CN113291114A - Semi-active anti-roll structure and control method - Google Patents
Semi-active anti-roll structure and control method Download PDFInfo
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- CN113291114A CN113291114A CN202110570269.3A CN202110570269A CN113291114A CN 113291114 A CN113291114 A CN 113291114A CN 202110570269 A CN202110570269 A CN 202110570269A CN 113291114 A CN113291114 A CN 113291114A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000007788 liquid Substances 0.000 claims abstract description 61
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 47
- 239000010959 steel Substances 0.000 claims abstract description 47
- 239000003381 stabilizer Substances 0.000 claims abstract description 42
- 230000008859 change Effects 0.000 claims description 58
- 230000004224 protection Effects 0.000 claims description 21
- 230000007246 mechanism Effects 0.000 claims description 20
- 238000006073 displacement reaction Methods 0.000 claims description 16
- 238000005096 rolling process Methods 0.000 claims description 5
- 230000002265 prevention Effects 0.000 claims 3
- 238000013461 design Methods 0.000 abstract description 3
- 239000000725 suspension Substances 0.000 description 14
- 230000009471 action Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000013016 damping Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009979 protective mechanism Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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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
-
- 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
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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
- B60G17/01908—Acceleration or inclination sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
- B60G21/055—Stabiliser bars
- B60G21/0551—Mounting means therefor
- B60G21/0553—Mounting means therefor adjustable
- B60G21/0558—Mounting means therefor adjustable including means varying the stiffness of the stabiliser
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to the technical field of automobile part structures and control methods, in particular to a semi-active anti-roll structure and a control method. The stabilizer bar connecting rod includes piston cylinder body and the liquid storage cylinder that communicates through horizontal pole and piston cylinder body, the liquid storage cylinder inner wall is provided with the boss, the runner has been seted up between boss and the liquid storage cylinder body bottom, be provided with the holding chamber of intercommunication runner and passageway between boss and the liquid storage cylinder bottom, the steel ball that can roll in the cavity is arranged to the holding intracavity, holding chamber both sides are provided with the spacing port that the restriction steel ball got into with passageway and runner junction, the clearance that liquid passed through is left between spacing port and the steel ball, set up the through-hole in intercommunication liquid storage cylinder and holding chamber on the boss, the through-hole is closed completely when the steel ball moves the through-hole towards holding chamber one end. The invention designs a set of combined structure of the circulation valve and the compensation valve to control the flow of oil, adjust the rigidity of the connecting rod of the stabilizer bar and effectively prevent the car body from inclining.
Description
Technical Field
The invention relates to the technical field of automobile part structures and control methods, in particular to a semi-active anti-roll structure and a control method.
Background
With the development of automobile electric control technology, software-defined automobiles become a trend of future development, and aiming at the field of automobile chassis, the active suspension technology is a new trend of future automobile chassis technology development. The automobile suspension system mainly has the functions of transmitting the interaction force between the automobile and the road surface, absorbing the impact from the road when the automobile runs and improving the stability and comfort when the automobile runs.
Among them, the stabilizer bar can be used to restrain the roll of the vehicle body when the vehicle is running. When the left and right wheels bump up and down due to the inclination of the vehicle body or uneven road surface caused by centrifugal force on the outer side of the vehicle body during the turning of the vehicle, the left and right wheels move up and down relative to each other, and at the moment, the transverse stabilizer bar of the vehicle generates torsional elastic force to restrain the roll of the vehicle body, so that the anti-roll purpose is achieved.
