CN108189628B - Tire protection device based on intelligent prediction and control method thereof - Google Patents
Tire protection device based on intelligent prediction and control method thereof Download PDFInfo
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- CN108189628B CN108189628B CN201810022623.7A CN201810022623A CN108189628B CN 108189628 B CN108189628 B CN 108189628B CN 201810022623 A CN201810022623 A CN 201810022623A CN 108189628 B CN108189628 B CN 108189628B
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- 238000004364 calculation method Methods 0.000 claims description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/02—Signalling devices actuated by tyre pressure
- B60C23/04—Signalling devices actuated by tyre pressure mounted on the wheel or tyre
- B60C23/0408—Signalling devices actuated by tyre pressure mounted on the wheel or tyre transmitting the signals by non-mechanical means from the wheel or tyre to a vehicle body mounted receiver
- B60C23/0422—Signalling devices actuated by tyre pressure mounted on the wheel or tyre transmitting the signals by non-mechanical means from the wheel or tyre to a vehicle body mounted receiver characterised by the type of signal transmission means
- B60C23/0433—Radio signals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/02—Signalling devices actuated by tyre pressure
- B60C23/04—Signalling devices actuated by tyre pressure mounted on the wheel or tyre
- B60C23/0486—Signalling devices actuated by tyre pressure mounted on the wheel or tyre comprising additional sensors in the wheel or tyre mounted monitoring device, e.g. movement sensors, microphones or earth magnetic field sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/06—Signalling devices actuated by deformation of the tyre, e.g. tyre mounted deformation sensors or indirect determination of tyre deformation based on wheel speed, wheel-centre to ground distance or inclination of wheel axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention discloses a tire protection device based on intelligent prediction and a control method thereof, wherein the tire protection device comprises a tire device, a detection system, an acquisition module, a control system and a braking system; the tire device comprises a tire and a hub base, and the detection system is arranged on the tire device and is used for detecting the distance between the hub base and the inner wall of the tire, detecting a tire pressure signal in the tire and detecting a temperature signal of the tire; the acquisition module transmits the acquired distance signal, the tire pressure signal and the temperature signal to a control system; the control system is used for controlling the brake system so as to control the vehicle to run; and is used for prompting the tire maintenance reminding. The control method adopts T-S fuzzy predictive control, obtains the running safety factor of the tire through a control algorithm according to the input signal, and realizes the functions of warning, overhauling and scram control of the tire according to the difference of the running safety factors, so that the vehicle runs more safely.
Description
Technical Field
The present invention relates to a tire protection device, and more particularly, to a tire protection device based on intelligent prediction and a control method thereof.
Background
The comfort and safety of the driving behaviour depend to a large extent on the operating state of the vehicle tyres. However, it is not easy to accurately estimate parameters such as tire pressure, temperature, and tire/road friction, and especially when a driver drives a vehicle on a road, the estimation of such parameters is more difficult. In order to solve the problems, a series of novel tire sensors and detection equipment are invented in recent 20 years to improve the driving behavior experience and make the driving behavior experience safer and more comfortable. Survey data from NHTSA indicates that tire failure has developed into a significant safety hazard over the past 10 years, and most of them are caused by production defects or improper maintenance. Among the different types of tire failures, insufficient tire air pressure is considered to be the primary factor in current road traffic accidents. In addition, insufficient tire pressure causes increased wear on the tire surface, decreased vehicle performance, increased fuel consumption, and the like. In addition to the tire pressure, the working state of the tire is also affected by various factors including the tire tread, the tire material, the temperature, the bearing, and the like. Therefore, the working state of the tires is comprehensively checked and monitored, and the vehicle can run more safely and comfortably.
Currently, the tire pressure monitoring technology is widely applied to the market and is incorporated into the national standard, and a newly produced vehicle must be provided with a tire pressure monitoring device. As mentioned above, the main factor affecting driving safety and comfort is tire pressure, and in addition to this, other factors need to be considered, such as tire temperature, tire deformation, tire/road friction, etc.
Disclosure of Invention
The purpose of the invention is as follows: in view of the problems and deficiencies of the prior art, the invention aims to provide a tire protection device and a control method thereof, wherein the tire protection device comprehensively monitors important parameters of a tire based on intelligent prediction, and carries out intelligent prediction alarm based on monitored data so as to improve the driving safety and comfort of a vehicle.
