CN108569093A - A kind of parallel compound electromagnetic suspension system and vehicle - Google Patents
A kind of parallel compound electromagnetic suspension system and vehicle Download PDFInfo
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- CN108569093A CN108569093A CN201810426736.3A CN201810426736A CN108569093A CN 108569093 A CN108569093 A CN 108569093A CN 201810426736 A CN201810426736 A CN 201810426736A CN 108569093 A CN108569093 A CN 108569093A
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- piston
- damper
- motor
- damping
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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
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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
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention discloses a kind of parallel compound electromagnetic suspension system and vehicle.System includes：MR damper, electromagnetism action device and controller；One end of the MR damper connects the car body, and the other end connects the wheel；One end of the electromagnetism action device connects the car body, and the other end connects the wheel, and the electromagnetism action device includes motor, and the motor is connect with the controller, and the controller is used to control the rotation of the motor.System using the present invention, the suspension in parallel composition active control operating mode comprising MR damper and electromagnetism action device, half active can be made without energy regenerative controlled load case, partly actively there are 4 kinds of working conditions of energy regenerative controlled load case and passive energy regenerative operating mode, increase the adaptability of the diversity and different road conditions of suspension operating mode.
Description
Technical field
The present invention relates to field of vehicle control, more particularly to a kind of parallel compound electromagnetic suspension system and vehicle.
Background technology
Vehicle suspension system mitigates the shock and vibration that road roughness generates suspension supporting car body, play every
The effect shaken.Since the eighties in last century, suspension dissipation energy has just obtained the extensive concern of domestic and foreign scholars, with
The it is proposed of energy saving concept and the popularization of new energy technology, how to recycle suspension vibrational energy becomes the hot spot of research.It is beautiful
The assignment problem that flows to that Environmental Protection Administration of state is directed to the automobile energy sold on American market has carried out a large amount of investigation, as a result
Show that the engine power that vibration damping dissipates is about 17.2%, Jilin University in the vast equal simulation study based on CarSim softwares of length
Show that damper is with the work(of thermal dissipation when the SUV vehicles of certain type four-wheel drive travel on C grades of road surfaces with the speed of 10m/s
Rate accounts for the 42.3% of engine output.With the popularization and development of new energy and complete electric vehicle technology, if energy can be used
Retracting device recycles suspended vibration energy, and the cruising ability of vehicle will can be improved；At the same time, if former will can passively hang
Extension changes controllable suspension into, can also improve the riding comfort of vehicle, improves control stability, has important practical significance.
Energy electromagnetic suspension system directly realizes that actively output and energy regenerative, energy turn by mutual conversion electrically and magnetically
Change rapid and direct, easily designed and real vehicle application.Structure of the linear motion actuator is simple, can directly contribute and realize vibration damping and energy regenerative, but
It contributes limited, energy regenerative power density is not high enough；Electric rotating machine power density is big, compact-sized, big, good reliability of contributing, but needs
Want a set of movement transforming device that linear motion is changed into rotary motion；Pinion-and-rack structure is easily designed and installs, power transmission
Big and transmission is accurate, and therefore, the present invention uses pinion-and-rack structure.
Electromagnetic actuator (Electric Actuator, electromagnetism act device) be it is a kind of can according to the work operating mode of motor,
What is switched between active control and energy regenerative has both the efficient actuator of vibration damping and characteristic.When motor works in Generator Status
When, suspension is encouraged by road roughness and is moved back and forth, drive motor rotor positive and negative rotation, the magnetic strength that cutting permanent magnet generates
Line so that electric current, the electric energy made of energy regenerative circuit and energy storage device can change some mechanical are generated in electrical-coil
It is recycled, just plays the role of energy regenerative.In the process, the electric current in coil will produce one and rotor rotation side
To opposite Ampere force, rotary motion, referred to as electromagnetic damping power are hindered.By energy regenerative circuit analysis it is found that electromagnetism acts device knot
Timing, the size of the electromagnetic damping power are mainly influenced by external resistance structure parameter.Since energy regenerative circuit itself is lower layer
Control loop is more difficult to the passive active control of suspension progress by way of changing electromagnetic damping power.
Due to the characteristic of motor itself, there is " dead zone " phenomenon under low-speed conditions, i.e., when speed is less than some value, motor
Do not generate electricity and generate electromagnetic damping power.If individually replacing former passive damping device with electromagnetism action device, making suspension, there are low
Undamped state under the conditions of speed；Meanwhile when control loop fails, electromagnetism acts device and does not also generate electromagnetic damping power, makes
It must hang and not have " fail-safe " characteristic, not meet damping requirements.
MR damper (Magneto-rheological Damper, MR damper) is that a kind of damping force is adjustable
Intelligent damper flowed through by the coil energization on damping piston, changing the magnetic field intensity in damping gap to change
The viscosity for damping the magnetorheological fluid (Magneto-rheological Fluid, MRF) in gap, realizes the function of variable damping；It takes
Disappear after power-up, magnetic field disappears, then MRF is restored to zero magnetic field state again, and MR damper is restored to viscous damping power.Magnetic current
Variable damping device flexible design, easy for installation, damping adjustable extent is big, response is rapid and easily controllable, is a kind of ideal
Damper.
