CN106406079A - Vehicle, magnetorheological fluid type vehicle shock absorbing seat control device and method thereof - Google Patents
Vehicle, magnetorheological fluid type vehicle shock absorbing seat control device and method thereof Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The invention relates to a vehicle, a magnetorheological fluid type vehicle shock absorbing seat control device and a magnetorheological fluid type vehicle shock absorbing seat control method. The magnetorheological fluid type vehicle shock absorbing seat control device comprises a seat body, a damping assembly, an elastic sealing connection component, a box body, an acceleration sensor and an ECU, wherein the damping assembly comprises a damping plate which is fixedly connected to the bottom part of the seat body in a perpendicular manner, and a damping hole penetrating the damping plate; a magnetorheological fluid is internally packaged in the box body, and the box body is in sealing connection with the damping assembly by means of the elastic sealing connection component; the damping assembly suspends in the magnetorheological fluid and can be kept in a state of separation from the inner surface of the box body; the acceleration sensor is used for acquiring seat acceleration information and transmitting the seat acceleration information to the ECU; and the ECU is used for receiving the seat acceleration information acquired by the acceleration sensor, and calculating a current control quantity applied to the magnetorheological fluid according to the seat acceleration information, so as to control damping characteristics of the magnetorheological fluid flowing through the damping hole. The magnetorheological fluid type vehicle shock absorbing seat control device can realize the shock absorption of the seat body, and is conductive to enhancing the comfort of a passenger sitting on the seat.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of vehicle, magnetic flow liquid formula Vehicle damper chair control
Devices and methods therefor.
Background technology
For seat comfort sex chromosome mosaicism, research shows, the vibration of seat can produce to the physiology of people and psychoreaction
Very adverse effect, be in for a long time entail dangers in the vibration of low frequency high intensity to the cardiovascular system of driver, nervous tissue,
Muscular tissue, can cause the audition of driver to fail, and bradykinesia increased the burden on driver's body ＆ mind, more
Seriously increased the probability that vehicle accident occurs.Automobile can use the vibration of all directions, therefore seat during travelling
Chair can correspondingly produce the vibration of all directions, there is very big comfortableness problem, and current vibration-damping seat for automobile collects mostly
In on the vibration damping of above-below direction, the seat that can carry out multidimensional vibration reduction is less；Secondly, adopt shock absorbing seat at this stage more
It is the mechanical mechanism that connecting rod and spring damping combine, after use time is elongated, can there is mechanism wear, fragile and seat
The problems such as abnormal sound.
Thus, it is desirable to have a kind of technical scheme come to overcome or at least mitigate prior art drawbacks described above at least one
Individual.
Content of the invention
It is an object of the invention to provide a kind of magnetic flow liquid formula Vehicle damper chair control device and its method are overcoming
Or at least mitigate at least one of drawbacks described above of prior art.
For achieving the above object, the present invention provides a kind of magnetic flow liquid formula Vehicle damper chair control device, described magnetic current
Become liquid formula Vehicle damper chair control device to include：Seat body, damper assembly, elastic packing connecting elements, casing, acceleration
Sensor and ECU, wherein：Described damper assembly includes being fixedly connected on the damping sheet of described seat body bottom in a vertical manner
And run through the damping hole of described damping sheet；Enclosed inside have magnetic flow liquid described casing pass through elastic packing connecting elements with
Described damper assembly is tightly connected；Described damper assembly be suspended in be in described magnetic flow liquid can be with the inner surface of described casing
Remain and separate state；Described acceleration transducer is used for gathering seat acceleration information, and is conveyed to described ECU；Described ECU
For receiving the seat acceleration information that described acceleration transducer collects, and work is calculated according to described seat acceleration information
Use the current control amount of described magnetic flow liquid, to control described magnetic flow liquid to flow through damping characteristic during described damping hole.
Further, described ECU includes：Comparator, it is used for the seat that relatively described acceleration transducer collects and adds
Velocity information and expected value, obtain difference；And Expert PID Controller, it is used for the difference obtaining described comparator as by mistake
Difference input quantity, calculates the current control amount being applied to described magnetic flow liquid using expert PID control method.
Further, described Expert PID Controller specifically includes：
First computing module：It is used for setting the e (k) of discretization, e (k-1), e (k-2) as error input quantity, e (k)
For the error amount of current sample period, e (k-1) is the error amount in previous sampling period, and e (k-2) is the first two sampling period
Error amount, k is cycle-index, then have the relational expression to be：
Δ2E (k)=e (k) -2e (k-1)+e (k-2)；And
Second computing module, the error input quantity being determined according to described first computing module, using expert PID control method
Calculating current controlled quentity controlled variable, specifically includes：
(1) exist | e (k) | >=M1And M1For set maximum error boundary in the case of, current control amount according to algorithm limit
Maximum exported；
(2) in the case of e (k) Δ e (k) >=0：
If | e (k) |>M2, current control amount is：
U (k)=u (k-1)+k1{kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]}；
Or, u (k)=u (k-1)+k1[kpΔe(k)+kie(k)+kdΔ2e(k)]；
In formula, u (k) is the current control amount of kth time output, and u (k-1) is the current control amount of (k-1) secondary output；k1
For gain amplifier factor, k1>1；M2For the limit of error setting, M1>M2；kpProportionality coefficient for PID, kiIntegration system for PID
Number, kdDifferential coefficient for PID；
If | e (k) |<M2, current control amount is：
U (k)=u (k-1)+kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]；
Or, u (k)=u (k-1)+kpΔe(k)+kie(k)+kdΔ2e(k)；
(3) in e (k) Δ e (k)<0、e(k)Δe(k-1)>0 or in the case of e (k)=0, current control amount is：U (k)=
u(k-1)；
(4) in e (k) Δ e (k)<0, Δ e (k) Δ e (k-1)<In the case of 0, current control amount is：
U (k)=u (k-1)+k1kpem(k)|e(k)|≥M2；
U (k)=u (k-1)+k2kpem(k)|e(k)|<M2；
In formula, k2For rejection coefficient, 0<k2<1；emK () is k-th extreme value of error e；
(5) exist | e (k) |<In the case of ε, current control amount is：
In formula, ε is arbitrarily small real number,It is the integral term to error.
