CN110744981B - Composite double-energy-feedback type suspension actuator and control strategy thereof - Google Patents
Composite double-energy-feedback type suspension actuator and control strategy thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
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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
- B60G17/018—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 use of a specific signal treatment or control method
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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
- B60G17/019—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
- B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
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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
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
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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
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/005—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion using electro- or magnetostrictive actuation means
- F16F15/007—Piezoelectric elements being placed under pre-constraint, e.g. placed under compression
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- 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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Abstract
The invention discloses a composite double energy feedback type suspension actuator and a control strategy thereof. The actuator body is divided into a linear motor and a piezoelectric module, and the piezoelectric module mainly comprises a piezoelectric vibrator and a piezoelectric material. The invention also discloses a fuzzy control strategy based on the intelligent agent theory, and the method comprises the following steps: 1. data acquisition and transmission; 2. calculating and analyzing data; 3. the actuation force is adjusted. The invention has simple structure, is convenient for design and manufacture, and can effectively recover energy, make the vehicle in the optimal vibration damping state and improve the smoothness and the operation stability of the vehicle.
Description
Technical Field
The invention belongs to the technical field of vehicle dynamics, and particularly relates to a composite dual-energy-feedback type suspension actuator and a control strategy thereof.
Background
The suspension of a vehicle is an important component capable of ensuring the ride comfort and the steering stability of the vehicle, and elastically connects the frame of the vehicle and the axle. Most of the existing suspensions adopted by vehicles are passive suspensions, and the rigidity and the damping of the suspensions are fixed values and cannot be adjusted according to road conditions. With the improvement of living standard of people, high-performance vehicles become the pursuit of most people, and are mainly reflected in the requirements on the comfort, the smoothness and the energy conservation of the vehicles. And with the development of electronic technology and control technology, controllable suspensions are beginning to be applied to automotive suspension technology. Currently, there are two main types of controllable suspension: active suspension and semi-active suspension. The main forms include: rack and pinion, magnetorheological, ball screw. The controllable suspensions in the above forms have certain defects: the energy loss of the gear rack type actuator is large, and the reliability is low; the magneto-rheological type has the problem of magneto-rheological fluid deposition; the ball screw type consumes more energy. In recent years, linear motor type suspension actuators have become the research objects of many researchers due to their high response speed, good controllability and high energy recovery efficiency. The invention provides a composite double energy feedback type suspension actuator based on the defects.
Disclosure of Invention
The present invention provides a composite dual energy feedback type suspension actuator, which aims to overcome the defects of the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that: a control method of a composite double energy feedback type suspension actuator is characterized by comprising the following steps: the composite double energy feedback type suspension actuator comprises an actuator body and a control unit, wherein the actuator body mainly comprises a linear motor module and a piezoelectric module, the control unit mainly comprises an energy recovery module and a linear motor control module, the linear motor module of the composite double energy feedback type suspension actuator comprises a linear motor primary permanent magnet, a linear motor secondary permanent magnet and upper shell connecting piece, a linear motor primary permanent magnet base and a linear motor secondary permanent magnet lower end cover, the composite double energy feedback type suspension actuator comprises a linear motor primary permanent magnet base connected with the actuator lower shell, the linear motor primary permanent magnet is installed in the linear motor primary permanent magnet base, magnetic isolation plates are arranged at the upper end and the lower end of the linear motor primary permanent magnet, and the linear motor secondary permanent magnet and the upper shell connecting piece are connected with the actuator upper shell and the linear motor secondary permanent magnet;
the piezoelectric module of the composite double energy feedback type suspension actuator comprises an upper piezoelectric spring, a piezoelectric material, a piezoelectric vibrator, an insulator with double-sided viscosity and a lower piezoelectric spring, wherein the upper piezoelectric spring is arranged between an upper shell of the actuator and the insulator with double-sided viscosity, the upper end of the upper piezoelectric spring is fixedly connected with the upper shell of the actuator, the lower end of the upper piezoelectric spring is fixedly connected with the upper end of the insulator with double-sided viscosity, a group of piezoelectric material and the piezoelectric vibrator are embedded and bonded between the insulators with double-sided viscosity, the piezoelectric vibrator and the piezoelectric material are arranged at intervals, the insulator with double-sided viscosity is fixedly arranged on a primary permanent magnet base of a linear motor, the lower piezoelectric spring is arranged between the insulator with double-sided viscosity and the lower shell of the actuator, the upper end of the lower piezoelectric spring is fixedly connected with the insulator with double-sided viscosity, the lower end of the lower piezoelectric spring is fixedly connected with the lower shell of the actuator, and the upper piezoelectric spring and the lower piezoelectric spring are sleeved outside the primary permanent magnet base of the linear motor;