The Liu Songshan of Jilin University is sent out when the parallel-connection structure ball screw type electromagnetism feed energy suspension to design is studied
It is existing, so that electromagnetic suspension system is met damping force and energy regenerative requirement, need the motor for matching relatively high power, but can increase size and at
This, and the increase of inertia is unfavorable to hanging.Electromagnetic actuator is subjected to compound design, Ke Yitong with adjustable damper is damped
Cross the contradiction for designing corresponding energy management strategies improvement vibration damping and energy regenerative.The Wang Yanyang of University Of Chongqing devises a kind of built-in magnetic
Rheological damper, the combined electromagnetic actuator configurations of external linear motor type, this structural volume is larger, compound design knot
Structure is complicated, and the magnetic field that external linear motor generates in energy regenerative power generation process can be to internal MR damper work production
It is raw to influence.In addition, being limited to the higher leakage field rate of linear motor and lower generating efficiency, practical energy regenerative power is typically only several
Watt, it is difficult to meet the needs of to higher energy regenerative performance.
Invention content
The object of the present invention is to provide a kind of parallel compound electromagnetic suspension system and vehicles, to solve damping and feedback
The paradox of energy increases the adaptability of the diversity and different road conditions of suspension operating mode.
To achieve the above object, the present invention provides following schemes：
A kind of parallel compound electromagnetic suspension system, the system comprises：MR damper, electromagnetism action device and control
Device；
One end of the MR damper connects the car body, and the other end connects the wheel；
One end of the electromagnetism action device connects the car body, and the other end connects the wheel, and the electromagnetism acts device packet
Containing motor, the motor is connect with the controller, and the controller is used to control the rotation of the motor.
Optionally, the system also includes：Power supply unit, the power supply unit be separately connected the MR damper and
The electromagnetism acts device, and the power supply unit is used for the MR damper and electromagnetism action device power supply.
Optionally, the system also includes：MR damper supply lines, the both ends of the MR damper supply lines
It is separately connected the MR damper and the power supply unit.
Optionally, the MR damper includes：It is hung under lifting lug, protective cover, steel cylinder, piston component and first on first
Ear, aperture is arranged in lifting lug side on described first, and the protective cover is connected through a screw thread with lifting lug on described first, the protection
Cover is for preventing dust from entering the MR damper；The piston component is fixedly connected with lifting lug on described first；It is described
Steel cylinder is fixedly connected with the piston component, and the steel cylinder is used to provide enclosure space for the piston component；Under described first
Lifting lug is connect with the steel cylinder and wheel respectively.
Optionally, the piston component includes：Piston rod, end cover, guide piston, damping piston, coil, annular are close
Seal, upper working chamber, lower working chamber, floating piston, compensation air chamber and charge valve, the piston rod connect with the upper lifting lug
Connect, the piston rod is connect with the end cover, and the end cover is fixedly connected with steel cylinder, the guide piston with it is described
Piston rod is connected through a screw thread, and the guide piston is sealed by the twice ring type seal and the steel cylinder；The piston
Bar is threadedly coupled with the damping piston, and the coil winding is on the damping piston, and walking across the damping piston
String holes is pierced by after being then passed through the piston rod inner through-hole, is connect with power supply unit；The upper working chamber and the lower working chamber
The both sides up and down of the guide piston are located at, magnetorheological fluid is full of in the upper working chamber and the lower working chamber, it is described
Magnetorheological fluid is for providing magnetic field intensity；The floating piston is located at the lower end of the lower work chamber, the compensation air chamber
Positioned at the lower end of the floating piston, nitrogen is full of in the compensation air chamber, nitrogen is charged into compensation gas by the charge valve
In chamber.
Optionally, the guide piston upper end offers the first magnetorheological fluid recirculation hole, the first magnetorheological fluid circulation
A diameter of 3mm in hole；The guide piston lower end offers the second magnetorheological fluid recirculation hole, the second magnetorheological fluid recirculation hole
A diameter of 10mm.
Optionally, the system also includes：Electromagnetism acts device supply lines, and the electromagnetism action device supply lines includes that control is believed
Number line and electromagnetism act device feed line, and the both ends of the control signal wire are separately connected the electromagnetism action device and the control
The both ends of device, the electromagnetism action device feed line are separately connected the electromagnetism action device and the power supply unit.
Optionally, the electromagnetism action device includes：Lifting lug, gear assembly, steel cylinder, motor and second time lifting lug on second,
Lifting lug is connect with the car body on described second, and the upper end of the gear assembly is connect with the upper lifting lug, the gear assembly
Lower end connect with the steel cylinder, the motor is located at the side of the gear assembly, and the motor connects with the gear assembly
It connects, the both ends of second time lifting lug are connect with steel cylinder and the wheel respectively.
Optionally, the motor includes rotating servo motor and planetary reducing motor, one end of the planetary reducing motor
The gear assembly is connected, the other end connects the rotating servo motor, the rotating servo motor and planetary reduction gear electricity
Machine is fixedly connected by spline.
To achieve the above object, the present invention provides following schemes：
A kind of parallel compound electromagnetic suspension system vehicle, the vehicle include parallel connection described in any one of claim 1-9
Combined electromagnetic suspension.