Further, the quantity of the described damping sheet in described damper assembly is three pieces, is configured to intersect and mutually vertical
Directly.
Further, described damper assembly also includes connecting plate, and the lower surface of described connecting plate connects each piece of described damping
The top of plate, upper surface connects described seat body, the outer sheathed described elastic packing connecting elements of described connecting plate.
Further, described elastic packing connecting elements is annular in shape, and inner ring is set in outside described damper assembly；Described elasticity
It is tightly connected component and there is the circumferential slot that the open top for described casing embeds, to be tightly connected described casing and described damping
Assembly.
Further, four sides of described casing are respectively provided with the fixed magnetic pole plate being wound with magnet exciting coil, described fixation
Pole plate is electrically connected with Expert PID Controller by current amplifier, the current control amount warp successively of Expert PID Controller output
By described current amplifier and fixed magnetic pole plate, it is applied to described magnetic flow liquid, to control described magnetic flow liquid to flow through described resistance
The damping characteristic in Buddhist nun hole.
The present invention also provides a kind of vehicle, and it includes magnetic flow liquid formula Vehicle damper chair control device as above.
The present invention also provides a kind of magnetic flow liquid formula Vehicle damper seat control method, described magnetic flow liquid formula Vehicle damper
Seat control method includes：Step 1, the actual acceleration information of Real-time Collection seat；Step 2, the seat that step 1 is gathered
Actual acceleration information is compared with acceleration expected value, obtains a difference；Step 3, by difference calculated in step 2
It is worth as error input quantity, using expert PID control method calculating current controlled quentity controlled variable；Step 4, the electric current being obtained using step 3
Controlled quentity controlled variable controls magnetic flow liquid to flow through damping characteristic during damping hole, to carry out vibration damping to seat in three dimensions, makes seat
Actual acceleration information close to acceleration expected value.
Further, step 3 specifically includes：
Step 31, makes the e (k) of discretization, e (k-1), e (k-2) as error input quantity, e (k) is current sample period
Error amount, e (k-1) is the error amount in previous sampling period, e (k-2) be the first two sampling period error amount, k be follow
Ring number of times；
Δ2E (k)=e (k) -2e (k-1)+e (k-2)；And
Step 32, the error input quantity being determined according to step 31, using expert PID control method calculating current controlled quentity controlled variable
Method is specific as follows：
(1) exist | e (k) | >=M1And M1For set maximum error boundary in the case of, current control amount according to algorithm limit
Maximum exported；
(2) in the case of e (k) Δ e (k) >=0：
If | e (k) |>M2, current control amount is：
U (k)=u (k-1)+k1{kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]}；
Or, u (k)=u (k-1)+k1[kpΔe(k)+kie(k)+kdΔ2e(k)]；
In formula, u (k) is the current control amount of kth time output, and u (k-1) is the current control amount of (k-1) secondary output；k1
For gain amplifier factor, k1>1；M2For the limit of error setting, M1>M2；kpProportionality coefficient for PID, kiIntegration system for PID
Number, kdDifferential coefficient for PID；
If | e (k) |<M2, current control amount is：
U (k)=u (k-1)+kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]；
Or, u (k)=u (k-1)+kpΔe(k)+kie(k)+kdΔ2e(k)；
(3) in e (k) Δ e (k)<0、e(k)Δe(k-1)>0 or in the case of e (k)=0, current control amount is：U (k)=
u(k-1)；
(4) in e (k) Δ e (k)<0, Δ e (k) Δ e (k-1)<In the case of 0, current control amount is：
U (k)=u (k-1)+k1kpem(k)|e(k)|≥M2；
U (k)=u (k-1)+k2kpem(k)|e(k)|<M2；
In formula, k2For rejection coefficient, 0<k2<1；emK () is k-th extreme value of error e；
(5) exist | e (k) |<In the case of ε, current control amount is：
In formula, ε is arbitrarily small real number,It is the integral term to error.
