CN110228343A - A kind of magnetorheological air suspension control system of partly active and its control method - Google Patents
A kind of magnetorheological air suspension control system of partly active and its control method Download PDFInfo
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- CN110228343A CN110228343A CN201910406099.8A CN201910406099A CN110228343A CN 110228343 A CN110228343 A CN 110228343A CN 201910406099 A CN201910406099 A CN 201910406099A CN 110228343 A CN110228343 A CN 110228343A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
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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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
- B60G2500/22—Spring constant
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
A kind of magnetorheological air suspension control system of half active, including load, suspension arrangement, sensor-based system and controller, suspension arrangement is using air spring as elastic element, using magneto-rheological vibration damper as damping element, the located control valve of air spring is connected with auxiliary chamber, the stiffness characteristics of air spring change with the change of location control valve input voltage, and the damping characteristic of magneto-rheological vibration damper changes with the change of magnet exciting coil input current.A kind of control method of the magnetorheological air suspension control system of half active, including, road surface input is divided into several frequency ranges, the input voltage of location control valve and the input current of magnet exciting coil are set separately for each frequency range；The vertical response acceleration that load is obtained by sensor-based system, is transferred to controller for vertical response acceleration；Controller carries out spectrum analysis to acceleration signal, judges frequency range locating for road excitation, and the input current of the input voltage of the control location control valve of the frequency range according to locating for road excitation and magnet exciting coil.
Description
Technical field
The present invention relates to automotive fields, and in particular to half active air hanging control system of one kind and its control method.
Background technique
Semi-active suspension is made of adjustable shock absorber or adjustable spring, realizes vibration damping purpose by changing damping or rigidity.By
It is easier to realize in the damping for adjusting damper, therefore, it is outstanding that the research of semi-active suspension for many years primarily focuses on damp adjustable
In the research of extension, though damp adjustable suspension can decay rapidly, vibrational energy of the vehicle body in resonance frequency domain, can not still be kept away
Open resonant frequency.It in order to avoid the generation of covibration, needs to change suspension stiffness, the intrinsic frequency of suspension is made to avoid road
Face driving frequency.Increase auxiliary chamber on the basis of air spring, air spring be connected with auxiliary chamber by throttle orifice,
The band available lower intrinsic frequency of auxiliary chamber air suspension designed, and can realize that suspension stiffness is adjustable.
Road roughness is used to describe the fluctuating quantity on road surface, is the main excitation in vehicle travel process, influences vehicle
The various aspects such as ride performance, control stability.Analyzing road roughness has important meaning for the research of vibration damping control strategy
Justice.
Road roughness mainly uses pavement displacement power spectral density to describe its statistical property, and time history may be regarded as putting down
Steady random process processing.The fitting formula of pavement displacement power spectral density are as follows:
To the input of vehicular vibration system in addition to Uneven road is outside one's consideration, it is also contemplated that travel speed v, thus by spatial frequency
Spectrum is converted to temporal frequency spectrum:
In formula, n is spatial frequency, m-1, indicate that every meter of length includes several wavelength；n0For reference frequency, n0=
0.1m-1； Gq(n0) it is Road Surface Power Spectrum Density value under reference frequency, referred to as road roughness coefficient, m3；W is frequency
Index, w=2；F=vn, f are temporal frequency, and v is speed.
It maps after taking logarithm to formula (2) both ends, obtains pavement displacement power spectral density, as shown in Figure 1.In the extremely short time
Interior, the frequency bandwidth of Road Surface Power Spectrum Density is much smaller than its centre frequency, is distributed for a narrowband, and with the increase of speed in
High frequency passage.Road Surface Power Spectrum Density in a long time is actually to integrate the narrowband distribution of different frequency, is obtained
To pavement displacement power spectral density.
Consider that the road excitation in the short time, driving frequency concentrate in some frequency range, it can be by adjusting suspension
Rigidity, make hang intrinsic frequency avoid this frequency range, thus avoid vehicle body respond power spectral density occur point in this frequency band
Peak, then appropriate adjust hang damped coefficient, and can further decay vibration.