According to specific embodiment provided by the invention, the invention discloses following technique effects：Parallel connection disclosed by the invention
Combined electromagnetic suspension includes：MR damper, electromagnetism action device and controller；One end of the MR damper
The car body is connected, the other end connects the wheel；One end of the electromagnetism action device connects the car body, and the other end connects institute
Wheel is stated, the electromagnetism action device includes motor, and the motor is connect with the controller, and the controller is described for controlling
The rotation of motor.Since electromagnetism action device works in actively output, energy regenerative and without control three state, the magnetic current variable resistance
Buddhist nun's device is operable with passive damping and semi- active control two states, therefore MR damper and electromagnetism action device both members
The suspension in parallel of part composition constitute active control operating mode, half actively without energy regenerative controlled load case, partly actively have energy regenerative control
4 kinds of working conditions of operating mode and passive energy regenerative operating mode increase the adaptability of the diversity and different road conditions of suspension operating mode.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is parallel compound electromagnetic suspension system structure chart of the embodiment of the present invention；
Fig. 2 is MR damper structural schematic diagram of the embodiment of the present invention；
Fig. 3 is that electromagnetism of the embodiment of the present invention acts device structural schematic diagram；
Fig. 4 is that electromagnetism of the embodiment of the present invention acts device friction force-displacement behavior figure；
Fig. 5 is that electromagnetism of the embodiment of the present invention acts device frictional force-speed characteristic figure；
Fig. 6 is that electromagnetism of the embodiment of the present invention acts device electromagnetic damping power-speed characteristic figure；
Fig. 7 is that electromagnetism of the embodiment of the present invention acts device electromagnetic damping coefficient-speed characteristic figure；
Fig. 8 is that electromagnetism of the embodiment of the present invention acts device active power producing characteristics figure；
Fig. 9 is that electromagnetism of the embodiment of the present invention acts device induced electromotive force and hangs the relational graph of relative velocity；
Figure 10 is MR damper of embodiment of the present invention damping force-placement property figure；
Figure 11 is MR damper of embodiment of the present invention damping force-speed characteristic figure；
Figure 12 is MR damper pictorial diagram of the embodiment of the present invention；
Figure 13 is that electromagnetism of the embodiment of the present invention acts device pictorial diagram.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of parallel compound electromagnetic suspension system and vehicles, to solve damping and feedback
The paradox of energy increases the adaptability of the diversity and different road conditions of suspension operating mode.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is parallel compound electromagnetic suspension system structure chart of the embodiment of the present invention.As shown in Figure 1, a kind of parallel connection is compound
Formula electromagnetic suspension system, the system comprises：MR damper 1, electromagnetism action device 2 and controller 3；
One end of the MR damper 1 connects the car body 4, and the other end connects the wheel 5；
One end of the electromagnetism action device 2 connects the car body 4, and the other end connects the wheel 5, and the electromagnetism acts device
2 include motor 6, and the motor 6 is connect with the controller 3, and the controller 3 is used to control the rotation of the motor 6.
The system also includes：Power supply unit 7, the power supply unit are separately connected the MR damper and the electricity
Magnetic acts device, and the power supply unit is used for the MR damper and electromagnetism action device power supply.
The system also includes：The both ends of MR damper supply lines 8, the MR damper supply lines connect respectively
Connect the MR damper and the power supply unit.
Fig. 2 is MR damper structural schematic diagram of the embodiment of the present invention.As shown in Fig. 2, the MR damper 1 wraps
It includes：Lifting lug 11, protective cover 12, steel cylinder 13, piston component 14 and first time lifting lug 15 on first, described first hangs oneself 11 ear sides
Aperture is set, and the protective cover 12 is connected through a screw thread with lifting lug 11 on described first, and the protective cover 12 is for preventing dust
Into the MR damper 1；The piston component 14 is fixedly connected with lifting lug 11 on described first；The steel cylinder 13 and institute
It states piston component 14 to be fixedly connected, the steel cylinder 11 is used to provide enclosure space for the piston component 14；It is hung under described first
Ear 15 is connect with the steel cylinder 13 and wheel 5 respectively.
The piston component includes：Piston rod, end cover, guide piston, damping piston, coil, ring type seal, on
Working chamber, lower working chamber, floating piston, compensation air chamber and charge valve, the piston rod are connect with the upper lifting lug, the work
Stopper rod is connect with the end cover, and the end cover is fixedly connected with steel cylinder, and the guide piston is logical with the piston rod
Threaded connection is crossed, the guide piston is sealed by the twice ring type seal and the steel cylinder；The piston rod with it is described
Damping piston is threadedly coupled, and the coil winding passes through the cable hole of the damping piston on the damping piston, then wears
It is pierced by after crossing the piston rod inner through-hole, is connect with power supply unit；The upper working chamber and the lower working chamber are located at
Magnetorheological fluid, the magnetorheological fluid are full of in the both sides up and down of the guide piston, the upper working chamber and the lower working chamber
For providing magnetic field intensity；The floating piston is located at the lower end of the lower work chamber, and the compensation air chamber is located at described
The lower end of floating piston, the compensation air chamber is interior to be full of nitrogen, and nitrogen is charged by the charge valve in compensation air chamber.
The guide piston upper end offers the first magnetorheological fluid recirculation hole, the diameter of the first magnetorheological fluid recirculation hole
For 3mm；The guide piston lower end offers the second magnetorheological fluid recirculation hole, the second magnetorheological fluid recirculation hole it is a diameter of
10mm。
The system also includes：Electromagnetism acts device supply lines, and the electromagnetism action device supply lines includes 9 He of control signal wire
Electromagnetism acts device feed line 10, and the both ends of the control signal wire 9 are separately connected the electromagnetism action device 2 and the controller 3,
The both ends of the electromagnetism action device feed line 10 are separately connected the electromagnetism action device 2 and the power supply unit 7.
Fig. 3 is that electromagnetism of the embodiment of the present invention acts device structural schematic diagram.As shown in figure 3, the electromagnetism action device includes 2：
Lifting lug 21, gear assembly 22, steel cylinder 23, motor 6 and second time lifting lug 24 on second, lifting lug 21 and the car body on described second
4 connections, the upper end of the gear assembly 23 are connect with lifting lug 21 on described second, the lower end of the gear assembly 22 and the steel
Cylinder 23 connects, and the motor 6 is located at the side of the gear assembly 22, and the motor 6 is connect with the gear assembly 22, described
The both ends of second time lifting lug 24 are connect with steel cylinder 23 and the wheel 5 respectively.