the upper actuator shell of the composite double energy-feedback type suspension actuator is sleeved outside the lower actuator shell, the sealing ring is arranged outside the lower actuator shell to ensure that certain sealing property is ensured between the upper actuator shell and the lower actuator shell, the upper lifting lug is fixedly connected to the upper actuator shell and used for connecting the automobile sprung mass, and the lower lifting lug is fixedly connected to the lower actuator shell and used for connecting the automobile unsprung mass;
the control unit comprises an energy recovery module and a linear motor control module, wherein the linear motor control module mainly comprises an actuator controller, a controllable constant current source circuit and a linear motor; the actuator comprises an actuator controller, a first super-capacitor voltage sensor, a second super-capacitor voltage sensor, a controllable constant current source circuit, a first MOS switch trigger driving module and a second MOS switch trigger driving module, wherein the input end of the actuator controller is connected with a sprung mass displacement sensor for detecting sprung mass displacement, an unsprung mass displacement sensor for detecting unsprung mass displacement, a sprung mass speed sensor for detecting sprung mass speed, an unsprung mass speed sensor for detecting unsprung mass speed, a first super-capacitor voltage sensor for detecting first super-capacitor voltage, a second super-capacitor voltage sensor for detecting second super-capacitor voltage, a controllable constant current source circuit for controlling output current, a first MOS switch trigger driving module for controlling the first super-capacitor to charge a storage battery, and a second MOS switch trigger driving module for controlling the second super-capacitor to charge the storage battery;
the energy feedback circuit of the piezoelectric module sequentially comprises a piezoelectric vibrator, a piezoelectric material, a first rectifying circuit, a first super capacitor, a first MOS switch trigger driving module and a storage battery;
the energy feedback module of the linear motor comprises the linear motor, a second rectifying circuit, a second super capacitor, a second MOS switch trigger driving module and a storage battery;
the control method of the composite double energy feedback type suspension actuator comprises the following steps:
s1, data acquisition and synchronous transmission: the sprung mass displacement sensor carries out periodic sampling on the sprung mass displacement and records the periodic sampling as Xs, i, the unsprung mass displacement sensor carries out periodic sampling on the unsprung mass displacement and records the periodic sampling as Xu, i, the sprung mass velocity sensor carries out periodic sampling on the sprung mass velocity and records the periodic sampling as vs, i, the unsprung mass velocity sensor carries out periodic sampling on the unsprung mass velocity and records the periodic sampling as vu, i, wherein i is a non-0 natural number;
s2, calculating and analyzing data: the method comprises the steps of obtaining sprung mass acceleration as, i by conducting derivation on collected sprung mass velocity vs, i, and obtaining unsprung mass acceleration au, i by conducting derivation on collected unsprung mass velocity vu, i;
s3, actuator control: the actuator controller generates a corresponding target current by collecting signals sensed by the sensor, and adjusts the magnitude of actuating force in real time through the actuator, so that the smoothness and the operating stability of the vehicle are improved; first step information acquisition: the method comprises the following steps that variables obtained by sampling sprung mass displacement Xs, i obtained by sampling of a sprung mass displacement sensor, unsprung mass displacement Xu, i obtained by sampling of an unsprung mass displacement sensor, sprung mass velocity vs, i obtained by sampling of a sprung mass velocity sensor, unsprung mass velocity vu, i obtained by sampling of an unsprung mass velocity sensor and environment information obtained by representing a vehicle are stored in an actuator controller; the second step of reasoning process: in the running process of the vehicle, a quadratic performance index is adopted to measure the running state of the vehicle, and the quadratic performance index is expressed as follows:
wherein q1, q2 and q3 are performance weighting coefficients, and Xr is road surface input; the third step is a learning process: the actuator controller learns through reciprocating actions of trial-evaluation-retrying according to the stored information, and perfects the information collected in the self storage space; because the road excitation is a random parameter, the quadratic performance index value of the vehicle is constantly changed, and the optimal running smoothness and the optimal operation stability of the vehicle under a working condition must be considered in a long-term manner; the fourth step of control process: and after determining the corresponding ideal current value according to the stored information, the actuator controller adjusts the corresponding output current through a fuzzy control strategy, and the controllable constant current source circuit adjusts the current output to the linear motor by the storage battery to generate corresponding actuating force so as to complete the active control of the actuator.
Preferably, the primary permanent magnet base of the linear motor is connected to the lower shell of the actuator through welding, and the secondary permanent magnet of the linear motor is connected with the upper shell of the actuator through welding with the upper shell connecting piece.