Summary of the invention
The object of the present invention is to provide a kind of magnetorheological air suspension control system of half active and its control methods, according to short
Frequency range locating for road excitation in time makes to hang the phase that intrinsic frequency avoids road excitation by adjusting the rigidity of suspension
Frequency range is answered, spike, then the resistance by suitably adjusting suspension occurs in corresponding band in the power spectral density for avoiding vehicle body response
Buddhist nun's coefficient is vibrated with further decaying.
For achieving the above object, technical solution of the present invention is specific as follows:
A kind of half actively magnetorheological air suspension control system, including load, suspension arrangement, sensor-based system and controller,
Suspension arrangement is using band auxiliary chamber air spring as elastic element, and using magneto-rheological vibration damper as damping element, air spring is through fixed
Level control valve is connected with auxiliary chamber, and the stiffness characteristics of air spring change, magnetic with the change of location control valve input voltage
The damping characteristic of rheology damper changes with the change of magnet exciting coil input current, and sensor-based system is fixed in load, sensing
The data output end of system is connected with controller, and location control valve and magnet exciting coil are connected with controller respectively, controller according to
The vertical acceleration information of the load of sensor-based system acquisition controls the input of location control valve input voltage and magnet exciting coil respectively
Electric current.
Further, the sensor-based system includes displacement sensor, acceleration transducer and force snesor.
The control method of the magnetorheological air suspension control system of above-mentioned half active, comprising the following steps:
S1: road surface input is divided into several frequency ranges, the input voltage of location control valve is set separately for each frequency range and encourages
The input current of magnetic coil；
S2: the vertical response acceleration of load is obtained by sensor-based system, and vertical response acceleration is transferred to control
Device；
S3: controller carries out spectrum analysis to acceleration signal, judges frequency range locating for road excitation, and according to road excitation
Locating frequency range determines the input voltage of location control valve and the input current of magnet exciting coil；
S4: controller controls the input electricity of location control valve according to the step S3 input voltage determined and input current respectively
The input current of pressure and magnet exciting coil realizes the damping control to the rigidity with auxiliary chamber air spring and magneto-rheological vibration damper
System.
Further, the step S1 is specifically included:
Road surface input is divided into several frequency ranges, and the input voltage of location control valve is set separately for each frequency range and encourages
The input current of magnetic coil, specific as follows:
(1) low frequency range, 0.1~1Hz, normal valve input voltage are set as 0v, and magneto-rheological vibration damper exciting current is set as 0A；
(2) low-frequency resonance area, 1~2Hz, normal valve input voltage are set as 5v, and magneto-rheological vibration damper exciting current is set as
0.5A；
(3) intermediate bands, 2~10Hz, normal valve input voltage are set as 5v, and magneto-rheological vibration damper exciting current is set as 1A；
(4) high-frequency resonance area, 10~20Hz, normal valve input voltage are set as 10v, and magneto-rheological vibration damper exciting current is set as
1.2A。
Compared with prior art, beneficial effects of the present invention:
A kind of frequency domain fast control method of the magnetorheological AIRMATIC Dual Control of half active of the invention, does not need prediction road
Face only need to measure vehicle body vertical acceleration, and algorithm is simple, low to hardware requirement, it is easy to accomplish；By thus according in very short time
Road excitation be adjusted, the switching frequency of controller is higher, therefore even if exist execute lag or measurement error, will not
Comfortableness and security are affected greatly.
Detailed description of the invention
Fig. 1 is the pavement displacement power spectral density plot in background technique；
Fig. 2 is the experimental system for simulating in the embodiment of the present invention；
Semi-active suspension control system hardware structural diagram in Fig. 3 embodiment of the present invention；
Power amplification circuit figure Fig. 4 of the invention；
The control flow chart of Fig. 5 control method of the present invention；
Vertical vibration response test figure when 1.2Hz in Fig. 6 embodiment of the present invention；
Vertical vibration response test figure when 1.4Hz in Fig. 7 embodiment of the present invention；
Vertical vibration response test figure when 1.6Hz in Fig. 8 embodiment of the present invention.