The present invention utilizes acceleration transducer to gather seat acceleration information, and seat acceleration information is transferred to ECU,
ECU provides corresponding current control amount further according to corresponding control strategy, thus changing magnetic field intensity, makes the magnetic in magnetic flow liquid
Property granule can change originally disorderly and unsystematic arrangement mode in magnetic field, be changed into according to certain direction ordered arrangement, change magnetorheological
The flow direction of liquid, and then change the viscosity of magnetic flow liquid, produce different damping forces so that chiasma type damping sheet is in this direction of vibration
Become difficult, thus playing effectiveness in vibration suppression, be circulated after this, until making the acceleration very little of seat body, close
Till acceleration expected value, realize the vibration damping to seat body, be conducive to improving occupant's seat comfortableness on the seat.In addition,
Due to being provided without the frame for movements such as connecting rod and spring damping, significantly improve mechanism wear, fragile and seat abnormal sound etc. and ask
Topic.
Brief description
Fig. 1 is the knot according to magnetic flow liquid formula Vehicle damper chair control device one preferred embodiment provided by the present invention
Structure schematic diagram.
Fig. 2 is the structural representation of the seat in Fig. 1.
Fig. 3 is the structural representation of the elastic packing connector in Fig. 1.
Fig. 4 is the expert PID control circulation block diagram that the magnetic flow liquid formula Vehicle damper chair control device in Fig. 1 adopts.
Specific embodiment
In the accompanying drawings, represent same or similar element using same or similar label or there is same or like function
Element.Below in conjunction with the accompanying drawings embodiments of the invention are described in detail.
In describing the invention, term " " center ", " longitudinal ", " horizontal ", "front", "rear", "left", "right", " vertical ",
The orientation of instruction such as " level ", " top ", " bottom " " interior ", " outward " or position relationship are to be closed based on orientation shown in the drawings or position
System, is for only for ease of the description present invention and simplifies description, rather than the device of instruction or hint indication or element must have
Specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limiting the scope of the invention.
As shown in Figure 1 to Figure 3, the magnetic flow liquid formula Vehicle damper chair control device that the present embodiment is provided includes seat
Body 1, damper assembly 2, elastic packing connecting elements 3, casing 4, acceleration transducer 5 and ECU (Electronic Control
Unit, vehicle-mounted computer) 7, wherein：
Damper assembly 2 includes damping sheet 21 and connecting plate 23, and wherein, damping sheet 21 is fixedly connected on seat in a vertical manner
Body 1 bottom, and, be covered with damping sheet 21 have run through damping sheet 21 setting damping hole 22.The lower surface of connecting plate 23 is even
Connect the top of each piece of damping sheet 21, upper surface is fixedly connected seat body 1 by connector 11.
The bottom of casing 4 is fixedly connected on floor 12.Casing 4 enclosed inside has magnetic flow liquid 6, and passes through elastic packing
Connecting elements 3 is tightly connected with damper assembly 2.Damper assembly 2 is placed in magnetic flow liquid 6, is connected using buoyancy and elastic packing
The pulling force of component 3 makes damper assembly suspend, and damper assembly 2 can be suspended in magnetic flow liquid 6, with the inner surface of casing 4 all the time
Remain and separate state.
Acceleration transducer 5 is used for gathering the actual acceleration information of seat, and is conveyed to ECU7.ECU7 is used for reception and adds
The actual acceleration information that velocity sensor 5 collects, and magnetic flow liquid 6 is applied to according to the calculating of described actual acceleration information
Current control amount, to control magnetic flow liquid 6 to flow through damping characteristic during damping hole 22, flow through damping to change magnetic flow liquid 6
Complexity during hole 22.
Obviously, damper assembly 2 is suspended in magnetic flow liquid 6, and this is equivalent to seat body 1 and is in a suspension all the time
State, with the change of the motion operating mode of vehicle, seat body 1 can produce corresponding vibration, the damping group being connected with seat body 1
The vibration of seat body 1 is passed to magnetic flow liquid 6 by part 2, makes magnetic flow liquid 6 flow through resistance towards the direction corresponding with direction of vibration
Buddhist nun hole 22.What those skilled in the art could be aware that is：The viscosity of magnetic flow liquid 6 can directly influence the flowing of magnetic flow liquid 6
Property, and then have influence on magnetic flow liquid 6 and flow through complexity during damping hole 22.
The present embodiment utilizes acceleration transducer 5 to gather seat acceleration information, and seat acceleration information is transferred to
ECU7, ECU7 provide corresponding current control amount further according to corresponding control strategy, thus changing magnetic field intensity, make magnetic flow liquid
Magnetic-particle in 6 can change disorderly and unsystematic arrangement mode originally in magnetic field, is changed into, according to certain direction ordered arrangement, changing
The viscosity of magnetic flow liquid 6, changes the flow direction of magnetic flow liquid 6, produces different damping forces so that chiasma type damping sheet 21 is at this
Becoming of direction of vibration is difficult, carries out vibration damping, is circulated afterwards, until making the acceleration very little of seat body 1, close to acceleration
Till degree expected value, realize the vibration damping to seat body 1, and then be conducive to improving occupant's seat comfortableness on the seat.In addition,
Due to being provided without the frame for movements such as connecting rod and spring damping, significantly improve mechanism wear, fragile and seat abnormal sound etc. and ask
Topic.