Preferably, the outer portion of the lower shell of the actuator is provided with a sealing ring, and the material of the sealing ring is made of rubber materials, so that the actuator is guaranteed to be in a sealing state.
Preferably, the number of the piezoelectric modules is 10, wherein the piezoelectric materials and the piezoelectric vibrators are arranged at intervals, the piezoelectric modules are arranged around the circumference of the primary permanent magnet base of the linear motor, and 16 piezoelectric vibrators 5 are arranged in each piezoelectric module at intervals.
Preferably, the number of the secondary permanent magnets of the linear motor is 10-12.
Preferably, the number of turns of the upper piezoelectric spring is 6, the number of turns of the lower piezoelectric spring is 6, and the stiffness coefficients of the two springs are the same.
Preferably, the actuator controller adopts a DSP28335 digital signal processor.
Compared with the prior art, the invention has the following advantages:
1. the composite double energy feedback type suspension actuator is reasonable in design, simple in structure and easy to realize.
2. Compared with other electromagnetic actuators, the input current of the linear motor is regulated, and the response speed of the linear motor is higher.
3. The invention adopts double energy feedback of piezoelectric and linear motors, and piezoelectric materials can realize energy feedback under any working condition, thereby greatly improving the energy recovery efficiency and realizing the self-sufficiency of the energy of the actuator.
4. The fuzzy control strategy based on the intelligent agent theory provided by the invention well collects the environmental conditions, obtains an ideal current value through four steps of information acquisition, inference process, learning process and control process, obtains an actual current value by adopting fuzzy control in the control process, and generates a proper actuating force by outputting the actual current value to the actuator through the storage battery.
5. The invention has stable work, high reliability and great practical value.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic structural diagram of a hybrid dual energy feedback type suspension actuator according to the present invention.
FIG. 2 is a schematic diagram of the actuator controller and other circuit component connections of the present invention.
Fig. 3 is a flow chart of a control method of the composite dual energy feedback type suspension actuator of the invention.
Description of reference numerals:
1, an upper lifting lug; 2, an upper shell of the actuator; 3-upper piezoelectric spring; 4-a piezoelectric material; 5-a piezoelectric vibrator; 6-insulator with double-sided adhesive; 7-actuator lower housing; 8, a lower lifting lug; 9-lower piezoelectric spring; 10-primary permanent magnet base of linear motor; 11-lower end cover of secondary permanent magnet of linear motor; 12-a sealing ring; 13-primary permanent magnet of linear motor; 14-magnetic isolation plate; 15-linear motor secondary permanent magnet; 16-connecting piece of secondary permanent magnet of linear motor and upper shell; 17-a first rectifier circuit; 18-first super capacitor 19-first MOS switch trigger driving module; 20 — a first supercapacitor voltage sensor; 21-sprung mass displacement sensor; 22-unsprung mass displacement transducers; 23-sprung mass velocity sensor; 24-unsprung mass velocity sensor; 25-actuator controller; 26-controllable constant current source circuit; 27-a storage battery; 28-a second supercapacitor voltage sensor; 29-linear motor; 30-a second rectifying circuit; 31 — a second supercapacitor; 32-a second MOS switch trigger driving module;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Example 1:
as shown in fig. 1, a hybrid dual energy feedback type suspension actuator includes an actuator body, an energy recovery device, and a control unit. The actuator body is divided into a linear motor and a piezoelectric module, and the piezoelectric module mainly comprises a piezoelectric vibrator and a piezoelectric material.
The linear motor module of the composite double energy feedback type suspension actuator comprises a linear motor primary permanent magnet 13, a linear motor secondary permanent magnet 15, a linear motor secondary permanent magnet and upper shell connecting piece 16, a linear motor primary permanent magnet base 10 and a linear motor secondary permanent magnet lower end cover 11. The composite double energy feedback type suspension actuator comprises a linear motor secondary permanent magnet base 10 connected with an actuator lower shell 7, a linear motor primary permanent magnet 13 is installed in the linear motor primary permanent magnet base 10, magnetic isolation plates 14 are arranged at the upper end and the lower end of the linear motor primary permanent magnet 13, and the linear motor secondary permanent magnet and an upper shell connecting piece 16 are connected with an actuator upper shell 2 and a linear motor secondary permanent magnet 15.