Specific embodiment:
Embodiment
Fig. 2 show experimental system for simulating, and Fig. 3 show the hardware structural diagram of semi-active suspension control system, adds
Metal weights 1000kg is carried, uses amplitude for the sinusoidal excitation of 4mm, is accelerated with the vertical response of NI data collecting card measurement load
Degree.Location control valve input signal cable is connected to the control output end mouthful 1 of CB-68LP terminal board, by magneto-rheological vibration damper
Extraction wire is connected to power amplifier output, and the output of the signal input part of power amplifier and CB-68LP terminal board
Port 2 connects.Input of this test using response acceleration control system, control output voltage signal U and electric current I.With
NI6024E data collecting card is core, is put by suspension mechanical device, sensing and detecting system, the V/I converter with amplifier and power
Big device forms an open hardware configuration.Suspension mechanical device is using air spring as elastic element, the located control of air spring
Valve processed is connected with auxiliary chamber, changes the stiffness characteristics of air spring by control location control valve input voltage；With magnetic current
For change damper into damping element, the conducting wire that internal magnet exciting coil is drawn is connected to V/I conversion and the output of power amplification circuit,
Change the damping characteristic of magneto-rheological vibration damper by the size of control output electric current.Sensing and detecting system is mainly by displacement sensing
Device, acceleration transducer and force snesor composition, acquire the signal of TT&C system.After system initialization and debugging, open
System hardware and software, TT&C system are started to work, and the signal of sensor measurement enters data by capture card input terminal and adopts
Collecting system and computer, computer determine control signal, acquired card output terminal according to control algolithm according to measuring signal
Output control signal, control signal is direct or the amplified state for changing executive component, realizes control to suspension.
Capture card selects the DAQCard-6024E data collecting card of U.S. NI company production.Sampling rate is 200kS/s,
With the single-ended tunnel (SI)/8 difference (DI) analog input in 16 tunnels, inputting resolution ratio is 12 (precision 0.005V), input voltage
Range is -10V~10V；2 road analog outputs, output resolution ratio are 12, and output voltage range is -10V~10V, single channel
Current driving ability is 5mA, and output maximum impedance is 0.1 Ω, and in addition there are 2 24 20MHz counter/timers and 8
It is I/O mouthfuls digital.
Location control valve uses Burkert8802-G1/2 location control valve, by positioner, executing agency, valve body
3 parts composition, is adjusted, thus regulation valve body aperture according to position of the position setting value to executing agency.Position setting value
Can be configured by external signal, valve body open range be 0~Φ 13mm, can be adjusted by setting voltage, and voltage with open
Degree is linear corresponding.It is 0~10V voltage signal that this pilot system, which selects input signal types, at this time the input resistance of voltage signal
Resist for 19k Ω, input power is less than 5W, can directly be driven by the output terminal of capture card.
Fig. 4 show power amplification circuit, about 3 Ω of the Coil resistance of magneto-rheological vibration damper, it is desirable that control current range is 0
~2A, and the driving current of capture card output terminal is 5mA, the voltage signal of output terminal output need to pass through power amplification, from
And drive magneto-rheological vibration damper coil.Requirement to power amplification circuit is that size of current is proportional to input voltage, size of current
It is unrelated with load internal resistance.
