of top level control module 102 is by holding wire and bottom control module
The I port of 103 is connected, the O port of bottom control module 103 by holding wire and air compressor machine relay 104,
Air spring electromagnetic valve 105 and vibroshock motor 106 are respectively connected with；Described vehicle power 108 passes through
Power line and top level control module 102, bottom control module 103, air compressor machine relay 104, air spring
Electromagnetic valve 105 and vibroshock motor 106 are respectively connected with.It is series at automobile starting on and off switch at power line
107.Air accumulator baroceptor is set between top level control module 102 and air compressor machine relay 104.
As in figure 2 it is shown, control circuit by MCU core circuit, signal gathering unit circuit, control output
The compositions such as circuit, storage circuit, telecommunication circuit and power circuit.Wherein, MCU core circuit is upper strata
MCU or the computing of bottom MCU, judgement and decision-making provide energy flow and flow of information；Signal gathering unit electricity
All input signal interface circuits with top level control module are connected with power circuit on road, carry for top level control module
For flow of information and energy stream, and its interface circuit of output signal and the input signal interface circuits of bottom control module
Be connected, provide flow of information and energy stream for bottom control module, and its control output interface circuit respectively with sky
Press drive circuit, air spring regulating circuit are connected with vibroshock regulating circuit, for air compressor machine, air bullet
The regulation of the duty such as spring and vibroshock transmits instruction in addition power amplification.
Further, the immune control program of top level control module can be moved scratch according to vehicle body vertical acceleration, suspension
The information such as degree and axletree vertical acceleration, utilize immune algorithm to solve the suspension rate matched with vehicle condition
And damping, and to the signal of suspension rate and suspension damping is sent bottom control module, and as its rigidity and
The reference value of damping.And the robust control program of bottom control module further according to reference suspension rate and damps with real
Border suspension rate and the deviation of damping, carry out related operation, judgement and decision-making, defeated to air spring and vibroshock
Send regulation and control instruction, make the performance of air spring and vibroshock follow the tracks of vehicle performance and dynamically change.
The control method of Automobile pneumatic suspension electronic control system, comprises the steps:
1) automobile key inserts power on switch and turns to ON position, the electronic control system of air suspension
Circuit and Vehicular accumulator cell connect, the sensor of signal gathering unit enters duty, is acquired gas storage
The signals such as tank air pressure, vehicle body vertical acceleration, suspension dynamic deflection and axletree vertical acceleration；
2) electronic control system will be stored in ROM air accumulator Reference pressure PrefAdopt with air accumulator baroceptor
Collect to currently practical air pressure P compare, and control air compressor machine relay duty by both deviations,
If deviation is more than 0.1bar, air compressor machine relay Guan Bi makes air compressor machine startup work, to air accumulator inflation until gas
Pressure deviation is recovered air compressor machine relay when 0 and is disconnected；If air pressure deviation is less than 0.1bar, enter step 3)；
3) top level control module is according to other information of signal gathering unit, enables the immunity being stored in ROM
Control program, to vehicle body vertical acceleration, suspension dynamic deflection and axletree vertical acceleration weighting sum be considered as antibody,
Air spring rigidity and resistance of shock absorber are accordingly to be regarded as B cell, are considered as antigen with optimal car load integrated performance index,
And encode for antibody, antigen and B cell, through breeding, make a variation and update a series of process, utilizing
Antibody concentration preference pattern method solves suspension rate and the damping coordinating to mate with automotive performance, and by this number
Word signal flows to the I port of bottom control module, as suspension rate and the damping input of bottom control module
Reference, enters step 4)；
4), after bottom control module receives input signal, the robust control journey being stored in bottom ROM is started
Sequence, on the one hand generates air spring regulation and control instruction according to suspension rate deviation, and instruction is performed to air spring
Mechanism sends, until rigidity deviation is 0；Meanwhile, generate vibroshock regulation and control instruction according to damping deviation,
And instruction is sent to vibroshock actuator, until damping deviation convergence 0, enter step 5)；
5), after a regulation and control end cycle of electronic control system, signal gathering unit enters next one sampling week
Phase, control system repeats step 2) to step 4) process, move in circles until automobile starting power supply according to this
Till switch cutoff power supply.