As shown in figure 4, in one embodiment, ECU7 includes comparator 71 and Expert PID Controller 72, wherein：
The actual acceleration information that comparator 71 is used for comparing the seat that acceleration transducer 5 collects is expected with acceleration
Value, obtains a difference.Acceleration expected value is generally chosen for 0, and that is, expectation seat body 1 is not vibrated.Comparator 71 can be
It is built in ECU7 a part for algorithm or there is the hardware such as comparator or the comparison circuit of comparing function.
Expert PID Controller 72 is used for the difference obtaining comparator 71 as error input quantity, using expert PID control
Method calculates the current control amount being applied to magnetic flow liquid 6.
In the present embodiment, the actual acceleration information of the seat collected is expected by acceleration transducer 5 with calculating speed
Value is compared, and the difference that comparator 71 is obtained is input in Expert PID Controller as error input quantity, through controlling
Algorithm calculates the current control amount being applied to magnetic flow liquid 6, the damping characteristic of magnetic flow liquid 6 is controlled, and receives again
Collection acceleration signal, so circulates, reaches and be accurately controlled rapidly purpose.
In one embodiment, Expert PID Controller 72 specifically includes the first computing module 721 and the second computing module
722, wherein：
First computing module 721 is used for setting the e (k) of discretization, e (k-1), e (k-2) as error input quantity, e (k)
For the error amount of current sample period, e (k-1) is the error amount in previous sampling period, and e (k-2) is the first two sampling period
Error amount, k be cycle-index, then can be expressed as：
According to Δ e (k)=e (k)-e (k-1) and Δ e (k-1)=e (k-1)-e (k-2), it is calculated following formula：
Δ2E (k)=e (k) -2e (k-1)+e (k-2).
Second computing module 722 is used for the error input quantity determining according to the first computing module 721, using expert PID control
Method calculating current controlled quentity controlled variable processed, specifically includes：
(1) exist | e (k) | >=M1And M1For set maximum error boundary in the case of, the absolute value of error input quantity is
Very big, no matter so the variation tendency of error amount, being required for being exported according to maximum, to reach rapid reduction error
Effect, controller now is equivalent to opened loop control.Concrete grammar is：M1Could be arranged to different values, and carry out repeatedly
Test is debugged repeatedly, obtains each M1Maximum under value is as current control amount.
(2) in the case of e (k) Δ e (k) >=0, the absolute value of error input quantity is in the side increasing towards Error Absolute Value
It is constant to change or error input quantity.
If | e (k) |>M2, the absolute value of error input quantity now larger it is contemplated that stronger control is implemented by controller
Effect, the absolute value making error input quantity, towards reducing direction change, reduces rapidly the absolute value of error input quantity, current control amount
For：
U (k)=u (k-1)+k1{kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]}；
Or, u (k)=u (k-1)+k1[kpΔe(k)+kie(k)+kdΔ2e(k)].
In formula, u (k) is the current control amount of kth time output, and u (k-1) is the current control amount of (k-1) secondary output；k1
For gain amplifier factor, k1>1；M2For the limit of error setting, M1>M2；kpProportionality coefficient for PID, kiIntegration system for PID
Number, kdDifferential coefficient for PID.
If | e (k) |<M2, error input quantity now is in the direction change towards increase, but error input quantity is absolute
Value is less it may be considered that implement general control action, to reduce error input quantity so as to the absolute value towards error input quantity subtracts
Little direction change, current control amount is：
U (k)=u (k-1)+kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]；
Or, u (k)=u (k-1)+kpΔe(k)+kie(k)+kdΔ2e(k).
(3) in e (k) Δ e (k)<0、e(k)Δe(k-1)>0 or in the case of e (k)=0, the absolute value of error input quantity
Towards the direction change reducing, or reach poised state.Now it is contemplated that taking holding controller to export constant, electric current
Controlled quentity controlled variable is still：
U (k)=u (k-1)
(4) in e (k) Δ e (k)<0, Δ e (k) Δ e (k-1)<In the case of 0, error input quantity is in extreme value state, such as
Really the absolute value of this time error input quantity is larger, i.e. | e (k) |>M2It is contemplated that implementing stronger control action；If this mistiming
Less, that is, | the e (k) | of absolute value of difference input quantity<M2It is contemplated that implementing weaker control action, then current control amount is：
U (k)=u (k-1)+k1kpem(k)|e(k)|≥M2；
U (k)=u (k-1)+k2kpem(k)|e(k)|<M2；
In formula, k2For rejection coefficient, 0<k2<1；emK () is k-th extreme value of error e, emK () passes through each sampling above
Cycle obtains after data is compared and obtains.
(5) exist | e (k) |<In the case of ε, the absolute value very little of error input quantity, now add integral element, subtract
Lack steady-state error, current control amount is：
In formula, ε is the desired error precision value obtaining, and can be arbitrarily small real number,It is to error
Integral term.
It should be noted that：Pid parameter value k under various situations mentioned abovep、ki、kdIt is different, the present embodiment
In, can be by kpInitial value be set between 30-70%, kiInitial value be set between 24s-180s, kdInitial value set
Between 3-180s, then carry out parameter designing using test of many times debugging, adjust the value of each parameter, finally obtain each feelings
More satisfactory parameter value under shape.