The roll stiffness of the traditional stabilizer bar is designed in an earlier stage and is kept constant, and the requirement difference of an automobile on the roll stiffness under different driving working conditions cannot be well met. There is a patent that proposes a stabilizer bar structure with adjustable roll stiffness, chinese utility model entitled "a roll-proof vehicle suspension structure" with patent number "CN 201420664746.8, which describes an roll-proof vehicle suspension structure comprising a first wheel assembly, a first transverse swing arm, a second wheel assembly, a second transverse swing arm, a transverse stabilizer bar, a differential hydraulic cylinder, a hydraulic controller, a hydraulic link and a support link, the first wheel assembly and the first transverse swing arm are movably connected to each other and located at one side of the vehicle suspension, the second wheel assembly and the second transverse swing arm are movably connected to each other and located at the other side of the vehicle suspension, the differential hydraulic cylinder is mounted on the first transverse swing arm and connected to a first end of the transverse stabilizer bar through the hydraulic link, the support link is connected to the second transverse swing arm and connected to a second end of the transverse stabilizer bar, the hydraulic controller controls the telescopic stroke of the differential hydraulic cylinder so as to adjust the swing angle of the stabilizer bar. The suspension structure described in this patent can achieve anti-roll by the telescopic stroke of the differential hydraulic cylinder to adjust the roll angle of the stabilizer bar. However, the scheme does not give detailed mention on how to adjust the hydraulic cylinder, and actually, the adjusting mode of the scheme is very crude, and the differential hydraulic cylinder adjusts the hydraulic connecting rod to change the roll angle of the vehicle body. Of course, there are other prior published patents that improve the suspension structure, for example, chinese patent with patent number "CN 201610940176.4" named "vehicle suspension and vehicle", which performs oil control on the rodless cavity and the rod cavity of the piston, not only changing the vertical height, but also adjusting the damping stiffness, but the oil control valve related to this case has a very complicated structure, and needs to adjust the oil through a plurality of sets of valve group structures, and this adjustment mode results in a great increase in the suspension control difficulty, and the cost of the suspension structure is also greatly increased, which is not suitable for large-scale popularization and use.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides a semi-active anti-roll structure and a control method, aiming at the problems of complex structure and complicated control method which cause great increase of the cost of a suspension structure in the existing anti-roll structure that a plurality of groups of valve banks are needed for oil regulation and control, the invention carries out corresponding improvement, reduces the complexity of the structure of a stabilizer bar connecting rod, changes the mode of controlling oil by the valve banks, has simpler valve bank structure and simpler regulation and control method, and improves the running safety of vehicles.
The technical scheme of the invention is as follows: a semi-active anti-roll structure comprises a stabilizer bar connecting rod, wherein the stabilizer bar connecting rod comprises a piston cylinder body and a liquid storage cylinder fixedly connected with the piston cylinder body through a cross rod; the liquid storage cylinder is communicated with a rodless cavity of the piston cylinder body through a channel formed in the cross rod; the liquid storage cylinder is provided with a flow valve for changing the flow of liquid in and out of the liquid storage cylinder,
a circle of annular boss is arranged on the inner wall of the cylinder body of the liquid storage cylinder; a flow channel communicated with the liquid storage cylinder is formed between the boss and the bottom of the liquid storage cylinder body; the flow passage is communicated with the channel through the accommodating cavity below the boss; the steel ball capable of rolling in the cavity is arranged in the accommodating cavity, and limiting ports for limiting the steel ball to enter are arranged at the joints of the two sides of the accommodating cavity and the channel and the flow passage; the limiting port and the steel ball are provided with a gap through which liquid passes when the steel ball moves to the limiting port; the boss is provided with a through hole for communicating the liquid storage cylinder with the accommodating cavity; the lower end of the through hole is configured to be completely closed when the steel ball moves to the lower end of the through hole.
The limiting port is a rectangular hole which is arranged at the joint of the accommodating cavity and the channel and the joint of the accommodating cavity and the flow channel, the width of the rectangular hole is smaller than the diameter of the steel ball, and the length of the rectangular hole is larger than the diameter of the steel ball.
And one end of the through hole facing the accommodating cavity is of a conical structure with a large lower part and a small upper part and can be completely blocked by the steel ball.
The flow valve comprises a valve body arranged at the bottom of the cylinder body of the liquid storage cylinder and a valve core which is arranged on the valve body and can be vertically adjusted; the valve core moves up and down and penetrates through the middle of the boss to form a valve structure with the boss, and the valve structure can change the flow of liquid flowing into and out of the liquid storage cylinder.