Operational amplifier LM321, triode D313F, R2And Re forms negative feedback amplifier circuit, in which:
Re=R4R5/(R4+R5)
Input impedance and amplification factor due to operational amplifier is higher, R1In the electric current very little that flows through, operational amplifier
Input pin pin4 and pin5, which is believed that, waits voltages, and voltage is applied signal voltage Ui.Pin pin4 input impedance is higher,
Therefore resistance ReUpper voltage is similarly Ui.Therefore, resistance R is flowed througheElectric current are as follows:
Ie=Ui/Re
It is I that load ZL electric current is flowed through in orderc, triode current amplification factor is A, then:
Ic=A (Ie-Ic)
Formula (6-4) substitution formula (6-5) must be flowed through to the electric current of load are as follows:
Selected triode current amplification factor about 100, resistance R4、R5Resistance value is 10 Ω, then IcIt is approximately:
In view of semi-active suspension should there are two formants, road surface input is divided into 5 frequency ranges, establishes following control rule
Then:
(1) low frequency range (0.1~1Hz).The frequency range is little by suspension stiffness and damping effect, to guarantee riding comfort,
By normal valve input voltage U10v is set as (at this point, location control valve is shown in a fully open operation, between air spring and auxiliary chamber
Throttle orifice aperture is 10mm, and suspension stiffness is minimum)；Magneto-rheological vibration damper exciting current I10A is set as (at this point, what damper provided
Damping is in minimum value)；
(2) low-frequency resonance area (1~2Hz).The frequency range is held in position valve input voltage U2It is 5v (at this point, location control valve
Throttle orifice aperture between half-open position, air spring and auxiliary chamber is 5mm, and suspension stiffness is moderate), magneto-rheological vibration damping
Device exciting current I2It is set as 0.5A (at this point, suspension damping increases)；
(3) intermediate bands (2~10Hz).The frequency range reduces damping and advantageously reduces vehicle body acceleration and tyre dynamic load lotus.
It is held in position valve input voltage U3For 5v, magneto-rheological vibration damper exciting current I31A is set as (at this point, suspension damping further adds
Greatly)；
(4) high-frequency resonance area (10~20Hz).The frequency range can increase suspension stiffness, be conducive to lower tyre dynamic load lotus, together
When suitably increase damping, but damping should not be too large, and avoid the increase of vehicle body acceleration.Therefore, by normal valve input voltage U4If
For 10v, (at this point, location control valve is in full-shut position, the throttle orifice aperture between air spring and auxiliary chamber is 0mm, is hanged
It is maximum to hang rigidity)；Magneto-rheological vibration damper exciting current I4It is set as 1.2A (at this point, suspension damping further increases)；
According to above-mentioned control rule, the control flow of foundation is as shown in Figure 5.
In order to evaluate the forward and backward ride comfort of control, passive suspension and half master have been carried out under different driving frequencies
The rack sine vibration test of dynamic suspension obtains sprung mass response acceleration, response displacement and suspension dynamic loading respectively, compares
The above index under two types suspension, evaluates suspension behavior.Fig. 6~8 are shown under different driving frequencies, and two kinds outstanding
Vertical vibration response under hanging is compared.In order to relatively carry out respective handling to test data from numerically more accurate, obtain by
The response acceleration root-mean-square value, displacement transport and maximum dynamic loading of dynamic suspension and semi-active suspension, as shown in the following table 1~3.
Table 1 responds acceleration root-mean-square value (m/s2)
Table 2 is displaced transport
The maximum dynamic loading (kN) of table 3
Comparing passive air suspension and each performance indicator of half active air suspension in Fig. 6~8 and table 1~3 can be seen that
The resonance zone of 1Hz~2Hz, semi-active suspension are effectively reduced each performance indicator in any Frequency point, especially exist
When resonance point 1.6Hz, each index reduction is most obvious, compares passive suspension, acceleration root-mean-square value, displacement transport and dynamic loading
Reduced rate respectively reach 87%, 84% and 16%, and for Frequency points other in resonance region, closer to resonance point, the point
The reduced rate of performance indicator is bigger, and under the driving frequency of 1.2Hz and 1.7Hz, acceleration root-mean-square value is respectively reduced
27%, 73%, displacement transport has respectively reduced 31%, 74%, and maximum dynamic loading reduces 2.5% and 8%.And in off-resonance
Region, less, when driving frequency is 2.5Hz, acceleration root-mean-square value reduces respectively with displacement transport for each performance indicator variation
6% and 4%, dynamic loading slightly increases.
It should be noted that being intended merely to further illustrate the contents of the present invention above, but should not be construed as to the present invention
Limitation.Without departing from the spirit and substance of the case in the present invention, it modifies or replaces to made by the method for the present invention, step or condition
It changes, all belongs to the scope of the present invention.