The motor includes rotating servo motor and planetary reducing motor, described in one end connection of the planetary reducing motor
Gear assembly, the other end connect the rotating servo motor, and the rotating servo motor and the planetary reducing motor pass through flower
Key is fixedly connected.
Since electromagnetism action device works in actively output, energy regenerative and without control three state, the MR damper
It is operable with passive damping and semi- active control two states, therefore MR damper and electromagnetism action device both element groups
At suspension in parallel constitute active control operating mode, half actively without energy regenerative controlled load case, partly actively have energy regenerative controlled load case
With 4 kinds of working conditions of passive energy regenerative operating mode, the adaptability of the diversity and different road conditions of suspension operating mode is increased.Parallel connection is outstanding
The switching control strategy of extension system (PCES) is as shown in table 1.In tableAnd RMS_fdIt is a period of time tgapInterior system
The root-mean-square value of meter, whereinFor practical vehicle body normal acceleration,For vehicle body normal acceleration setting value, RMSfdFor
Actual suspension moves stroke, [fd] be suspension move travel set point, according to decision logic as a result, meet vehicle body normal acceleration and
After two conditions of stroke are moved in suspension, it is switched to corresponding suspension (PCES) operating mode in parallel, determines that electromagnetism acts device
(EA) active control or energy regenerative pattern are worked in, MR damper (MRD) works in zero magnetic field model or variable damping pattern.
1 switching control strategy of table
Multi-mode switching control process uses logic decision mode, clearance pairAnd fdBetween two indices and respective threshold value
Magnitude relationship judgement, which kind of pattern decision systems work in.Pattern switching rule is：
1) passive energy regenerative (PER) pattern
WhenAnd RMS_fd≤[fd] when,And fdValue be less than threshold value, it is believed that ride comfort at this time
Property it is preferable, and hang hit limited block probability it is smaller, then switch to PER mode, be not necessarily to vibration damping, system is in complete energy regenerative shape
State.
2) half active energy regenerative (SER) pattern
WhenAnd RMS_fd＞ [fd] when,Value be less than threshold value, but fdValue be more than threshold value, recognize
It is preferable for riding comfort at this time, but the probability for hanging shock limited block becomes larger.To improve driving safety, system switches to
SER patterns.System is in semi- active control+energy regenerative state, and semi- active control is to reduce fd, and energy regenerative can still carry out energy and return
It receives.
3) half actively without energy regenerative (SC) pattern
WhenAnd RMS_fd≤[fd] when,Value be more than threshold value, but fdValue be less than threshold value, recognize
It is poor for riding comfort at this time, it needs to carry out vibration damping control.It, only need to be into since the probability that limited block is hit in suspension is smaller
Row semi- active control, no longer carries out energy regenerative, and system switches to SC patterns.
4) active control (AC) pattern
WhenAnd RMS_fd＞ [fd] when,And fdBe more than threshold value, it is believed that at this time riding comfort compared with
Difference needs to carry out vibration damping control.Since the probability that limited block is hit in suspension is also larger, active control need to be carried out, system switches to
AC patterns.
In the design of multi-mode switching control strategy, tgapValue determine how long execute a switching control
Judge, if value is smaller, switching is excessively frequent, is had an impact to the service life of control system and actuator；If value is excessive, switching
Take a long time just to can determine that once, and is unable to reach effective switching control effect.Tang poetry morning is more to damper damping
During pattern switching control, the temporal reference value of design is 2s, since damper is semi-automatic control device, the switching of damping
Without too big adjustment, therefore multiple switching can be executed within a short period of time, also do not interfere with system performance, the switching time of 2s
Reference value can meet design requirement.To the multi-mode switch controller of the composite hanger of linear motor and adjustable damper design,
The time rule of thumb provided is 5s, and 0~5s time intervals are once calculated.Shorter time interval, to convex block and pit
Etc. road conditions burst situation filtering performance it is poorer, but time interval is long, and data excessively smoothly can not can embody current road again
Real case, and data volume to be treated is significantly increased, and influences system response time.Consider above-mentioned factor, this
Invention is set as 10s to timing statistics section, and determination is switched to next working condition to switching judging after the completion.
Consider following scenario described, if previous moment PCES works in SC patterns, due to the presence of SC, comfort index obtains
It improves,Decline.Because comfort index is improved, switch controller judgement can suitably be reduced to comfort subsequent time
Requirement, and PER or SER patterns are switched to, but actually still under the control model for needing SC, then at this time from SC patterns
Switch to PER or SER be not to.The problem can cause system judgement mistake occur, lead to the disorder of system.
If data acquiring frequency is f, tgapData amount check in section is N=f*tgap, every tgapPeriod calculates one
It is secondaryAnd fdRoot-mean-square value, and carry out a switching control judge.If only with time interval tgapAs the foundation of switching control,
Then controller may back and forth jump in the result of calculating between several operating modes, be unfavorable for the stabilization of system.Based on this,
Controller calculatesAnd RMS_fd, after being compared respectively with corresponding threshold value, first result of calculation can make to obtain
One switching control pattern enters prepared switching state, then in the latter tgapSwitching judging next time is carried out in period again,
If continuous m judgement result be it is same as a result, if at the m times execute switching later, otherwise do not switch, if different within m times
As a result, then counted again from different that time, until meeting switching condition, the steady of handover control system can be increased in this way
It is qualitative.