A control method of a semi-active anti-roll structure comprises the steps of collecting a roll angle signal of a vehicle body, controlling the opening degree of a flow valve according to the roll angle signal, collecting the roll angle and the wheel center displacement of a vehicle when the flow valve is fully opened, namely the vehicle body is in a comfortable mode, starting a protection mechanism if the roll angle and the wheel center displacement of the vehicle exceed set limit values, closing the flow valve, enabling a steel ball to roll to a limit port on one side of a channel when oil flows from a liquid storage cylinder to a rodless cavity, enabling the channel to be partially opened, and rolling to a through hole to limit the oil to flow into the liquid storage cylinder when the oil flows from the rodless cavity to the liquid storage cylinder.
Further, the method for opening the protection mechanism comprises the following steps: the method comprises the steps of collecting vehicle roll angles and wheel center displacements, calculating the stability trend of a vehicle body and a chassis system, comparing the stability trend of the vehicle body and the chassis system with a set trend value, and if the stability trend exceeds the set trend value, starting a protection mechanism.
Further the method of closing a flow-through valve comprises: the time for which the flow valve is fully closed is calculated from the rate of change of the roll angle and the rate of change of the center displacement, and the full closing of the flow valve is controlled in accordance with the calculated time for which the flow valve is fully closed.
The method for controlling the opening degree of the flow valve according to the roll angle signal further comprises the following steps: and calculating a real-time rigidity value and a change trend of the roll angle of the vehicle according to the collected roll angle signal, calculating the corresponding opening of the flow valve based on the real-time rigidity value and the change trend of the roll angle, and controlling the flow valve to correspondingly adjust according to the calculated opening of the flow valve.
Further, if the real-time rigidity value of the vehicle is smaller than the set roll rigidity, the control flow valve is controlled to be fully opened; and if the real-time rigidity value of the vehicle is not less than the set roll rigidity, carrying out opening adjustment control on the flow valve according to the comparison result of the roll angle change trend and the set change trend.
The method for adjusting and controlling the opening of the flow valve according to the comparison result of the change trend of the roll angle and the set change trend further comprises the following steps: if the change trend of the roll angle is larger than the first set change trend and smaller than the second change trend, the opening degree of the circulating valve is adjusted to be the first opening degree; the first set variation trend is less than the second set variation trend;
if the change trend of the side angle is larger than or equal to a second set change trend and smaller than the second change trend, the opening degree of the circulating valve is adjusted to be a second opening degree; the second set variation trend is less than a third set variation trend; the second opening degree is smaller than the first opening degree;
and if the change trend of the roll angle is larger than or equal to the third set change trend, adjusting the opening of the circulating valve to be fully closed.
The invention has the advantages that: 1. the invention combines the circulation valve and the compensation valve (the combination structure of the containing cavity and the steel ball), controls the flow mode of oil between the rodless cavity in the stabilizer bar connecting rod and the liquid storage cylinder, realizes the roll stiffness adjustment of the stabilizer bar connecting rod, has extremely simple adjustment mode, can adopt protective mechanism measures aiming at certain emergency situations, improves the safety of vehicle driving, in addition, the invention only needs to control the circulation valve, the compensation valve is completely driven by the oil pressure, and the adjustment and control method is simple and efficient;
2. the compensation valve comprises an accommodating cavity and a steel ball structure, wherein the steel ball rolls in the accommodating cavity and is matched with the through hole for use, the combination of the through hole and the steel ball can form a one-way valve structure under the condition that the flow through valve is fully closed, the flow of oil is controlled only according to the flow from the liquid storage cylinder to the rodless cavity but not along the rodless cavity to the liquid storage cylinder, the rigidity of the connecting rod of the stabilizer bar is adjusted to continuously rise, the adjusting mode is simple, and the driving safety of a vehicle can be improved;