In one embodiment, the quantity of the damping sheet 21 in damper assembly 2 is three pieces, is configured to intersect and mutually vertical
Directly.Damping sheet 21 forms and is similar to that in criss-cross construction, therefore, when seat body 1 moves up and down：Horizontally disposed
Damping sheet 21 serves the effect of antivibrator.Seat body 1 about, when moving forward and backward：Vertically two pieces of damping sheets 21 of arrangement
Effect to antivibrator.
The present embodiment utilizes the orthogonal damping sheet of three dimensions, and is combined with expert PID control method, can achieve
Damping change in all directions in space controls, and when in the face of different road excitation, ECU7 receives seat speed letter
After number, corresponding current control amount being provided according to corresponding control strategy, thus changing magnetic field intensity, and then producing different
Damping force, quickly and accurately decay vibration, realize in the comprehensive vibration damping of three dimensions, obtain good effectiveness in vibration suppression, be
The comfortableness improving seat provides advantage.
As shown in figure 3, elastic packing connecting elements 3 is made up of elastomeric material, and annularly, inner ring is set in damper assembly
Outside 2 connecting plate 23.Elastic packing connecting elements 3 has the circumferential slot 31 that the open top for casing 4 embeds, to be tightly connected
Casing 4 and damper assembly 2.Elastic packing connecting elements 3 also acts as the effect similar to spring, for producing to damper assembly 2
Pulling force is allowed to and damper assembly 2 gravitational equilibrium, adds the buoyancy of magnetic flow liquid 6, is allowed to be suspended in magnetic flow liquid 6.
Four sides of casing 4 are respectively provided with the fixed magnetic pole plate 8 being wound with magnet exciting coil, and fixed magnetic pole plate 8 passes through electric current
Amplifier 9 is electrically connected with D and D/A converter 10, Expert PID Controller 72 output current control amount successively via modulus/
Digital to analog converter 10, current amplifier 9 and fixed magnetic pole plate 8, are applied to described magnetic flow liquid 6.
The magnetic flow liquid formula Vehicle damper chair control device that the present embodiment is provided also includes D and D/A converter
10, the difference that D and D/A converter 10 is used for obtaining comparator 71 changes into digital signal by analogue signal, inputs to specially
Family's PID controller 72 and the current control amount exporting Expert PID Controller 72 change into analogue signal by digital signal, should
Analogue signal is applied to magnetic flow liquid 6, controls the damping characteristic of magnetic flow liquid 6, implements three dimensions to seat body 1 comprehensive
Vibration damping, and collect acceleration signal again, so circulate, reach and be accurately controlled rapidly purpose.
Work process of the present invention is as follows：
When a direction produces vibration, because elastic packing connecting elements 3 belongs to flexible member, it can play similar
The effect of spring, carries out buffer shock-absorbing to seat, and can limit seat and be unlikely to excessive in the displacement of three-dimensional.
Meanwhile, during use, the actual acceleration collecting information transmission to signal is amplified by acceleration transducer 5 to be adjusted
Reason circuit 13, the signal collecting is amplified by signal amplifying and conditioning circuit 13, rectification and filtering, and through modulus/digital-to-analogue
The analog digital conversion of transducer 10 is input in ECU7, and ECU7 calculates the error e (k) during kth time circulation after obtaining signal, and and
Kth -1, the error e (k-1) of k-2 time, e (k-2) compare together as input quantity and acceleration expected value, according to corresponding
Control logic carries out calculating analysis, and exports and be accurately controlled signal, and this control signal is current control amount.This current control
Amount exports to current amplifier 10 after the digital-to-analogue conversion of D and D/A converter 10, inputs fixed magnetic pole plate 8 afterwards
In, change the magnetic field residing for magnetic flow liquid 6, the magnetic-particle in magnetic flow liquid 6 can change disorderly and unsystematic row originally in magnetic field
Row mode, is changed into according to certain direction ordered arrangement, changes the viscosity of magnetic flow liquid 6, changes the flow direction of magnetic flow liquid 6, produces
The different damping forces of life, so that chiasma type damping sheet 21 becomes difficult in this direction of vibration, carry out vibration damping, are followed afterwards
Ring, until making the acceleration very little of seat body 1, till acceleration expected value, realizes the vibration damping to seat body 1.
The present invention also provides a kind of vehicle, and it includes the magnetic flow liquid formula Vehicle damper seat control described in the various embodiments described above
Device processed.The other parts of vehicle are prior art, the not reinflated description of here.
As shown in figure 4, the magnetic flow liquid formula Vehicle damper seat control method that the present embodiment is provided includes：
Step 1, the actual acceleration information of Real-time Collection seat；
Step 2, the actual acceleration information of the seat that step 1 is gathered and acceleration expected value are compared, and obtain one
Individual difference；
Step 3, using difference calculated in step 2 as error input quantity, calculates electricity using expert PID control method
Flow control amount；
Step 4, controls magnetic flow liquid to flow through damping characteristic during damping hole using the current control amount that step 3 obtains, with
In three dimensions, vibration damping is carried out to seat, the actual acceleration information making seat is close to acceleration expected value.