The piezoelectric module of the composite double-energy-feedback type suspension actuator comprises an upper piezoelectric spring 3, a piezoelectric material 4, a piezoelectric vibrator 5, an insulator 6 with double-sided stickiness and a lower piezoelectric spring 9. The upper piezoelectric spring 3 is arranged between an actuator upper shell 2 and an insulator 6 with double-sided viscosity, the upper end of the upper piezoelectric spring 3 is fixedly connected with the actuator upper shell 2, the lower end of the upper piezoelectric spring 3 is fixedly connected with the upper end of the insulator 6 with double-sided viscosity, 10 groups of piezoelectric materials 4 and piezoelectric vibrators 5 are embedded and bonded between the insulator 6 with double-sided viscosity, the piezoelectric vibrators 5 and the piezoelectric materials 4 are arranged at intervals, the insulator 6 with double-sided viscosity is fixedly arranged on a linear motor primary permanent magnet base 10, a lower piezoelectric spring 9 is arranged between the insulator 6 with double-sided viscosity and an actuator lower shell 7, the upper end of the lower piezoelectric spring 9 is fixedly connected with the insulator 6 with double-sided viscosity, the lower end of the lower piezoelectric spring 9 is fixedly connected with the actuator lower shell 7, and the upper piezoelectric spring 3 and the lower piezoelectric spring 9 are sleeved outside the linear motor primary permanent magnet base 10.
As shown in fig. 2, the energy recovery device and the control unit according to the present invention include an energy recovery module and a linear motor control module, the input end of the actuator controller is connected to a sprung mass displacement sensor for detecting sprung mass displacement, an unsprung mass displacement sensor for detecting unsprung mass displacement, a sprung mass velocity sensor for detecting sprung mass velocity, an unsprung mass velocity sensor for detecting unsprung mass velocity, a first super capacitor voltage sensor for detecting first super capacitor voltage, a second super capacitor voltage sensor for detecting second super capacitor voltage, the output end of the actuator controller is connected to a controllable constant current source circuit for controlling output current, a first MOS switch trigger driving module for controlling the first super capacitor to charge the storage battery, and a second MOS switch trigger driving module for controlling the second super capacitor to charge the storage battery.
The piezoelectric module energy feedback circuit sequentially comprises a piezoelectric vibrator (5), a piezoelectric material (4), a first rectifying circuit, a first super capacitor, a first MOS switch trigger driving module and a storage battery.
The linear motor energy feedback module comprises a linear motor, a second rectifying circuit, a second super capacitor, a second MOS switch trigger driving module and a storage battery.
The linear motor control module mainly comprises an actuator controller, a controllable constant current source circuit and a linear motor.
In the middle of the in-service use, through actuator body, energy recuperation device and the mutual work cooperation of the control unit, the elementary permanent magnet base of linear electric motor passes through welded connection casing under the actuator, the casing is connected on the secondary permanent magnet of linear electric motor and last casing connecting piece pass through welding and actuator. The outer portion of the lower shell of the actuator is provided with a sealing ring, and the actuator is guaranteed to be in a sealing state due to the fact that the sealing ring is made of rubber materials.
Example 2:
based on embodiment 1, as shown in fig. 2, the primary permanent magnet base (10) of the linear motor is connected to the lower actuator casing (7) by welding, and the secondary permanent magnet of the linear motor is connected to the upper actuator casing (2) by welding with the upper casing connecting piece (16). A sealing ring (12) is arranged outside the lower shell (7) of the actuator and is made of rubber materials, so that the actuator is in a sealing state.
Furthermore, the number of the piezoelectric modules is 10, wherein the piezoelectric materials (4) and the piezoelectric vibrators (5) are arranged at intervals, the piezoelectric modules are arranged around the circumference of the primary permanent magnet base (10) of the linear motor, and 16 piezoelectric vibrators (5) are arranged in each piezoelectric module at intervals.
Furthermore, the number of the secondary permanent magnets (15) of the linear motor is 10-12.
Furthermore, the number of turns of the upper piezoelectric spring (3) is 8, the number of turns of the lower piezoelectric spring (9) is 6, and the stiffness coefficients of the two springs are the same.
Further, the actuator controller adopts a DSP28335 digital signal processor.
In the middle of the in-service use, through with the elementary permanent magnet base welding of linear electric motor casing under the actuator, linear electric motor carries out input current and adjusts, compares other electromagnetic actuator, and its response speed is very fast. The piezoelectric and linear motor double energy feedback is adopted, the piezoelectric material can realize energy feedback no matter under any working condition, the energy recovery efficiency is greatly improved, and the self-sufficiency of the actuator energy is realized.
Example 3:
based on embodiment 1, the fuzzy control strategy based on the intelligent agent theory includes the following steps:
step one, data acquisition and synchronous transmission: the sprung mass displacement sensor periodically samples the sprung mass displacement and records the sampled value as X s,i The unsprung mass displacement sensor periodically samples the unsprung mass displacement and records it as X u,i The sprung mass velocity sensor periodically samples the sprung mass velocity, denoted v s,i The unsprung mass velocity sensor periodically samples the unsprung mass velocity, denoted v u,i Wherein i is a non-0 natural number.