The technical scheme is as follows: the invention provides a tire protection device based on intelligent prediction, which comprises a tire device, a detection system, an acquisition module, a control system and a braking system, wherein the detection system is used for detecting the tire device;
the tire device comprises a tire and a hub base;
the detection system is arranged on the tire device and is used for detecting the distance between the hub base and the inner wall of the tire, detecting a tire pressure signal in the tire and detecting a temperature signal of the tire;
the acquisition module transmits the acquired distance signal, the tire pressure signal and the temperature signal to a control system;
the control system is used for controlling the brake system so as to control the vehicle to run; and is used for prompting the tire maintenance reminding.
Furthermore, the detection system comprises an ultrasonic system, a tire pressure monitoring system and a temperature detection system, and the acquisition module is a wireless acquisition module; the ultrasonic system is arranged on the hub base through the reference deviation mirror, and ultrasonic waves emitted by the ultrasonic system are transmitted along an ultrasonic path and used for monitoring distance signals between the hub base and the inner wall of the tire and sending the detected distance signals to the wireless acquisition module in a wireless transmission mode;
the tire pressure monitoring system is used for detecting the tire pressure in a tire and transmitting a detected tire pressure signal to the wireless acquisition module in a wireless transmission mode;
the temperature detection system detects temperature signals of the tire and sends the detected temperature signals to the wireless acquisition module in a wireless transmission mode.
Further, the control system comprises a controller, an auxiliary brake actuating mechanism, a voice reminding system and a display system;
the output of the controller is respectively connected with the input of the auxiliary brake actuating mechanism, the voice reminding system and the display system; the output of the auxiliary brake actuating mechanism is connected with a brake system and used for controlling the vehicle; the voice reminding system is used for voice reminding of that the tire needs to be overhauled; the display system is used for prompting the tire to recommend maintenance.
Further, the brake system comprises a brake, a brake cylinder, a brake pedal and an auxiliary brake cylinder;
the brake is arranged on the hub, the output of the brake pedal is connected with the brake cylinder, and when the brake pedal is stepped, the brake cylinder transmits the braking force to the brake to control the vehicle; the output of the control system is connected with the auxiliary brake cylinder, and the brake force is transmitted to the brake to control the vehicle.
The invention also discloses another tire protection device based on intelligent prediction, which comprises a tire device, a detection system, an acquisition module, a control system and a braking system;
the tire device comprises a tire and a hub base;
the detection system is arranged on the tire device and comprises an ultrasonic system, a tire pressure monitoring system and a temperature detection system, wherein the ultrasonic system is arranged on the hub base through a reference deviation mirror, ultrasonic waves emitted by the ultrasonic system are transmitted along an ultrasonic path and are used for monitoring distance signals between the hub base and the inner wall of the tire and sending the detected distance signals to the acquisition module in a wireless transmission mode; the tire pressure monitoring system is used for detecting the tire pressure in a tire and transmitting a detected tire pressure signal to the acquisition module in a wireless transmission mode; the temperature detection system detects temperature signals of the tires and sends the detected temperature signals to the acquisition module in a wireless transmission mode;
the acquisition module is a wireless acquisition module and transmits acquired distance signals, tire pressure signals and temperature signals to the control system;
the control system comprises a controller, an auxiliary brake executing mechanism, a voice reminding system and a display system, wherein the output of the controller is respectively connected with the input of the auxiliary brake executing mechanism, the input of the voice reminding system and the input of the display system; the output of the auxiliary brake actuating mechanism is connected with a brake system and used for controlling the vehicle; the voice reminding system is used for voice reminding of that the tire needs to be overhauled; the display system is used for prompting the tire to recommend maintenance;
the brake system comprises a brake, a brake cylinder, a brake pedal and an auxiliary brake cylinder, the brake is arranged on a hub, the output of the brake pedal is connected with the brake cylinder, and when the brake pedal is stepped, the brake cylinder transmits the braking force to the brake to control the vehicle; the output of the control system is connected with the auxiliary brake cylinder, and the brake force is transmitted to the brake to control the vehicle.
Wherein, the auxiliary brake actuating mechanism is a stroke motor. The brake is a hydraulic brake.