The present embodiment passes through to gather the actual acceleration information of seat, and by the actual acceleration information of seat and acceleration
Expected value is compared, and obtains a difference, this difference as error input quantity, using expert PID control method calculating current
Controlled quentity controlled variable, thus changing magnetic field intensity, makes the magnetic-particle in magnetic flow liquid can change disorderly and unsystematic arrangement originally in magnetic field
Mode, is changed into according to certain direction ordered arrangement, changes the viscosity of magnetic flow liquid, changes the flow direction of magnetic flow liquid, produces not
With damping force so that chiasma type damping sheet becomes difficult in this direction of vibration, carry out vibration damping, be circulated afterwards, until
Make the acceleration very little of seat body, till acceleration expected value, realize the vibration damping to seat body, and then be conducive to carrying
High occupant sits comfortableness on the seat.
Calculate the current control amount being applied to magnetic flow liquid 6 by using expert PID control method, can make one is
The output of system reaches preferable dbjective state.P is proportion adjustment, directly determines the power of control action；I is integral element, can
To eliminate systematic steady state error；D is differentiation element, for prediction deviation, produces advanced corrective action.Expert PID control side
The various knowledge based on controll plant and control law for the method, need not know the accurate model of control object, using expertise Lai
Modification pid parameter.Mainly check the interval of error, the various coefficients in reasonable adjusting PID, be allowed to not be definite value, cause and be
System more has robustness.
In one embodiment, step 3 specifically includes：
Step 31, makes the e (k) of discretization, e (k-1), e (k-2) as error input quantity, e (k) is current sample period
Error amount, e (k-1) is the error amount in previous sampling period, e (k-2) be the first two sampling period error amount, k be follow
Ring number of times, then can be expressed by following formula：
According to Δ e (k)=e (k)-e (k-1) and Δ e (k-1)=e (k-1)-e (k-2), it is calculated following formula：
Δ2E (k)=e (k) -2e (k-1)+e (k-2).
Step 32, the error input quantity being determined according to step 31, using expert PID control method calculating current controlled quentity controlled variable
Method is specific as follows：
(1) exist | e (k) | >=M1And M1For set maximum error boundary in the case of, the error input quantity under this kind of situation
Absolute value very big, no matter so the variation tendency of error amount, being required for being exported according to maximum, to reach
The rapid effect reducing error, controller now is equivalent to opened loop control.Concrete grammar is：M1Could be arranged to different
It is worth, and carries out test of many times and repeatedly debug, obtain each M1Maximum under value is as current control amount.
(2) in the case of e (k) Δ e (k) >=0, the absolute value of the error input quantity under this kind of situation is exhausted towards error
The direction change that value is increased or error input quantity are constant.
If | e (k) |>M2, the absolute value of error input quantity now larger it is contemplated that stronger control is implemented by controller
Effect, the absolute value making error input quantity, towards reducing direction change, reduces rapidly the absolute value of error input quantity, current control amount
For：
U (k)=u (k-1)+k1{kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]}；
Or, u (k)=u (k-1)+k1[kpΔe(k)+kie(k)+kdΔ2e(k)].
In formula, u (k) is the current control amount of kth time output, and u (k-1) is the current control amount of (k-1) secondary output；k1
For gain amplifier factor, k1>1；M2For the limit of error setting, M1>M2；kpProportionality coefficient for PID, kiIntegration system for PID
Number, kdDifferential coefficient for PID.
If | e (k) |<M2, error input quantity now is in the direction change towards increase, but error input quantity is absolute
Value is less it may be considered that implement general control action, to reduce error input quantity so as to the absolute value towards error input quantity subtracts
Little direction change, current control amount is：
U (k)=u (k-1)+kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]；
Or, u (k)=u (k-1)+kpΔe(k)+kie(k)+kdΔ2e(k).
(3) in e (k) Δ e (k)<0、e(k)Δe(k-1)>0 or in the case of e (k)=0, the absolute value of error input quantity
Towards the direction change reducing, or reach poised state.Now it is contemplated that taking holding controller to export constant, electric current
Controlled quentity controlled variable is still：
U (k)=u (k-1).
(4) in e (k) Δ e (k)<0, Δ e (k) Δ e (k-1)<In the case of 0, error input quantity is in extreme value state, such as
Really the absolute value of this time error input quantity is larger, i.e. | e (k) |>M2It is contemplated that implementing stronger control action；If this mistiming
Less, that is, | the e (k) | of absolute value of difference input quantity<M2It is contemplated that implementing weaker control action, then current control amount is：
U (k)=u (k-1)+k1kpem(k)|e(k)|≥M2；
U (k)=u (k-1)+k2kpem(k)|e(k)|<M2；
In formula, k2For rejection coefficient, 0<k2<1；emK () is k-th extreme value of error e, emK () passes through each sampling above
Cycle obtains after data is compared and obtains.
(5) exist | e (k) |<In the case of ε, the absolute value very little of error input quantity, now add integral element, subtract
Lack steady-state error, current control amount is：
In formula, ε is the desired error precision value obtaining, and can be arbitrarily small real number,It is to error
Integral term.
It should be noted that：Pid parameter value k under various situations mentioned abovep、ki、kdIt is different, the present embodiment
In, can be by kpInitial value be set between 30-70%, kiInitial value be set between 24s-180s, kdInitial value set
Between 3-180s, then carry out parameter designing using test of many times debugging, adjust the value of each parameter, finally obtain each feelings
More satisfactory parameter value under shape.