Step two, calculating and analyzing data: by comparing the collected sprung mass velocity v s,i The derivation is carried out to obtain the sprung mass acceleration a s,i By measuring the velocity v of the acquired unsprung mass u,i The derivation is carried out to obtain the unsprung mass acceleration a u,i ；
Step three, actuator control:
the actuator controller generates a corresponding target current by collecting signals sensed by the sensor, and adjusts the magnitude of actuating force in real time through the actuator, so that the smoothness and the operating stability of the vehicle are improved.
Step 301, information acquisition: sprung mass displacement X sampled by sprung mass displacement sensor s,i Unsprung mass displacement X sampled by unsprung mass displacement sensor u,i Sprung mass velocity v sampled by sprung mass velocity sensor s,i Unsprung mass velocity v sampled by an unsprung mass velocity sensor u,i The four sampled variables are stored in the actuator controller and represent the environmental information acquired by the vehicle.
Step 302, reasoning process: in the running process of the vehicle, a quadratic performance index is adopted to measure the running state of the vehicle, and the quadratic performance index can be expressed as:
wherein q is 1 、q 2 、q 3 As a performance weighting factor, X r Is input on the road surface.
Step 303, learning process: the actuator controller performs learning by reciprocating actions of trial-evaluation-retry according to the stored information, thereby perfecting the information collected in the storage space of the actuator controller. Because the road excitation is a random parameter, the quadratic performance index value of the vehicle is constantly changed, and the optimal running smoothness and the optimal operation stability of the vehicle under a working condition must be considered in a long-term manner.
Step 304, control process: and after determining the corresponding ideal current value according to the stored information, the actuator controller adjusts the corresponding output current through a fuzzy control strategy, and the controllable constant current source circuit adjusts the current output to the linear motor by the storage battery to generate corresponding actuating force so as to complete the active control of the actuator.
The composite double energy feedback type suspension actuator is characterized in that: in step 304, the actuator controller obtains the controllable current I according to a fuzzy control method i The method comprises the following specific implementation steps:
step (1), the actuator controller according to a formula e i ＝X s,i -X u,i Obtaining the deviation e of the sprung mass displacement and the unsprung mass displacement of the ith sample i The actuator controller samples the sprung mass velocity v s,i The derivation is carried out to obtain the sprung mass acceleration a s,i 。
Step (2), the actuator controller is according to a formula E i ＝e i ×k e For deviation e i Quantization is carried out to obtain the deviation e i Amount of quantization of E i Wherein k is e Is the quantified amount, k, of the deviation of sprung and unsprung mass displacements e ＝130，e i Amount of quantization of E i Has a discourse of [ -6,6](ii) a Actuator controller according to formula
Acceleration of sprung massDegree a s,i Quantization is carried out to obtain the sprung mass acceleration a s,i Amount of quantization of
k ec ＝2，a s,i Amount of quantization of
Has a quantization quanta range of [ -6,6]。
Step (3) quantifying quantity E of deviation between sprung mass displacement and unsprung mass displacement by actuator controller i Integer by rounding to give E i Integer result
Actuator controller quantifies sprung mass acceleration
Performing integer conversion according to a rounding method to obtain
Result of the integer
Subjecting the obtained E i Integer result
As the first input of fuzzy control, the obtained
Integer result
As a second input for the fuzzy control.
Step (4), the actuator controller according to the first input
And a second input
Inquiring the preset fuzzy control table to obtain the output gamma of the fuzzy control i 。
Step (5) the actuator controller according to a formula
Obtaining the input current required by the linear motor; wherein the output gamma is i Has a discourse of [ -6,6]，K i For output Γ for fuzzy control i Scale factor to be adjusted, K i The value of the alpha is equal to or more than 0 s,i ≤2(m·s -2 ) When k is i =110, when 2 < a s,i ≤5(m·s -2 ) When k is i =130, when 5 (m · s) -2 )＜a s,i When k is i ＝150。
The above method is characterized in that: the specific process of presetting the fuzzy control lookup table by the actuator controller in the step (4) is as follows:
step A, the actuator controller is according to a formula e i ＝X s,i -X u,i Obtaining the deviation e of the sprung mass displacement and the unsprung mass displacement of the ith sampling i The actuator controller samples the sprung mass velocity v s,i The derivation is carried out to obtain the sprung mass acceleration a s,i 。
Step B, the actuator controller according to the formula E i ＝e i ×k e For deviation e i Quantization is carried out to obtain the deviation e i Amount of quantization E of i Wherein k is e Is the quantified amount, k, of the deviation of sprung and unsprung mass displacements e ＝130，e i Amount of quantization of E i Has a discourse field of [ -6,6](ii) a Actuator controller according to formula
To sprung mass acceleration a s,i Quantization is carried out to obtain the sprung mass acceleration a s,i Amount of quantization of
k ec ＝2，a s,i Amount of quantization of
Has a quantization quanta range of [ -6,6]。
Step C, quantifying quantity E of deviation of sprung mass displacement and unsprung mass displacement by an actuator controller i Integer by rounding to give E i Integer result
Actuator controller quantifies sprung mass acceleration
Performing integer conversion according to a rounding method to obtain
Result of the integer
Subjecting the obtained E i Integer result
As a first input for fuzzy control, the result
Integer result
As a second input for the fuzzy control.