Fig. 3 is air accumulator air pressure control flow chart, at top level control module 102 and air compressor machine relay 104
Between air accumulator baroceptor is set.Air accumulator baroceptor gathers air pressure signal, electronic control system meeting
Compare gathering air pressure signal with the control software reference air pressure stored in ROM, obtain air accumulator air pressure
Deviation value, then the regulation and control instruction of air compressor machine relay 104 is generated with deviation value: if deviation value is more than 0.1bar,
Sending instruction makes air compressor machine relay 104 close, and air compressor machine relay 104 power circuit is connected and started work,
Inflating toward air accumulator, air pressure inside increases, and deviation decreases up to close to till 0；Otherwise, air compressor machine relay
104 remain off.
Fig. 4 is that top level control module carries out immunity activity planning flow chart to suspension parameter.Top level control module
102, according to the relevant information of signal gathering unit, enable the Immune Programming program being stored in ROM, particularly as follows:
By vehicle body vertical acceleration, suspension dynamic deflection and axletree vertical acceleration weighting sum (car load integrated performance index)
It is defined as antibody, air spring rigidity and resistance of shock absorber and is all defined as B cell, comprehensive with optimal car load
Can index definition be antigen, and encode for antibody, antigen and B cell, through breeding, variation and more
A series of processes such as new, utilize antibody concentration preference pattern method to solve the suspension coordinating to mate with automotive performance
Rigidity and damping, and by O port, rigidity and the antihunt signal of suspension are flowed to bottom control module 103
I port, as bottom control module rigidity and damping control reference input.
Fig. 5 is the robust control flow chart of bottom control module.Bottom control module K2I port receive
After top level control module output signal, K2Will with reference to suspension rate and damping with original suspension rate and damping ratio
Relatively, if deviation is not 0, then call robust control program, according to input signal, ECAS car model, power
Function, uncertain piece carry out comprehensive computing, output vibroshock control instruction and air spring control instruction；If partially
Difference is 0, then never call robust control program, air suspension actuator and vibroshock actuator and maintain the original state
State.
Fig. 6 is electronic control system master control flow chart, and bottom control module I port receives top level control mould
After the output signal of block, MCU compares judgement according to suspension rate and damping deviation: if deviation is not 0,
Then start the robust control program being stored in ROM, on the one hand generate air spring according to suspension rate deviation firm
Degree regulation and control instruction, and instruction is sent to air spring actuator, until rigidity deviation is close to 0, another
Aspect, generates vibroshock regulation and control instruction according to damping deviation, and instruction is sent to vibroshock actuator, directly
To damping deviation convergence 0；If deviation is 0, the most directly carry out next sampling period.
Concrete technical scheme is on the basis of ECAS original system, develops brand-new electronic control system and replaces existing
There is electronic control system.Top level control module I port receives the coherent signal of signal gathering unit, with automobile
Can aggregative indicator (suspension dynamic deflection, vehicle body vertical acceleration and the weighting sum of axletree vertical acceleration) be anti-
Former, the rigidity of suspension and amortization variable be B cell, automotive performance aggregative indicator minima be antibody, and right
Antigen, antibody and B cell encode, and are solved by immune algorithm and mate with automotive performance optimal coordination
Suspension rate and damping, and by its O port by rigidity and damping parameter real-time Transmission to bottom control
Module I port；After receiving top level control module by signal, bottom control module is called robust control program and is carried out
Calculate and judge, generate air spring rigidity regulation and control instruction and resistance of shock absorber regulation and control instruction respectively, and send respectively
Execution action is carried out to air spring actuator and vibroshock actuator, after this circulation regulation and control put in place, electronics
Control system enters and circulates next time.