Claims (4)
1. a kind of magnetorheological air suspension control system of half active, which is characterized in that including load, suspension arrangement, sensor-based system
And controller, suspension arrangement is using air spring as elastic element, and using magneto-rheological vibration damper as damping element, air spring is located
Control valve is connected with auxiliary chamber, and the stiffness characteristics of air spring change, magnetic current with the change of location control valve input voltage
Becoming has magnet exciting coil inside damper, the damping characteristic of magneto-rheological vibration damper changes with the change of magnet exciting coil input current
Become, sensor-based system is fixed in load, and the data output end of sensor-based system is connected with controller, location control valve and magnet exciting coil
It is connected respectively with controller, the vertical acceleration information for the load that controller is acquired according to sensor-based system controls location control respectively
The input current of valve input voltage and magnet exciting coil.
2. a kind of magnetorheological air suspension control system of half active according to claim 1, which is characterized in that the sensing
System includes displacement sensor, acceleration transducer and force snesor.
3. the control method of the half magnetorheological air suspension control system of active of one of claim 1, which is characterized in that including
Following steps:
S1: road surface input is divided into several frequency ranges, the input voltage and excitation wire of location control valve are set separately for each frequency range
The input current of circle；
S2: the vertical response acceleration of load is obtained by sensor-based system, and vertical response acceleration is transferred to controller；
S3: controller carries out spectrum analysis to acceleration signal, judges frequency range locating for road excitation, and according to locating for road excitation
Frequency range determines the input voltage of location control valve and the input current of magnet exciting coil；
S4: controller according to step S3 determine input voltage and input current control respectively location control valve input voltage and
The input current of magnet exciting coil realizes the damping control to the rigidity with auxiliary chamber air spring and magneto-rheological vibration damper.
4. control method according to claim 1, which is characterized in that the step S1 is specifically included:
Road surface input is divided into several frequency ranges, and the input voltage and excitation wire of location control valve are set separately for each frequency range
The input current of circle, specific as follows:
(1) low frequency range, 0.1~1Hz, normal valve input voltage are set as 0v, and magneto-rheological vibration damper exciting current is set as 0A；
(2) low-frequency resonance area, 1~2Hz, normal valve input voltage are set as 5v, and magneto-rheological vibration damper exciting current is set as 0.5A；
(3) intermediate bands, 2~10Hz, normal valve input voltage are set as 5v, and magneto-rheological vibration damper exciting current is set as 1A；
(4) high-frequency resonance area, 10~20Hz, normal valve input voltage are set as 10v, and magneto-rheological vibration damper exciting current is set as
1.2A。
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| CN111845241A (en) * | 2020-07-31 | 2020-10-30 | 重庆交通职业学院 | Self-adaptive adjusting system and control method for ground clearance of automobile |
| CN113665311A (en) * | 2021-07-16 | 2021-11-19 | 中国北方车辆研究所 | Vibration absorber control method and system based on frequency domain analysis |
| CN113952123A (en) * | 2021-09-06 | 2022-01-21 | 江苏大学 | Ambulance moving cabin based on magnetic suspension and control method thereof |
| WO2023015796A1 (en) * | 2021-08-09 | 2023-02-16 | 深圳先进技术研究院 | Method, apparatus and system for controlling magnetorheological semi-active suspension |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845241A (en) * | 2020-07-31 | 2020-10-30 | 重庆交通职业学院 | Self-adaptive adjusting system and control method for ground clearance of automobile |
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| CN113665311B (en) * | 2021-07-16 | 2024-02-20 | 中国北方车辆研究所 | Vibration damper control method and system based on frequency domain analysis |
| WO2023015796A1 (en) * | 2021-08-09 | 2023-02-16 | 深圳先进技术研究院 | Method, apparatus and system for controlling magnetorheological semi-active suspension |
| CN113952123A (en) * | 2021-09-06 | 2022-01-21 | 江苏大学 | Ambulance moving cabin based on magnetic suspension and control method thereof |
| CN113952123B (en) * | 2021-09-06 | 2024-04-09 | 江苏大学 | Ambulance moving cabin based on magnetic suspension and control method thereof |
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