Step D, the actuator controller is used for controlling the actuator according to the first input
And a second input
Inquiring the preset fuzzy control table to obtain the output gamma of the fuzzy control i 。
Step E, the actuator controller according to the formula
Obtaining the input current required by the linear motor; wherein the output gamma is i Has a discourse of [ -6,6]，K i For output Γ for fuzzy control i Scale factor to be adjusted, K i The value of the alpha is equal to or more than 0 s,i ≤2(m·s -2 ) When k is i =110, when 2 < a s,i ≤5(m·s -2 ) When k is i =130, when 5 (m · s) -2 )＜a s,i When k is i ＝150。
Step F, the actuator controller adjusts the deviation e i Amount of quantization of E i Fuzzification is carried out, and the specific process is as follows:
defining the deviation e between the sprung mass displacement and the unsprung mass displacement i Amount of quantization of E i The set of paste states of (B) is { negative big NB, negative middle NM, negative small NS, zero ZO, positive small PS, positive PM, positive big PB };
actuator controller according to E i Gaussian membership function of
To obtain E i Corresponding fuzzy state membership degree gausssf (E) i ,u 1 ,σ 1 ) Wherein u is 1 Is a deviation e i Amount of quantization of E i Center of the Gaussian membership function of 1 Is a deviation e i Amount of quantization E of i Width of the Gaussian membership function, u when the fuzzy state is negative large 1 = -6; when the fuzzy state is negative-medium, u 1 = -4; when the fuzzy state is negative, u 1 =2; when the fuzzy state is zero, u 1 =0; when the fuzzy state is positive, u 1 =2; when the fuzzy state is on-center, u 1 =4; when the fuzzy state is positive, u 1 ＝6；
Step G, intelligent modulePaste controller pair a s,i Amount of quantization of
Fuzzification is carried out, and the specific process is as follows:
definition a s,i Amount of quantization of
The set of state of the masquerade is { big negative NB, middle negative NM, small negative NS, zero ZO, small positive PS, middle positive PM, big positive PB };
actuator controller based on
Gaussian membership function of
To obtain
Corresponding fuzzy state degree of membership
Wherein u is 2 Is a s,i Amount of quantization of
Center of the Gaussian membership function of 2 Is a s,i Amount of quantization of
Width of the Gaussian membership function, u when the fuzzy state is negative large 2 = -6; when the fuzzy state is negative-medium, u 2 = -4; when the fuzzy state is negative, u 2 = -2; when the fuzzy state is zero, u 2 =0; when the fuzzy state is positive, u 2 =2; when the fuzzy state is on-center, u 2 =4; when the fuzzy state is positive, u 2 ＝6；
Step H, defining fuzzy control output gamma i Is set of state of { minus }Big NB, negative middle NM, negative small NS, zero ZO, positive small PS, positive middle PM, positive big PB }, and the following fuzzy control rule table is formulated:
step I, outputting gamma to the fuzzy control i The fuzzy state is subjected to defuzzification treatment, and the specific process is as follows:
output Γ defining fuzzy control i Discourse Z = [ -6,6]Actuator controller based on gamma i Gaussian membership function of
Obtaining the gamma i Corresponding fuzzy state membership degree gausssf (Γ) i ,u 3 ,σ 3 ) Wherein u is 3 Is output of gamma i Center of the Gaussian membership function of 3 Is output of gamma i Width of the Gaussian membership function, u when the fuzzy state is negative large 3 = -6; when the fuzzy state is negative-medium, u 3 = -4; when the fuzzy state is negative, u 3 =2; when the fuzzy state is zero, u 3 =0; when the fuzzy state is positive, u 3 =2; when the fuzzy state is in the middle, u 3 =4; when the fuzzy state is positive, u 3 ＝6；
Step J, repeating the step A to the step I to enable E i Discourse of [ -6,6]Inner 13 integers and
discourse of [ -6,6]169 combinations of 13 integers within and output Γ of the fuzzy control i The one-to-one correspondence of the defuzzification results is made into a following fuzzy control lookup table;
in actual use, based on a fuzzy control strategy of an intelligent agent theory, environment conditions are well collected, an ideal current value is obtained through four steps of information acquisition, inference process, learning process and control process, an actual current value is obtained through fuzzy control in the control process, and the storage battery outputs the actual current value to the actuator to generate proper actuating power. The invention has stable work, high reliability and great practical value. The actuator body is divided into a linear motor and a piezoelectric module, and the piezoelectric module mainly comprises a piezoelectric vibrator and a piezoelectric material. The invention has simple structure, is convenient for design and manufacture, and can effectively recover energy, make the vehicle in the optimal vibration damping state and improve the smoothness and the operation stability of the vehicle.