Sensor group includes air spring baroceptor, barometric pressure sensor, environment temperature sensor, storage
Gas tank pressure transducer, automotive speed sensor, suspension dynamic deflection sensor, vehicle body vertical acceleration sensor
With axletree vertical acceleration sensor；Air spring baroceptor, barometric pressure sensor, ambient temperature pass
Sensor, reservoir pressure sensor, automotive speed sensor, suspension dynamic deflection sensor, the vertical acceleration of vehicle bridge
Degree sensor and vehicle body vertical acceleration sensor etc. are connected with top level control module input；Air spring air pressure
Sensor is used for gathering air spring air pressure signal；Barometric pressure sensor is used for gathering atmosphere pressure signal；Ring
Border temperature sensor is used for gathering atmospheric temperature signal；Automotive speed sensor is used for gathering automobile driving speed；
Reservoir pressure sensor is for gathering the air pressure signal of air accumulator；Vehicle body vertical acceleration sensor is used for gathering
Vehicle body vertical acceleration signal；Axle acceleration sensor is used for gathering axletree vertical acceleration signal；Suspension is scratched
Degree sensor is used for gathering suspension dynamic deflection signal.Air spring baroceptor is arranged on air spring, uses
In gathering air spring inner chamber air pressure signal, and send the signal to top level control module 102；Atmospheric pressure
Sensor is arranged at air compressor air intake epistome, is used for gathering external ambient air pressure, and is sent to by its signal
Layer control module 102；Environment temperature sensor is arranged at air compressor air intake epistome, is used for gathering external environment condition
Temperature, and its signal is sent to top level control module 102；Automotive speed sensor is arranged at variator output
Axle, is used for gathering automobile driving speed, and its signal is sent to top level control module 102；Vehicle body is vertical to be added
Velocity sensor is arranged on body platform, is used for gathering vehicle body vertical acceleration, and is sent to by its signal
Layer control module 102；Suspension dynamic deflection sensor is arranged on automobile front axle and rear axle, before gathering respectively
Suspension and the dynamic deflection of rear suspension, and its signal is sent to top level control module 102.
Actuator includes air compressor relay, the left front relay magnet valve of regulation and control air spring rigidity, left back
Electromagnetic valve, right front electromagnetic valve and right rear electromagnetic valve；The left front motor of control shock reducer damping, left back stepping
Motor behind motor, right front motor and the right side.
Claims (7)
1. an Automobile pneumatic suspension electronic control system, it is characterised in that: it include signal gathering unit,
Top level control module (102), bottom control module (103) and actuator, described signal gathering unit,
Top level control module (102), bottom control module (103) and actuator are sequentially connected by control circuit；
Described control circuit includes MCU core circuit, signal gathering unit circuit, controls output circuit, storage
Circuit, telecommunication circuit and power circuit；Described top level control module (102) is provided with upper strata MCU；Described
Bottom control module is provided with bottom MCU in (103)；Wherein, described MCU core circuit is upper strata
MCU or the computing of bottom MCU, judgement and decision-making provide energy stream and flow of information；Described signals collecting
All input signal interface circuits with top level control module (102) are connected element circuit with power circuit, for
Top level control module (102) provides flow of information and energy stream, and the output signal of top level control module (102) connects
Mouth circuit is connected with the input signal interface circuits of bottom control module (103), for bottom control module (103)
Flow of information and energy stream are provided, the control output interface circuit of bottom control module (103) respectively with air compressor machine
Drive circuit, air spring regulating circuit are connected with vibroshock regulating circuit, for air compressor machine, air spring and
The regulation output order of vibroshock duty power amplification in addition.
A kind of Automobile pneumatic suspension electronic control system the most according to claim 1, it is characterised in that:
Described top level control module (102) also includes the immune control program being stored in ROM；Described bottom control
Module (103) also includes the robust control program being stored in ROM；Described immune control program energy according to
Vehicle body vertical acceleration, suspension dynamic deflection and axletree vertical acceleration information, utilize immune algorithm to solve and vapour
Suspension rate that car state matches and damping, and this digital signal is exported to bottom control module (103),
And as the input reference of its rigidity and damping；The robust control program of bottom control module (103) further according to
The reference value of suspension rate and damping and the deviation of current actual value, carry out computing, judgement and decision-making, and raw
Become the regulation and control instruction of the actuator of air spring and vibroshock so that the performance of air spring and vibroshock is dynamic
Tracking vehicle performance changes.