Last it is to be noted that：Above example only in order to technical scheme to be described, is not intended to limit.This
The those of ordinary skill in field should be understood：Technical scheme described in foregoing embodiments can be modified, or right
Wherein some technical characteristics carry out equivalent；These modifications or replacement, do not make the essence of appropriate technical solution depart from this
Invent the spirit and scope of each embodiment technical scheme.
Claims (10)
1. a kind of magnetic flow liquid formula Vehicle damper chair control device is it is characterised in that include：Seat body (1), damper assembly
(2), elastic packing connecting elements (3), casing (4), acceleration transducer (5) and ECU (7), wherein：Described damper assembly (2)
Including the damping sheet (21) being fixedly connected on described seat body (1) bottom in a vertical manner and run through described damping sheet (21)
Damping hole (22)；Enclosed inside have magnetic flow liquid (6) described casing (4) pass through elastic packing connecting elements (3) with described
Damper assembly (2) is tightly connected；Described damper assembly (2) be suspended in be in described magnetic flow liquid (6) can be with described casing (4)
Inner surface remain and separate state；Described acceleration transducer (5) is used for gathering seat acceleration information, and is conveyed to described
ECU(7)；Described ECU (7) is used for receiving the seat acceleration information that described acceleration transducer (5) collects, and according to described
Seat acceleration information calculates the current control amount being applied to described magnetic flow liquid (6), to control described magnetic flow liquid (6) to flow through
Damping characteristic during described damping hole (22).
2. magnetic flow liquid formula Vehicle damper chair control device as claimed in claim 1 is it is characterised in that described ECU (7) wraps
Include：
Comparator (71), it is used for seat acceleration information and the expected value that relatively described acceleration transducer (5) collects, and obtains
To difference；With
Expert PID Controller (72), it is used for the difference obtaining described comparator (71) as error input quantity, using expert
PID control method calculates the current control amount being applied to described magnetic flow liquid (6).
3. magnetic flow liquid formula Vehicle damper chair control device as claimed in claim 2 is it is characterised in that described expert PID
Controller (72) specifically includes：
First computing module (721)：It is used for setting the e (k) of discretization, e (k-1), e (k-2) as error input quantity, e (k)
For the error amount of current sample period, e (k-1) is the error amount in previous sampling period, and e (k-2) is the first two sampling period
Error amount, k is cycle-index, then have the relational expression to be：
Δ2E (k)=e (k) -2e (k-1)+e (k-2)；And
Second computing module (722), the error input quantity being determined according to described first computing module (721), using expert PID control
Method calculating current controlled quentity controlled variable processed, specifically includes：
(1) exist | e (k) | >=M1And M1For set maximum error boundary in the case of, current control amount according to algorithm limit
Big value is exported；
(2) in the case of e (k) Δ e (k) >=0：
If | e (k) |>M2, current control amount is：
U (k)=u (k-1)+k1{kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]}；
Or, u (k)=u (k-1)+k1[kpΔe(k)+kie(k)+kdΔ2e(k)]；
In formula, u (k) is the current control amount of kth time output, and u (k-1) is the current control amount of (k-1) secondary output；k1For putting
Large gain factor, k1>1；M2For the limit of error setting, M1>M2；kpProportionality coefficient for PID, kiIntegral coefficient for PID, kd
Differential coefficient for PID；
If | e (k) |<M2, current control amount is：
U (k)=u (k-1)+kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]；
Or, u (k)=u (k-1)+kpΔe(k)+kie(k)+kdΔ2e(k)；
(3) in e (k) Δ e (k)<0、e(k)Δe(k-1)>0 or in the case of e (k)=0, current control amount is：U (k)=u (k-
1)；
(4) in e (k) Δ e (k)<0, Δ e (k) Δ e (k-1)<In the case of 0, current control amount is：
U (k)=u (k-1)+k1kpem(k)|e(k)|≥M2；
U (k)=u (k-1)+k2kpem(k)|e(k)|<M2；
In formula, k2For rejection coefficient, 0<k2<1；emK () is k-th extreme value of error e；
(5) exist | e (k) |<In the case of ε, current control amount is：
In formula, ε is arbitrarily small real number,It is the integral term to error.
4. magnetic flow liquid formula Vehicle damper chair control device as claimed any one in claims 1 to 3 it is characterised in that
The quantity of the described damping sheet (21) in described damper assembly (2) is three pieces, is configured to intersect and be mutually perpendicular to.
5. magnetic flow liquid formula Vehicle damper chair control device as claimed in claim 4 is it is characterised in that described damper assembly
(2) also include connecting plate (23), the lower surface of described connecting plate (23) connects the top of each piece of described damping sheet (21), upper surface
Connect described seat body (1), described connecting plate (23) sheathed described elastic packing connecting elements (3) outward.
6. magnetic flow liquid formula Vehicle damper chair control device as claimed in claim 5 is it is characterised in that described elastic packing
Connecting elements (3) is annular in shape, and inner ring is set in described damper assembly (2) outward；Described elastic packing connecting elements (3) has and supplies institute
State the circumferential slot (31) that the open top of casing (4) embeds, to be tightly connected described casing (4) and described damper assembly (2).