It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Technical solutions between various embodiments may be combined with each other, but must be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The foregoing is illustrative of the preferred embodiments of the present invention, and the present invention is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. Any simple modification, equivalent change and modification of the above embodiments according to the technical spirit of the present invention still fall within the scope of the technical solution of the present invention.
Claims (7)
1. A control method of a composite double energy feedback type suspension actuator is characterized by comprising the following steps: the composite double energy feedback type suspension actuator comprises an actuator body and a control unit, wherein the actuator body mainly comprises a linear motor module and a piezoelectric module, the control unit mainly comprises an energy recovery module and a linear motor control module, the linear motor module of the composite double energy feedback type suspension actuator comprises a linear motor primary permanent magnet (13), a linear motor secondary permanent magnet (15), a linear motor secondary permanent magnet and upper shell connecting piece (16), a linear motor primary permanent magnet base (10) and a linear motor secondary permanent magnet lower end cover (11), the composite double energy feedback type suspension actuator comprises a linear motor primary permanent magnet base (10) connected with an actuator lower shell (7), the linear motor primary permanent magnet (13) is installed in the linear motor primary permanent magnet base (10), magnetic isolation plates (14) are arranged at the upper end and the lower end of the linear motor primary permanent magnet (13), and the linear motor secondary permanent magnet is connected with the upper shell connecting piece (16) through an upper shell (2) and the linear motor actuator secondary permanent magnet (15);
the piezoelectric module of the composite double energy feedback type suspension actuator comprises an upper piezoelectric spring (3), a piezoelectric material (4), a piezoelectric vibrator (5), an insulator (6) with double-sided stickiness and a lower piezoelectric spring (9), the upper piezoelectric spring (3) is arranged between the upper shell (2) of the actuator and the insulator (6) with double-sided stickiness, the upper end of the upper piezoelectric spring (3) is fixedly connected with the upper shell (2) of the actuator, the lower end of the upper piezoelectric spring (3) is fixedly connected with the upper end of an insulator (6) with double-sided stickiness, 10 groups of piezoelectric materials (4) and piezoelectric vibrators (5) are embedded and bonded between the insulators (6) with double-sided viscosity, the piezoelectric vibrators (5) and the piezoelectric materials (4) are arranged at intervals, the insulator (6) with double-sided adhesive is fixedly arranged on a primary permanent magnet base (10) of the linear motor, the lower piezoelectric spring (9) is arranged between the insulator (6) with double-sided stickiness and the lower shell (7) of the actuator, the upper end of the lower piezoelectric spring (9) is fixedly connected with an insulator (6) with double-sided viscosity, the lower end of the lower piezoelectric spring (9) is fixedly connected with the lower shell (7) of the actuator, the upper piezoelectric spring (3) and the lower piezoelectric spring (9) are sleeved outside the primary permanent magnet base (10) of the linear motor;
the upper actuator shell (2) of the composite double energy-feedback type suspension actuator is sleeved outside the lower actuator shell (7), the sealing ring (12) is installed outside the lower actuator shell (7) to ensure certain sealing between the upper actuator shell (2) and the lower actuator shell (7), the upper lifting lug (1) is fixedly connected to the upper actuator shell and used for connecting the automobile spring load mass, and the lower lifting lug (8) is fixedly connected to the lower actuator shell (7) and used for connecting the automobile unsprung mass;
the control unit comprises an energy recovery module and a linear motor control module, wherein the linear motor control module mainly comprises an actuator controller, a controllable constant current source circuit and a linear motor; the input end of the actuator controller is connected with a sprung mass displacement sensor for detecting sprung mass displacement, an unsprung mass displacement sensor for detecting unsprung mass displacement, a sprung mass speed sensor for detecting sprung mass speed, an unsprung mass speed sensor for detecting unsprung mass speed, a first super-capacitor voltage sensor for detecting first super-capacitor voltage, a second super-capacitor voltage sensor for detecting second super-capacitor voltage, a controllable constant current source circuit for controlling output current, a first MOS switch trigger driving module for controlling the first super-capacitor to charge a storage battery, and a second MOS switch trigger driving module for controlling the second super-capacitor to charge the storage battery;