The invention also discloses a control method based on the intelligent prediction tire protection device, which adopts T-S fuzzy prediction control and comprises the following steps:
(1) defining input and output variables and fuzzy partitioning
Input variable x ═ x1,x2,x3]；
Outputting a variable y;
the variables are defined as follows:
input variable x1: a tire pressure value c;
input variable x2: a fetal temperature value t;
input variable x3The deformation amount is △ l;
an output variable y: a safety factor s;
the fuzzy partition of each input variable is:
input variable x1: fuzzy segmentation of the tire pressure value c:
[ PL (positive Large), ZE (zero), NL (negative Large) ];
input variable x2: fuzzy segmentation of the fetal temperature value t:
[ PL (positive Large), ZE (zero), NL (negative Large) ];
input variable x3Deformation △ l fuzzy segmentation:
[ PL (positive Large), ZE (zero), NL (negative Large) ];
an output variable y: a safety coefficient S is obtained by adopting a T-S fuzzy model, and an output value is an accurate value without fuzzy segmentation;
(2) fuzzy inference
The T-S fuzzy model adopts an if-then rule to define a fuzzy rule, and the specific T-S fuzzy control rule is Ri：
Wherein the content of the first and second substances,
the fuzzy set of the fuzzy system is shown, i is the fuzzy set number, i is 1,2,3, i is positive, zero, negative, j is the input variable number, j is 1,2, 3;
and
to blur the system parameters, the range is (0, 1), yiIn order to obtain the output of the ith rule according to the fuzzy control rule, the input part is fuzzy, the output part is determined, and the T-S fuzzy inference represents the linear combination of the input as the output;
input variable x ═ x1,x2,x3]Firstly, calculating the membership degree of each input variable according to a fuzzy rule:
in the formula (I), the compound is shown in the specification,
respectively the center and the width of the membership function;
(3) fuzzy computation and output
Fuzzy calculation is carried out on the membership degree, and a fuzzy operator is used as a continuous multiplication operator:
in the formula, ωiIs a fuzzy operator, the physical meaning is the weight of the fuzzy control rule of the ith strip,
as an input variable x1Belonging to fuzzy sets
The degree of membership of (a) is,
as an input variable x2Belonging to fuzzy sets
The degree of membership of (a) is,
as an input variable x3Belonging to fuzzy sets
Degree of membership.
Rule output of ith is yiIts weight is ωiThen, calculating the total output value y of the fuzzy model according to the fuzzy calculation result:
(4) output signal processing
The output value y is hierarchically divided into five levels:
the method has the advantages that: y is more than or equal to 0.9 and less than or equal to 1;
good: y is more than or equal to 0.8 and less than 0.9;
and (4) suggesting maintenance: y is more than or equal to 0.7 and less than 0.8;
warning: y is more than or equal to 0.6 and less than 0.7;
dangerous emergency stop: y < 0.6;
wherein, excellent and good indicates that the tire can run normally.
Further, the T-S fuzzy prediction control also comprises a suggested maintenance control scheme, a warning control scheme and an emergency stop control scheme;
the suggested overhaul control scheme is as follows: the controller outputs a suggestion for maintenance to the display system to remind a driver to check the vehicle;
the warning control scheme is as follows: the controller outputs a warning signal to the voice reminding system to remind a driver of checking the vehicle;
the emergency stop control scheme comprises the following steps: the automatic control mode and the manual control mode are divided, and switching can be performed through a switch.
Further, the automatic control mode is: the controller outputs a control signal to control the auxiliary brake actuating mechanism to perform intermittent braking, and the braking action is as follows: braking for 1 second, stopping braking for 1 second, wherein the braking force is total braking force 1/3 of the vehicle, and repeating the steps until the vehicle stops, wherein the automatic control mode can be switched to the manual control mode, and the vehicle is controlled by a driver; manual control mode: when switching to the manual control mode, the driver controls the running of the vehicle by controlling the brake pedal.
Has the advantages that: compared with the prior art, the invention detects the tire pressure, temperature and tire deformation of the tire as input signals, and sends the input signals to the controller in a wireless transmission mode, thereby comprehensively monitoring the tire condition, and being more accurate; the invention adopts a T-S fuzzy prediction control method, obtains a tire running safety system through fuzzy reasoning based on the relation among the temperature, the tire pressure and the deformation of the tire, realizes the functions of warning, overhauling and emergency stop control of the tire according to the difference of the running safety coefficients, ensures that a vehicle runs more safely and has a prediction function.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the T-S fuzzy controller structure of the present invention.