7. magnetic flow liquid formula Vehicle damper chair control device as claimed in claim 6 is it is characterised in that described casing (4)
Four sides be respectively provided with the fixed magnetic pole plate (8) being wound with magnet exciting coil, described fixed magnetic pole plate (8) pass through current amplifier
(9) electrically connect with Expert PID Controller (72), the current control amount that Expert PID Controller (72) exports is successively via described electricity
Stream amplifier (9) and fixed magnetic pole plate (8), are applied to described magnetic flow liquid (6), to control described magnetic flow liquid (6) to flow through institute
State the damping characteristic of damping hole (22).
8. a kind of vehicle, it includes the magnetic flow liquid formula Vehicle damper chair control dress as any one of claim 1 to 7
Put.
9. a kind of magnetic flow liquid formula Vehicle damper seat control method is it is characterised in that include：
Step 1, the actual acceleration information of Real-time Collection seat；
Step 2, the actual acceleration information of the seat that step 1 is gathered and acceleration expected value are compared, and obtain a difference
Value；
Step 3, using difference calculated in step 2 as error input quantity, using expert PID control method calculating current control
Amount processed；
Step 4, the current control amount being obtained using step 3 controls magnetic flow liquid to flow through damping characteristic during damping hole, with three
In dimension space, vibration damping is carried out to seat, the actual acceleration information making seat is close to acceleration expected value.
10. magnetic flow liquid formula Vehicle damper seat control method as claimed in claim 9 is it is characterised in that step 3 is specifically wrapped
Include：
Step 31, makes the e (k) of discretization, e (k-1), e (k-2) as error input quantity, e (k) is the mistake of current sample period
Difference, e (k-1) is the error amount in previous sampling period, and e (k-2) is the error amount in the first two sampling period, and k is circulation time
Number；
Δ2E (k)=e (k) -2e (k-1)+e (k-2)；And
Step 32, the error input quantity being determined according to step 31, using the method for expert PID control method calculating current controlled quentity controlled variable
Specific as follows：
(1) exist | e (k) | >=M1And M1For set maximum error boundary in the case of, current control amount according to algorithm limit
Big value is exported；
(2) in the case of e (k) Δ e (k) >=0：
If | e (k) |>M2, current control amount is：
U (k)=u (k-1)+k1{kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]}；
Or, u (k)=u (k-1)+k1[kpΔe(k)+kie(k)+kdΔ2e(k)]；
In formula, u (k) is the current control amount of kth time output, and u (k-1) is the current control amount of (k-1) secondary output；k1For putting
Large gain factor, k1>1；M2For the limit of error setting, M1>M2；kpProportionality coefficient for PID, kiIntegral coefficient for PID, kd
Differential coefficient for PID；
If | e (k) |<M2, current control amount is：
U (k)=u (k-1)+kp[e(k)-e(k-1)]+kie(k)+kd[e(k)-2e(k-1)+e(k-2)]；
Or, u (k)=u (k-1)+kpΔe(k)+kie(k)+kdΔ2e(k)；
(3) in e (k) Δ e (k)<0、e(k)Δe(k-1)>0 or in the case of e (k)=0, current control amount is：U (k)=u (k-
1)；
(4) in e (k) Δ e (k)<0, Δ e (k) Δ e (k-1)<In the case of 0, current control amount is：
U (k)=u (k-1)+k1kpem(k) |e(k)|≥M2；
U (k)=u (k-1)+k2kpem(k) |e(k)|<M2；
In formula, k2For rejection coefficient, 0<k2<1；emK () is k-th extreme value of error e；
(5) exist | e (k) |<In the case of ε, current control amount is：
In formula, ε is arbitrarily small real number,It is the integral term to error.
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| CN106945581A (en) * | 2017-03-16 | 2017-07-14 | 清华大学 | A kind of shock-absorbing seat |
| CN107218341A (en) * | 2017-05-03 | 2017-09-29 | 武汉理工大学 | Double-deck active control vibration damping device and method |
| CN107575520A (en) * | 2017-08-04 | 2018-01-12 | 武汉理工大学 | Liquid floating three-dimensional Isolating Platform |
| CN112555342A (en) * | 2020-11-26 | 2021-03-26 | 重庆大学 | Device and method for realizing expected damping force of magnetorheological damper |
| IT201900020000A1 (en) | 2019-10-29 | 2021-04-29 | Eugenio Corsini | IMPACT ABSORPTION DEVICE WITH MAGNETORHEOLOGICAL FLUID FOR ANCHORING A SEAT TO THE CHASSIS OF A VEHICLE |
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| CN106945581A (en) * | 2017-03-16 | 2017-07-14 | 清华大学 | A kind of shock-absorbing seat |
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| CN107575520A (en) * | 2017-08-04 | 2018-01-12 | 武汉理工大学 | Liquid floating three-dimensional Isolating Platform |
| IT201900020000A1 (en) | 2019-10-29 | 2021-04-29 | Eugenio Corsini | IMPACT ABSORPTION DEVICE WITH MAGNETORHEOLOGICAL FLUID FOR ANCHORING A SEAT TO THE CHASSIS OF A VEHICLE |
| CN112555342A (en) * | 2020-11-26 | 2021-03-26 | 重庆大学 | Device and method for realizing expected damping force of magnetorheological damper |
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