Replace former passive damper using the parallel connection electromagnetic suspension system, following demand should be met in the design process：
A) basic damping force requirement.The damped coefficient 1600N.s/m of former passive damper is actively controlled according to half to suspension
System emulation is it is found that basic damping value is smaller, and adjustable damping value is bigger, then the control effect that can be obtained during control is got over
It is good.The basic damping value having therefore, it is necessary to the parallel connection electromagnetic suspension system is the smaller the better.The basis of electromagnetic suspension system in parallel
Damping force includes mainly mechanical friction damping force two parts of the viscous damping power and electromagnetism action device of MR damper, due to
In view of actively, partly a variety of work operating modes such as active and energy regenerative, half active of composite structure or active control performance ratio are independent
Half actively or the control performance of active actuators is slightly worse, for the control performance for meeting certain, the requirement to basis damping is little
In the 60% of former passive damping, i.e., about 960N.s/m.In the case of the basis damping value can meet thrashing substantially, suspension for
The demand of damping makes system have " fail-safe " characteristic.
B) MR damper damps tunability demand.Ensure that MR damper can perform effectively half and actively control
System should make the difference of its maximum damped coefficient and former passive damping value, not less than the difference of passive damping and basis damping, i.e.,
Passive damping 1600N.s/m, if basis damping 960N.s/N, maximum damping are not less than 2240N.s/m, it is assumed that electromagnetism acts device
Mechanical friction damping value be 480N.s/m, then MR damper maximum damping value should be not less than 1760N.s/m.
C) active output demand.Actively contribute by electromagnetism action device provide, consumption control energy, primarily directed to need compared with
The occasion of good vehicle ride performance.With reference to U.S. army's " lancer " battlebus to the design requirement of Active Suspensions actuator, start
Device maximum output is 0.9 times of car weight, and nominal output is 0.3 times of car weight.Above-mentioned active output demand is matched, is needed larger
Power of motor, propose in patent ZL201621110157.0 " a kind of active electromagnetic actuator based on gear ＆ rack structure "
For common 4 wheel vehicle, power of motor needs about 1000W.Electromagnetic suspension system in parallel in the present invention with electromagnetism due to acting
Two kinds of devices of device and MR damper can make damping assist active control, to reduce to pure by designing control strategy
The demand of active controlling force.Therefore, to the demand of active controlling force " lancer " design requirement on the basis of, based on reduction
Dynamic 60% to contribute.
Damping piston uses the preferable DT4 electrical pure irons of magnetic conductivity, guide piston, piston rod and steel cylinder to use and have both intensity
With the 45# steel of certain magnetic property, coiling is used copper enameled wire, is sealed using epoxy resin outside coiling.Magnetorheological damping
Device Partial key part dimension is as shown in table 2.
2 MR damper Partial key part dimension of table
MR damper is in parallel with electromagnetism action device, and the control of MR damper, which is divided into, has control and without control shape
State, under MR damper no-console condition, MR damper retains the viscous damping power in zero magnetic field.There is state of a control
When, suspension, which moves back and forth, drives the piston rod of MR damper to generate linear reciprocation relative motion with steel cylinder, if passing through electricity
For line to coil power supply, the magnetic field intensity in damping gap between guide piston and damping piston can then change the glutinous of MRF
Degree plays the purpose of decaying suspended vibration to change MR damper damping force, realizes that MR damper half is actively controlled
System.
MR damper damping force working forms have 3 kinds of shearing, valve type and shearing valve type, the MR damper
Interior external piston structure makes magnetorheological fluid (Magneto-rheological Fluid, MRF) in the effect of piston both ends pressure difference
It is only down flow pattern, therefore MR damper damping force works in valve type.MR damper damping force includes viscid resistance
Buddhist nun's power and Coulomb damping power, damping force expression formula are
In formula：FdFor total damping power, unit N；F0For viscous damping power, unit N；FfFor Coulomb damping power, unit N；η is
MRF null field viscosity, unit Pa.s；L is effective damping gap length, unit mm；ApFor piston area, unit mm2；H is that damping is stitched
Gap width, unit mm；D is piston external diameter, unit mm；D is diameter of piston rod, unit mm；τyIt is single for MRF shear yield strengths
Position kN/mm2；V is suspension speed of related movement, unit m/s.
Motor uses the HLM-9607H06LN type DC rotation servo motors of MOTEC companies production, the motor to have volume
Small, the advantages that energy density is big and easily controllable, meets type selecting demand of the electromagnetism action device to motor.Planetary reducer use with
The MOTEC-APE60-16 type speed reducers of motor cooperation, the type speed reducer have transmission torque big and compact-sized and are easy to tie up
The advantages that shield, is matched by reduction ratio, meets the requirement to planetary reducer.Electromagnetism acts device critical component size such as 3 institute of table
Show.
3 electromagnetism of table acts device critical component size
It is encouraged by road roughness in vehicle travel process, suspension generates reciprocating motion, on the one hand drives electromagnetism action
Linear reciprocation relative motion is generated between the rack and steel cylinder of device, rack drives gear generates crankmotion, and gear passes through
Gear shaft drives the shaft rotation of planetary reducer dynamic, and planetary reducer drives rotating servo motor by internal planetary motion
Shaft rotates, and the magnetic induction line in the magnetic field that cutting permanent magnet generates is rotated by rotor and realizes power generation energy regenerative, at the same time, power generation
The electromagnetic damping power of generation acts on suspension by opposite path, plays certain damping effect, and this working method is referred to as
The passive active control of device is acted for electromagnetism.When motor makees active control, torque and movement direction of transfer and energy regenerative direction phase
Instead, energy is consumed when active control.Suspended vibration signal is detected by sensor, and controller is given to after data collecting instrument, is led to
The opportunity that Algorithm of Active Control judges the size and output actively contributed is spent, by powering to electrical-coil, what motor generated turns
Square amplifies torque by planetary reducer, and rotary motion is become suspension linear motion, plays active control vibration damping by rack-and-pinion
Effect.