Detailed Description
The present invention is further illustrated by the following figures and specific examples, which are to be understood as illustrative only and not as limiting the scope of the invention, which is to be given the full breadth of the appended claims and any and all equivalent modifications thereof which may occur to those skilled in the art upon reading the present specification.
As shown in fig. 1, the tire protection device based on intelligent prediction includes a tire 1, a reference edge deviation mirror 2, an ultrasonic path 3, an ultrasonic system 4, a brake 5, a brake cylinder 6, a brake pedal 7, a tire pressure monitoring system 8, an auxiliary brake cylinder 9, an auxiliary brake actuator 10, a voice reminding system 11, a display system 12, a controller 13, a wireless acquisition module 14, a hub base 15 and a temperature detection system 16.
The reference edge deviation mirror is fixedly installed on the hub base, the ultrasonic system is installed on the reference edge deviation mirror, ultrasonic waves transmitted by the ultrasonic system are transmitted along an ultrasonic path, and then distance signals (namely deformation of tires) between the hub base and the inner wall of the tire are monitored, and the detected distance signals are sent to the wireless acquisition module in a wireless transmission mode.
The tire pressure monitoring system detects the tire pressure in the tire and transmits the detected tire pressure signal to the wireless acquisition module in a wireless transmission mode.
The temperature detection system detects temperature signals of the tires and sends the detected temperature signals to the wireless acquisition module in a wireless transmission mode.
The wireless acquisition module transmits the acquired temperature signal, tire pressure signal and distance signal (namely the deformation of the tire) to the input end of the controller, and the controller obtains the running safety factor of the tire through a T-S fuzzy control algorithm.
The brake is arranged on the axle, the output of the brake pedal is connected with the brake cylinder, and when a driver steps on the brake pedal, the brake cylinder transmits the braking force to the brake to control the vehicle.
The output of the controller is respectively connected with the input of the auxiliary brake actuating mechanism, the voice reminding system and the display system, the output of the auxiliary brake actuating mechanism is connected with the auxiliary brake cylinder, and the brake force is transmitted to the brake to control the vehicle.
Wherein the tire is a vehicle running tire. The reference edge deviation mirror is fixedly mounted on the hub base and rotates with the wheel to provide an ultrasonic path. The ultrasonic path is an ultrasonic transmission path emitted by the ultrasonic system. The ultrasonic system detects the distance between the hub base and the inner wall of the tire (namely the deformation of the tire), has an infinite transmission function and transmits a detected distance signal to the wireless acquisition module infinitely. The brake is composed of a hydraulic brake for generating a braking force. The wheel cylinder converts the force of the brake pedal into hydraulic pressure to be transmitted to the brake to generate braking force. The brake pedal is constituted by a conventional brake pedal. The tire pressure monitoring system is formed by wireless tire pressure monitoring, and monitored tire pressure signals are transmitted to the wireless acquisition module through wireless transmission. The auxiliary brake cylinder is used for generating braking force and controlling the vehicle. The auxiliary brake actuating mechanism is composed of a stroke motor and is used for controlling the state of an auxiliary brake cylinder so as to generate braking force. The voice reminding system is used for prompting that the tire needs to be overhauled by voice. The display system is used for prompting the tire to recommend maintenance. The wireless acquisition module is used for acquiring temperature signals, pressure signals and deformation signals of the tire. The hub base is used for supporting a vehicle. The temperature detection system collects tire temperature signals and transmits the tire temperature signals to the wireless collection module through wireless transmission.
The controller obtains a vehicle tire danger system through a T-S fuzzy prediction control scheme according to the signal of the wireless acquisition module, so that different control signals are output to respectively control the auxiliary brake actuating mechanism, the voice reminding system and the display system.
Japanese scholars Takagi and Sugeno propose a new fuzzy inference model: and the T-S type fuzzy inference model outputs accurate quantity, so that the output does not need to be subjected to fuzzy solution.
As shown in fig. 2, a control method based on an intelligent prediction tire protection device, based on T-S fuzzy prediction control, includes the steps of:
the first step is as follows: defining input and output variables and fuzzy segmentation:
input variable x ═ x1,x2,x3]；
Outputting a variable y;
the variables are defined as follows:
input variable x1: a tire pressure value c;
input variable x2: a fetal temperature value t;
input variable x3The deformation amount is △ l;
an output variable y: and a safety factor s.