the energy feedback circuit of the piezoelectric module sequentially comprises a piezoelectric vibrator (5), a piezoelectric material (4), a first rectifying circuit, a first super capacitor, a first MOS switch trigger driving module and a storage battery; the energy feedback module of the linear motor comprises the linear motor, a second rectifying circuit, a second super capacitor, a second MOS switch trigger driving module and a storage battery;
the control method of the composite double energy feedback type suspension actuator comprises the following steps:
s1, data acquisition and synchronous transmission: the sprung mass displacement sensor carries out periodic sampling on the sprung mass displacement and records the periodic sampling as Xs, i, the unsprung mass displacement sensor carries out periodic sampling on the unsprung mass displacement and records the periodic sampling as Xu, i, the sprung mass velocity sensor carries out periodic sampling on the sprung mass velocity and records the periodic sampling as vs, i, the unsprung mass velocity sensor carries out periodic sampling on the unsprung mass velocity and records the periodic sampling as vu, i, wherein i is a non-0 natural number;
s2, calculating and analyzing data: the method comprises the steps of obtaining sprung mass acceleration as, i by conducting derivation on collected sprung mass velocity vs, i, and obtaining unsprung mass acceleration au, i by conducting derivation on collected unsprung mass velocity vu, i;
s3, actuator control: the actuator controller generates a corresponding target current by collecting signals sensed by the sensor, and adjusts the magnitude of actuating force in real time through the actuator, so that the smoothness and the operating stability of the vehicle are improved; first step information acquisition: the method comprises the following steps that sprung mass displacement Xs, i obtained by sampling of a sprung mass displacement sensor, unsprung mass displacement Xu, i obtained by sampling of an unsprung mass displacement sensor, sprung mass speed vs, i obtained by sampling of a sprung mass speed sensor, unsprung mass speed vu, i obtained by sampling of an unsprung mass speed sensor and variables obtained by sampling of the unsprung mass speed vu, i are stored in an actuator controller and represent environment information obtained by a vehicle; the second step of reasoning process: in the running process of the vehicle, a quadratic performance index is adopted to measure the running state of the vehicle, and the quadratic performance index is expressed as follows:
wherein q1, q2 and q3 are performance weighting coefficients, and Xr is road surface input; the third step is a learning process: the actuator controller learns through reciprocating actions of trial-evaluation-retrying according to the stored information, and perfects the information collected in the self storage space; because the road excitation is a random parameter, the quadratic performance index value of the vehicle is constantly changed, and the optimal running smoothness and the optimal operation stability of the vehicle under a working condition must be considered in a long-term manner; the fourth step of control process: and after determining the corresponding ideal current value according to the stored information, the actuator controller adjusts the corresponding output current through a fuzzy control strategy, and the controllable constant current source circuit adjusts the current output to the linear motor by the storage battery to generate corresponding actuating force so as to complete the active control of the actuator.
2. A method of controlling a compound dual energy regenerative suspension actuator as defined in claim 1, wherein: the primary permanent magnet base (10) of the linear motor is connected with the lower shell (7) of the actuator through welding, and the secondary permanent magnet of the linear motor is connected with the upper shell connecting piece (16) of the actuator through welding.
3. A method of controlling a hybrid dual-regenerative suspension actuator as defined in claim 1, wherein: a sealing ring (12) is arranged outside the lower shell (7) of the actuator and is made of rubber materials, so that the actuator is in a sealing state.
4. A method of controlling a compound dual energy regenerative suspension actuator as defined in claim 1, wherein: the number of the piezoelectric modules is 10, wherein the piezoelectric materials (4) and the piezoelectric vibrators (5) are arranged at intervals, the piezoelectric modules are arranged around the circumference of the primary permanent magnet base (10) of the linear motor, and the piezoelectric modules are provided with 16 piezoelectric vibrators (5) at intervals.
5. A method of controlling a compound dual energy regenerative suspension actuator as defined in claim 1, wherein: the number of the secondary permanent magnets (15) of the linear motor is 10-12.
6. A method of controlling a compound dual energy regenerative suspension actuator as defined in claim 1, wherein: the number of turns of the upper piezoelectric spring (3) is 8, the number of turns of the lower piezoelectric spring (9) is 6, and the stiffness coefficients of the two springs are the same.
7. A method of controlling a compound dual energy regenerative suspension actuator as defined in claim 1, wherein: the actuator controller adopts a DSP28335 digital signal processor.
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