Disregard transmission efficiency, the movement conversion formula between motor and suspension is represented by
In formula, F is that rack moves back and forth power output, unit N；T is gear torque, unit Nm；N is motor speed, unit
r/min；I is deceleration transmission ratio；RgFor gear compound graduation radius of circle, unit m；vsTo hang relative velocity, unit m/s.
When motor, which makees motor, actively contributes, if active force is Fan, then
In formula, I is supply current, unit A；KtFor motor torque constant, unit N.m/A.
When motor works in energy regenerative pattern, according to faraday electromagnetic induction principle, obstruction will produce during electric power generation
The Ampere force of motor movement, referred to as electromagnetic damping power.Electromagnetic damping power FemIt indicates, is represented by electromagnetic damping coefficient cem
With vsProduct, i.e.,
Fem=cemvs (3)
Machine induced electromotive force E is
Since inductance is smaller, the influence of inductance is not considered, is known by Kirchhoff's law
E=I (Rin+Rout) (5)
In formula：E is machine induced electromotive force, unit V；RinFor motor internal resistance, unit Ω；L is electrical-coil inductance, unit
H；RoutTo load variable resistance, unit Ω；I is loop current, unit A.
According to law of conservation of energy, the active output of electromagnetic damping power and motor is equivalent, i.e. Fan=Fem.Simultaneous formula
(1)-(5) can obtain electromagnetic damping coefficient and be
When electromagnetism action device parameter determines, cemOnly by external resistance value RoutInfluence, and inversely proportional relationship therewith,
C is adjusted lateremTo adjust RoutRealize.
After being processed to the electromagnetism action device and MR damper of design, attribute testing is carried out respectively, is verified whether
Meet design requirement.Wherein, electromagnetism action device be substantially carried out mechanical friction characteristic, electromagnetic damping characteristic, active power producing characteristics and
4 groups of experiments such as feedback voltage characteristic, MR damper are substantially carried out damping force-displacement model center building experiment.
1) electromagnetism acts device
A) mechanical friction characteristic
Electromagnetism action device basis resistance is divided into frictional force FmWith inertia force Fi, wherein frictional force be mainly planetary reducer and
Motor generate, and inertia force be mainly rotor pass through planetary reducer transmission ratio amplification after equivalent inertia mass production
Raw.Suspension relative displacement 50mm, relative velocity 0.05m/s, 0.1m/s, 0.2m/s, 0.3m/s, 0.4m/s and 0.5m/s are taken,
Fig. 4 is that electromagnetism of the embodiment of the present invention acts device friction force-displacement behavior figure.Fig. 5 is that electromagnetism of the embodiment of the present invention acts device friction
Power-speed characteristic figure.From Fig. 4 and Fig. 5：
Under 0.05m/s relative velocity limits, positively and negatively maximum basic resistance is respectively 165N and 135N, estimation
When be averaged about 150N；Under the conditions of maximum speed 0.5m/s, basic resistance is about 255N, at this time corresponding frictional damping coefficient
510N.s/m meets the requirement to frictional force and basic damped coefficient limitation.
B) electromagnetic damping characteristic
In the case that parameter has been determined, cemWith RoutIt is related, FemWith RoutAnd vsIt is related.Rout10 are taken respectivelyΩ、20Ω、40Ω、
60Ω、80ΩAnd 100Ω, vsIt is this to take 0.03m/s, 0.05m/s, 0.1m/s, 0.2m/s, 0.3m/s, 0.4m/s and 0.5m/s, Fig. 6
Inventive embodiments electromagnetism acts device electromagnetic damping power-speed characteristic figure.Fig. 7 is that electromagnetism of the embodiment of the present invention acts device electromagnetic damping
Coefficient-speed characteristic figure.From Fig. 6 and Fig. 7：
With the increase of speed, electromagnetic damping power gradually increases, the basic linear increasing in 0.1-0.4m/s speed intervals
Add trend, this stage is constant-damping area.Some point in the sections 0.4-0.5m/s can reach rated power, later with speed
Increase, damping force value is constant, into invariable power area.RoutIncrease, and FemIt is gradually reduced, inversely proportional relationship, with outer connecting resistance
The increase of value, FemInversely proportional reduction, it is consistent with theoretical analysis result；Practical maximum FemAbout 1100N, it is close with theoretical value, it is right
Damped coefficient the largest of about 3000Ns/m is answered, requirement of the vibration damping to damping is met.
C) active power producing characteristics
It is respectively ± 0.2A, ± 0.5A, ± 1A, ± 2A, ± 3A, ± 4A, ± 5A, ± 6A to electromagnetism action device loading current
Active power producing characteristics of the electromagnetism action device under different electric currents are obtained, Fig. 8 is this by test value compared with theoretical value with ± 7A
Inventive embodiments electromagnetism acts device active power producing characteristics figure.
Electric current is timing, corresponding tensional state, when electric current is negative, corresponding compressive state.It can be obtained by Fig. 8 and such as be drawn a conclusion：
1) test value is more slightly smaller than theoretical value, and reason is that stiction has an impact test result.Test value and theoretical value
Substantially it coincide, it is linear to be distributed, and stretch and there is symmetry characteristic when compressing；
2) electric current test value and theoretical value before ± 5A is relatively coincide, more slightly lower than theoretical value later, is shown close to specified
The continued for constant active power producing characteristics of power phase, motor slightly decline, power saturation.It is not recommended that electric current during practical control
It is loaded into ± 5A or more, when protection motor nonoverload, second is that improving active force efficiency；
3) when current of electric 3A, it is about 444N actively to contribute, and when electric current 7A, actively contribute about 1000N.Formula (3) calculates
Active force and the relationship of electric current are Fac=160.4I, test value fit correlation obtain Fac=152.6I.Due to rubbing and being machined
The influence of the factors such as precision, it is more smaller than theoretical value, under conditions of considering error, control active control demand can be substantially met.