The fuzzy partition of each input variable is:
input variable x1: fuzzy segmentation of the tire pressure value c:
[ PL (positive Large), ZE (zero), NL (negative Large) ].
Input variable x2: fuzzy segmentation of the fetal temperature value t:
[ PL (positive Large), ZE (zero), NL (negative Large) ].
Input variable x3Deformation △ l fuzzy segmentation:
[ PL (positive Large), ZE (zero), NL (negative Large) ].
An output variable y: and the safety coefficient S adopts a T-S fuzzy model, the output value is an accurate value, and fuzzy segmentation is not needed.
The second step is that: fuzzy inference
The T-S fuzzy model adopts an if-then rule to define a fuzzy rule, and the specific T-S fuzzy control rule is Ri
Wherein the content of the first and second substances,
the fuzzy set of the fuzzy system is shown, i is the fuzzy set number, i is 1,2,3, i is positive, zero, negative, j is the input variable number, j is 1,2, 3;
and
to blur the system parameters, the range is (0, 1), yiTo obtain the output of the ith rule according to the fuzzy control rule, the input part is fuzzy, the output part is definite, and the T-S fuzzy inference represents that the output is a linear combination of the input.
Input variable x ═ x in the invention1,x2,x3]Firstly, calculating the membership degree of each input variable according to a fuzzy rule:
in the formula (I), the compound is shown in the specification,
respectively the center and width of the membership function.
The third step: fuzzy computation and output
Fuzzy calculation is carried out on the membership degree, and a fuzzy operator is used as a continuous multiplication operator:
in the formula, ωiIs a fuzzy operator, the physical meaning is the weight of the fuzzy control rule of the ith strip,
as an input variable x1Belonging to fuzzy sets
The degree of membership of (a) is,
as an input variable x2Belonging to fuzzy sets
The degree of membership of (a) is,
as an input variable x3Belonging to fuzzy sets
Degree of membership.
Rule output of ith is yiIts weight is ωiThen, calculating the total output value y of the fuzzy model according to the fuzzy calculation result:
the fourth step: output signal processing
The output value y is hierarchically divided into five levels:
the method has the advantages that: y is more than or equal to 0.9 and less than or equal to 1;
good: y is more than or equal to 0.8 and less than 0.9;
and (4) suggesting maintenance: y is more than or equal to 0.7 and less than 0.8;
warning: y is more than or equal to 0.6 and less than 0.7;
dangerous emergency stop: y < 0.6.
Wherein, excellent and good indicates that the tire can run normally.
In addition, the T-S fuzzy predictive control also comprises a suggested maintenance, warning and emergency stop control scheme:
and (4) suggesting a maintenance control scheme:
the controller outputs a suggestion for maintenance to the display system to remind a driver to check the vehicle;
warning control scheme:
the controller outputs a warning signal to the voice reminding system to remind a driver to check the vehicle.
The emergency stop control scheme comprises the following steps: the automatic control mode and the manual control mode are divided, and switching can be performed through a switch.
Wherein, the automatic control mode: the controller outputs a control signal to control the auxiliary brake actuating mechanism to perform intermittent braking, and the braking action is as follows: and braking for 1 second, stopping braking for 1 second, and controlling the braking force to be 1/3 of the total braking force of the vehicle in a circulating mode until the vehicle stops, wherein the automatic control mode can be switched to a manual control mode, and the vehicle is controlled by the driver.
Manual control mode: when switching to the manual control mode, the driver controls the running of the vehicle by controlling the brake pedal.
The invention collects the tire pressure signal, temperature signal and tire deformation signal of the tire, and sends them to the controller in wireless transmission mode. The control scheme adopts T-S fuzzy predictive control, obtains the running safety factor of the tire through a control algorithm according to an input signal, and realizes the functions of warning, overhauling and scram control of the tire according to the difference of the running safety factors, so that the vehicle runs more safely.