Automobile pneumatic suspension electronic control system the most according to claim 1, it is characterised in that: it is also
Including signal gathering unit (101), air compressor machine relay (104), air spring electromagnetic valve (105), vibration damping
Device motor (106) and vehicle power (108)；Described signal gathering unit (101) passes through holding wire
Being connected with the I port of top level control module (102), the O port of top level control module (102) passes through signal
Line is connected with the I port of bottom control module (103), and the O port of bottom control module (103) is by letter
Number line and air compressor machine relay (104), air spring electromagnetic valve (105) and vibroshock motor (106)
It is respectively connected with；Described vehicle power (108) is by power line and top level control module (102), bottom control
Molding block (103), air compressor machine relay (104), air spring electromagnetic valve (105) and vibroshock stepping electricity
Machine (106) is respectively connected with.
Automobile pneumatic suspension electronic control system the most according to claim 1, it is characterised in that: in institute
The power circuit stated is series on automobile starting on and off switch (107).
Automobile pneumatic suspension electronic control system the most according to claim 4, it is characterised in that: described
Power circuit be series on the startup on and off switch that vehicle steering steering column is set；Open when automobile key is in
During galvanic electricity source switch ON position, ECAS control circuit is energized；On the contrary, automobile key be in startup power supply open
When closing OFF, ECAS control circuit power-off.
Automobile pneumatic suspension electronic control system the most according to claim 1, it is characterised in that: in institute
Between top level control module (102) and the air compressor machine relay (104) stated, air accumulator baroceptor is set.
7. the control method of Automobile pneumatic suspension electronic control system described in any one in claim 1～6,
It is characterized in that: comprise the steps:
1) automobile key inserts power on switch and turns to ON position, the electronic control system of air suspension
Circuit and Vehicular accumulator cell connect, the sensor of signal gathering unit enters duty, is acquired gas storage
The signals such as tank air pressure, vehicle body vertical acceleration, suspension dynamic deflection and axletree vertical acceleration；
2) electronic control system will be stored in ROM air accumulator Reference pressure PrefAdopt with air accumulator baroceptor
Collect to currently practical air pressure P compare, and control air compressor machine relay duty by both deviations,
If deviation is more than 0.1bar, air compressor machine relay Guan Bi makes air compressor machine startup work, to air accumulator inflation until gas
Pressure deviation is recovered air compressor machine relay when 0 and is disconnected；If air pressure deviation is less than 0.1bar, enter step 3)；
3) top level control module is according to other information of signal gathering unit, enables the immunity being stored in ROM
Control program, to vehicle body vertical acceleration, suspension dynamic deflection and axletree vertical acceleration weighting sum be considered as antibody,
Air spring rigidity and resistance of shock absorber are accordingly to be regarded as B cell, are considered as antigen with optimal car load integrated performance index,
And encode for antibody, antigen and B cell, through breeding, make a variation and update a series of process, utilizing
Antibody concentration preference pattern method solves suspension rate and the damping coordinating to mate with automotive performance, and by this number
Word signal flows to the I port of bottom control module, as suspension rate and the damping input of bottom control module
Reference, enters step 4)；
4), after bottom control module receives input signal, the robust control journey being stored in bottom ROM is started
Sequence, on the one hand generates air spring regulation and control instruction according to suspension rate deviation, and instruction is performed to air spring
Mechanism sends, until rigidity deviation is 0；Meanwhile, generate vibroshock regulation and control instruction according to damping deviation,
And instruction is sent to vibroshock actuator, until damping deviation convergence 0, enter step 5)；
5), after a regulation and control end cycle of electronic control system, signal gathering unit enters next one sampling week
Phase, control system repeats step 2) to step 4) process, move in circles until automobile starting power supply according to this
Till switch cutoff power supply.
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