D) feedback voltage characteristic
Suspension speed of related movement 0.05m/s, 0.1m/s, 0.2m/s, 0.3m/s, 0.4m/s and 0.5m/s are taken, using showing
Wave device tests the variation of feedback voltage level, and is stored in control host computer, and Fig. 9 is that electromagnetism of the embodiment of the present invention acts device induced electricity
The relational graph of kinetic potential and suspension relative velocity.
Theoretical calculation obtains induced electromotive force E and vsRelationship be E=167.1vs, test value be fitted both sides relation be E=
154.2vs, it is 28.7632V/krpm that can obtain back electromotive force constant, is slightly less than theoretical value, but can meet energy regenerative demand.
2) MR damper
Take suspension speed of related movement 0.52m/s, amplitude 25mm, under the conditions of sinusoidal excitation, loading current be respectively 0A,
0.1A, 0.25A, 0.5A, 1A, 1.5A and 2A obtain MR damper indicator card and damping force-speed characteristic curve, Figure 10
For MR damper of embodiment of the present invention damping force-placement property figure.Figure 11 hinders for MR damper of the embodiment of the present invention
Buddhist nun's power-speed characteristic figure.
When electric current is 0, when maximum damping force 250N, electric current 2A, maximum damping force 1400N, therefore can calculate magnetorheological
The viscous damping coefficient of damper is 480.77N.s/m, and adjustable Coulomb damping coefficient is 2211.5N.s/m, then the magnetic current variable resistance
The adjustable multiple of damping of Buddhist nun's device is 5.6, has preferable damping tunable performance, can meet electromagnetic suspension system in parallel to zero current
Under low resistance, and to the high damping vibration attenuation demand under the conditions of loading current.
Existing energy regenerative suspension includes：Linear motor type system, pinion and-rack system, ball screw type system,
Planetary gear type system and hydraulic driven system, comparison are as shown in table 4：
4 energy regenerative of table hangs comparison
Electromagnetism proposed by the present invention action device and MR damper parallel-connection structure act device and magnetorheological using electromagnetism
The respective working characteristics of damper, a variety of combinations for realizing different operating modes, and can be reached by the relationship of coordination vibration damping and energy regenerative
The dual purpose of vibration control and energy regenerating.By designing multi-mode method for handover control, it can be achieved that electromagnetic suspension system in parallel system
System executes different control strategies under different road surfaces and operating mode, enhances the adaptivity to driving cycle and demand.Summarize
The advantages of getting up, having is as follows：
1) compared to pure electromagnetic suspension system, when which can solve individual electromagnetism action device and work in energy regenerative operating mode, low
Underdamping characteristic under speed and control failure state, when thrashing, still using the viscous damping of MR damper
It serves as passive damping device to work on, makes standby " fail-safe " characteristic of hanging device, have preferable reliability；
2) it is hung compared to fluid pressure type energy regenerative, for the structure without fluid pressure line, there is no fluid existing for fluid pressure type structure to let out
The problems such as dew, and installation volume is smaller than fluid pressure type structure, is easy to maintenance；
3) vibration damping is carried out using the parallel connection electromagnetic suspension system, vehicle riding comfort, ride performance and behaviour can be improved
The performances such as handing stability；Energy regenerative is carried out using it, recyclable suspended vibration energy while playing the role of energy-efficient, improves vehicle
The cruising ability of battery is carried, reduces dependence of the vehicle for electric energy, meets certain excitation, driving cycle and control condition, be
Self energizing can be achieved in system；
4) the parallel connection electromagnetic suspension system structure increases the range of choice of suspension operating mode, has to different road conditions and demand
There is wider range of adaptability.It, can be according to vibration control by designing electromagnetic suspension system multi-mode method for handover control in parallel
Or the selection of the different demands such as energy regenerative lays particular emphasis on vibration control or energy regenerative, to meet different driving cycles and driving demand；
5) multi-mode method for handover control can meet under different road conditions and driving cycle to electromagnetic suspension system vibration damping in parallel
With the demand of energy regenerative performance, MR damper and electromagnetism action device work independently, and avoid composite integrated structure and bring
Electromagnetism mutual interference, improve the stability of control and system.
Figure 12 is MR damper pictorial diagram of the embodiment of the present invention.Figure 13 is that electromagnetism of the embodiment of the present invention acts device material object
Figure.
A kind of parallel compound electromagnetic suspension system vehicle, the vehicle include parallel compound electromagnetic suspension system.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is said referring to method part
It is bright.
Principle and implementation of the present invention are described for specific case used herein, and above example is said
The bright method and its core concept for being merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of parallel compound electromagnetic suspension system, which is characterized in that the system comprises：MR damper, electromagnetic driven
Make device and controller；
One end of the MR damper connects the car body, and the other end connects the wheel；
One end of the electromagnetism action device connects the car body, and the other end connects the wheel, and the electromagnetism action device includes electricity
Machine, the motor are connect with the controller, and the controller is used to control the rotation of the motor.
2. parallel compound electromagnetic suspension system according to claim 1, which is characterized in that the system also includes：For
Electric equipment, the power supply unit are separately connected the MR damper and electromagnetism action device, and the power supply unit is used for
To the MR damper and electromagnetism action device power supply.