Claims (5)
1. A control method based on an intelligent prediction tire protection device is characterized in that the adopted intelligent prediction tire protection device comprises a tire device, a detection system, an acquisition module, a control system and a braking system;
the tyre device comprises a tyre (1) and a hub base (15);
the detection system is arranged on the tire device and is used for detecting the distance between the hub base and the inner wall of the tire, detecting a tire pressure signal in the tire and detecting a temperature signal of the tire; the detection system comprises an ultrasonic system (4), a tire pressure monitoring system (8) and a temperature detection system (16), and the acquisition module is a wireless acquisition module (14); the ultrasonic system is arranged on the hub base through a reference deviation mirror (2), and ultrasonic waves emitted by the ultrasonic system are transmitted along an ultrasonic path (3) and used for monitoring distance signals between the hub base and the inner wall of the tire and sending the detected distance signals to the wireless acquisition module in a wireless transmission mode;
the tire pressure monitoring system is used for detecting the tire pressure in a tire and transmitting a detected tire pressure signal to the wireless acquisition module in a wireless transmission mode;
the temperature detection system detects a temperature signal of the tire and sends the detected temperature signal to the wireless acquisition module in a wireless transmission mode;
the acquisition module transmits the acquired distance signal, the tire pressure signal and the temperature signal to a control system;
the control system is used for controlling the brake system so as to control the vehicle to run; and is used for prompting the tire maintenance reminding; the control system comprises a controller (13), an auxiliary brake actuating mechanism (10), a voice reminding system (11) and a display system (12); the output of the controller is respectively connected with the input of the auxiliary brake actuating mechanism, the voice reminding system and the display system; the output of the auxiliary brake actuating mechanism is connected with a brake system and used for controlling the vehicle; the voice reminding system is used for voice reminding of that the tire needs to be overhauled; the display system is used for prompting the tire to recommend maintenance;
the control method adopts T-S fuzzy prediction control and comprises the following steps:
(1) defining input and output variables and fuzzy partitioning
Input variable x ═ x1,x2,x3]；
Outputting a variable y;
the variables are defined as follows:
input variable x1: a tire pressure value c;
input variable x2: a fetal temperature value t;
input variable x3: the deformation amount Δ l;
an output variable y: a safety factor s;
the fuzzy partition of each input variable is:
input variable x1: fuzzy segmentation of the tire pressure value c:
[ PL (positive Large), ZE (zero), NL (negative Large) ];
input variable x2: fuzzy segmentation of the fetal temperature value t:
[ PL (positive Large), ZE (zero), NL (negative Large) ];
input variable x3: deformation amount Δ l fuzzy segmentation:
[ PL (positive Large), ZE (zero), NL (negative Large) ];
an output variable y: a safety coefficient S is obtained by adopting a T-S fuzzy model, and an output value is an accurate value without fuzzy segmentation;
(2) fuzzy inference
The T-S fuzzy model adopts an if-then rule to define a fuzzy rule, and the specific T-S fuzzy control rule is Ri：
Wherein the content of the first and second substances,
the fuzzy set of the fuzzy system is shown, i is the fuzzy set number, i is 1,2,3, i is positive, zero, negative, j is the input variable number, j is 1,2, 3;
and
to blur the system parameters, the range is (0, 1), yiTo obtain the output of the ith rule according to the fuzzy control rule, the input part is a moduleFuzzy, the output part is definite, T-S fuzzy reasoning represents the linear combination of the output as the input;
input variable x ═ x1,x2,x3]Firstly, calculating the membership degree of each input variable according to a fuzzy rule:
in the formula (I), the compound is shown in the specification,
respectively the center and the width of the membership function;
(3) fuzzy computation and output
Fuzzy calculation is carried out on the membership degree, and a fuzzy operator is used as a continuous multiplication operator:
wherein, ω isiIs a fuzzy operator, the physical meaning is the weight of the fuzzy control rule of the ith strip,
as an input variable x1Belonging to fuzzy sets
The degree of membership of (a) is,
as an input variable x2Belonging to fuzzy sets
The degree of membership of (a) is,
as an input variable x3Belonging to fuzzy sets
Degree of membership of;
rule output of ith is yiIts weight is ωiThen, calculating the total output value y of the fuzzy model according to the fuzzy calculation result:
(4) output signal processing
The output value y is hierarchically divided into five levels:
the method has the advantages that: y is more than or equal to 0.9 and less than or equal to 1;
good: y is more than or equal to 0.8 and less than 0.9;
and (4) suggesting maintenance: y is more than or equal to 0.7 and less than 0.8;
warning: y is more than or equal to 0.6 and less than 0.7;
dangerous emergency stop: y < 0.6;
wherein, excellence and well indicate that the tire can run normally;
the T-S fuzzy predictive control also comprises a suggested maintenance control scheme, a warning control scheme and an emergency stop control scheme;
the suggested overhaul control scheme is as follows: the controller outputs a suggestion for maintenance to the display system to remind a driver to check the vehicle;
the warning control scheme is as follows: the controller outputs a warning signal to the voice reminding system to remind a driver of checking the vehicle;
the emergency stop control scheme comprises the following steps: the automatic control mode and the manual control mode are divided, and switching can be performed through a switch;
the automatic control mode is as follows: the controller outputs a control signal to control the auxiliary brake actuating mechanism to perform intermittent braking, and the braking action is as follows: braking for 1 second, stopping braking for 1 second, wherein the braking force is total braking force 1/3 of the vehicle, and repeating the steps until the vehicle stops, wherein the automatic control mode can be switched to the manual control mode, and the vehicle is controlled by a driver;
manual control mode: when switching to the manual control mode, the driver controls the running of the vehicle by controlling the brake pedal.