3. parallel compound electromagnetic suspension system according to claim 2, which is characterized in that the system also includes：Magnetic
The both ends of rheological damper supply lines, the MR damper supply lines are separately connected the MR damper and the confession
Electric equipment.
4. parallel compound electromagnetic suspension system according to claim 1, which is characterized in that the MR damper packet
It includes：Lifting lug, protective cover, steel cylinder, piston component and first time lifting lug on first, aperture, institute is arranged in lifting lug side on described first
It states protective cover to be connected through a screw thread with lifting lug on described first, the protective cover is for preventing dust from entering the magnetorheological damping
Device；The piston component is fixedly connected with lifting lug on described first；The steel cylinder is fixedly connected with the piston component, the steel
Cylinder for the piston component for providing enclosure space；First time lifting lug is connect with the steel cylinder and wheel respectively.
5. parallel compound electromagnetic suspension system according to claim 4, which is characterized in that the piston component includes：
Piston rod, end cover, guide piston, damping piston, coil, ring type seal, upper working chamber, lower working chamber, floating piston,
Compensation air chamber and charge valve, the piston rod are connect with the upper lifting lug, and the piston rod is connect with the end cover, institute
It states end cover to be fixedly connected with steel cylinder, the guide piston is connected through a screw thread with the piston rod, and the guide piston is logical
The twice ring type seal is crossed to seal with the steel cylinder；The piston rod is threadedly coupled with the damping piston, the coil
It is wound on the damping piston, and across the cable hole of the damping piston, is worn after being then passed through the piston rod inner through-hole
Go out, is connect with power supply unit；The upper working chamber and the lower working chamber are located at the both sides up and down of the guide piston, institute
It states and is full of magnetorheological fluid in working chamber and the lower working chamber, the magnetorheological fluid is for providing magnetic field intensity；The floating
Piston is located at the lower end of the lower work chamber, and the compensation air chamber is located at the lower end of the floating piston, the compensation gas
Nitrogen is full of in chamber, nitrogen is charged by the charge valve in compensation air chamber.
6. parallel compound electromagnetic suspension system according to claim 5, which is characterized in that open the guide piston upper end
Equipped with the first magnetorheological fluid recirculation hole, a diameter of 3mm of the first magnetorheological fluid recirculation hole；The guide piston lower end opens up
There are the second magnetorheological fluid recirculation hole, a diameter of 10mm of the second magnetorheological fluid recirculation hole.
7. parallel compound electromagnetic suspension system according to claim 1, which is characterized in that the system also includes：Electricity
Magnetic acts device supply lines, and the electromagnetism action device supply lines includes control signal wire and electromagnetism action device feed line, the control
The both ends of signal wire are separately connected the electromagnetism action device and the controller, the both ends difference of the electromagnetism action device feed line
Connect the electromagnetism action device and the power supply unit.
8. parallel compound electromagnetic suspension system according to claim 1, which is characterized in that the electromagnetism acts device packet
It includes：Lifting lug, gear assembly, steel cylinder, motor and second time lifting lug on second, lifting lug is connect with the car body on described second, institute
The upper end for stating gear assembly is connect with the upper lifting lug, and the lower end of the gear assembly is connect with the steel cylinder, the motor position
In the side of the gear assembly, the motor is connect with the gear assembly, the both ends of second time lifting lug respectively with steel
Cylinder is connected with the wheel.
9. parallel compound electromagnetic suspension system according to claim 8, which is characterized in that the motor includes that rotation is watched
Motor and planetary reducing motor are taken, one end of the planetary reducing motor connects the gear assembly, and the other end connects the rotation
Turn servo motor, the rotating servo motor is fixedly connected with the planetary reducing motor by spline.
10. a kind of parallel compound electromagnetic suspension system vehicle, the vehicle includes described in any one of claim 1-9 in parallel multiple
Box-like electromagnetic suspension system.
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| CN109812536A (en) * | 2019-03-08 | 2019-05-28 | 重庆工业职业技术学院 | Automobile Magnetorheological Semi-active Suspension damper and control method |
| CN109849655A (en) * | 2019-03-01 | 2019-06-07 | 江苏理工学院 | A kind of parallel magnetic suspension energy regenerating suspension |
| CN110486409A (en) * | 2019-08-29 | 2019-11-22 | 陈剑南 | A kind of train MR damper from main regulation |
| CN111005467A (en) * | 2019-12-30 | 2020-04-14 | 华中科技大学 | Self-powered self-adaptive magnetorheological damper and electromagnetic damper |
| WO2020224231A1 (en) * | 2019-05-05 | 2020-11-12 | 南京师范大学 | Semi-active coordination control method for vibration reduction and power generation of magnetorheological energy-regenerative suspension |
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| CN115727089A (en) * | 2022-12-03 | 2023-03-03 | 福州大学 | Multi-pole annular magnetic circuit variable-configuration magneto-rheological shock absorber and control method thereof |
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| CN113656908A (en) * | 2021-08-05 | 2021-11-16 | 扬州大学 | Method for calculating damping force of electromagnetic shock absorber with mechanical rectifying device |
| CN113656908B (en) * | 2021-08-05 | 2023-08-08 | 扬州大学 | Method for calculating damping force of electromagnetic shock absorber with mechanical rectifying device |
| CN115727089A (en) * | 2022-12-03 | 2023-03-03 | 福州大学 | Multi-pole annular magnetic circuit variable-configuration magneto-rheological shock absorber and control method thereof |
| CN115727089B (en) * | 2022-12-03 | 2024-06-04 | 福州大学 | Magnetorheological damper with multipole ring-shaped magnetic circuit variable configuration and control method thereof |
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