2. The intelligent prediction based tire protection device control method according to claim 1, wherein the brake system comprises a brake (5), a brake cylinder (6), a brake pedal (7) and an auxiliary brake cylinder (9);
the brake is arranged on the hub, the output of the brake pedal is connected with the brake cylinder, and when the brake pedal is stepped, the brake cylinder transmits the braking force to the brake to control the vehicle; the output of the control system is connected with the auxiliary brake cylinder, and the brake force is transmitted to the brake to control the vehicle.
3. The intelligent prediction-based control method for a tire protection device according to claim 1, wherein another structure of the intelligent prediction-based tire protection device is adopted: the device comprises a tire device, a detection system, an acquisition module, a control system and a braking system;
the tyre device comprises a tyre (1) and a hub base (15);
the detection system is arranged on a tire device and comprises an ultrasonic system (4), a tire pressure monitoring system (8) and a temperature detection system (16), wherein the ultrasonic system is arranged on a hub base through a reference deviation mirror (2), and ultrasonic waves emitted by the ultrasonic system are transmitted along an ultrasonic path (3) and used for monitoring distance signals between the hub base and the inner wall of a tire and sending the detected distance signals to an acquisition module in a wireless transmission mode; the tire pressure monitoring system is used for detecting the tire pressure in a tire and transmitting a detected tire pressure signal to the acquisition module in a wireless transmission mode; the temperature detection system detects temperature signals of the tires and sends the detected temperature signals to the acquisition module in a wireless transmission mode;
the acquisition module is a wireless acquisition module and transmits acquired distance signals, tire pressure signals and temperature signals to the control system;
the control system comprises a controller (13), an auxiliary brake executing mechanism (10), a voice reminding system (11) and a display system (12), wherein the output of the controller is respectively connected with the input of the auxiliary brake executing mechanism, the voice reminding system and the display system; the output of the auxiliary brake actuating mechanism is connected with a brake system and used for controlling the vehicle; the voice reminding system is used for voice reminding of that the tire needs to be overhauled; the display system is used for prompting the tire to recommend maintenance;
the brake system comprises a brake (5), a brake cylinder (6), a brake pedal (7) and an auxiliary brake cylinder (9), the brake is mounted on a hub, the output of the brake pedal is connected with the brake cylinder, and when the brake pedal is stepped, the brake cylinder transmits the braking force to the brake to control the vehicle; the output of the control system is connected with the auxiliary brake cylinder, and the brake force is transmitted to the brake to control the vehicle.
4. The intelligent prediction-based control method for a tire protection device according to claim 3, wherein: the auxiliary brake actuating mechanism is a stroke motor.
5. The intelligent prediction-based control method for a tire protection device according to claim 3, wherein: the brake is a hydraulic brake.
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| CN109532353B (en) * | 2018-12-14 | 2020-12-01 | 上海为彪汽配制造有限公司 | Tire thickness detection method and monitoring system |
| CN111521417B (en) * | 2020-04-18 | 2022-10-14 | 蔚蓝计划(北京)科技有限公司 | Auxiliary device for detecting bubbles of automobile tire |
| CN114580828A (en) * | 2021-12-29 | 2022-06-03 | 吉林大学 | Safety evaluation method for numerical control machine during transportation process |
| CN115320608B (en) * | 2022-10-17 | 2023-01-03 | 广东粤港澳大湾区黄埔材料研究院 | Method, device and system for monitoring tire road surface information |
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