3. according to the invention, the limiting ports are arranged on two sides of the accommodating cavity, the steel ball can tightly abut against the limiting ports under the action of oil hydraulic pressure, the limiting ports can be further moved, the steel ball cannot completely block the limiting ports, and oil can flow through gaps between the limiting ports of the steel ball, so that the rigidity of the connecting rod of the stabilizer bar can be slowly changed;
4. the invention designs a set of control method aiming at the flow valve of the stabilizer bar connecting rod, and adopts a set of protection control measures for the emergency which may occur when the vehicle body is in a comfortable mode, so as to ensure that the rigidity of the stabilizer bar connecting rod can be quickly adjusted when the emergency occurs, and improve the safety of the vehicle;
5. the protection mechanism judges whether to start or not by calculating the stability trend of the vehicle body and the chassis system, the parameters to be acquired are simpler, the calculation mode is simpler, whether the protection mechanism is started or not can be quickly judged, the response is quick, and the safety is high;
6. according to the invention, the time for completely closing the flow valve under the condition that the protection mechanism is started is calculated, so that the timely response to the emergency condition under the current driving condition of the corresponding vehicle is ensured, and the driving safety of the vehicle is ensured;
7. the invention automatically controls the flow valve by monitoring the real-time rigidity value and the change trend of the roll angle of the vehicle in real time, controls the opening degree of the flow valve without the self-adjustment of a driver and passengers, and completely automatically controls the flow valve according to the change trend of the roll angle and the roll angle, thereby ensuring the comfort of the vehicle and the driving safety of the vehicle;
8. according to the method, the opening adjustment of the opening of the flow valve controlled in the automatic control mode is judged by comparing the real-time rigidity with the set roll rigidity and according to the comparison result;
9. according to the method, the adjustment control of the valve opening of the flow valve is judged according to the change trend of the roll angle, so that the aim of adjusting the roll rigidity of the vehicle body is fulfilled;
10. the change trend judgment module of the invention compares the change trend of the roll angle with the set change trend, selects different valve control measures according to the comparison result, and selects different roll stiffness according to different scenes, thereby ensuring the maximum balance of the comfort and the safety of the vehicle.
The semi-active anti-roll structure can realize the control of oil flow by controlling and adjusting the flow valve, thereby changing the rigidity of the connecting rod of the stabilizer bar, having extremely simple adjusting mode and extremely high rigidity adjusting efficiency, improving the driving safety of vehicles and having great popularization value.
Drawings
FIG. 1: the invention relates to a structure schematic diagram of a stabilizer bar connecting rod;
FIG. 2: the stabilizer bar connecting rod is in a compression state schematic diagram when the flow valve is in a non-closing state;
FIG. 3: the stabilizer bar connecting rod is in a drawing state schematic diagram when the flow valve is in a non-closing state;
FIG. 4: the stabilizer bar connecting rod is in a compression state schematic diagram when the circulation valve is in a closed state;
FIG. 5: the stabilizer bar connecting rod is in a drawing state schematic diagram when the circulation valve is in a closed state;
FIG. 6: the structure of the channel, the accommodating cavity and the flow channel is schematically shown;
FIG. 7: the invention discloses an automatic mode control strategy diagram;
FIG. 8: the protection mechanism control strategy schematic diagram under the comfort mode is shown;
wherein: 1-a piston cylinder; 2-rodless cavity; 3-having a rod cavity; 4, a piston; 5-a piston rod; 6, a liquid storage cylinder; 7-valve core; 8, steel balls; 9-a channel; 10-a through hole; 11-a cross-bar; 12-a boss; 13-a flow channel; 14-a containing cavity; 15-a valve body; 16 — a first limiting port; 17 — second limit port.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used 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 one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 to 6, the stabilizer bar connecting rod of the present embodiment includes a piston cylinder 1, the piston cylinder 1 includes a piston 4 and a piston rod 5, one end of the piston rod 5 is connected to the piston 4, and the other end of the piston rod passes through the piston cylinder 1 and is connected to the stabilizer bar. The rodless cavity 2 of the piston cylinder body 1 is fixedly connected with the liquid storage cylinder 6 through the cross rod 11, the channel 9 is formed in the cross rod 11, the channel 9 is communicated with the rodless cavity 2 and the liquid storage cylinder 6, oil is stored in the liquid storage cylinder 6 and is communicated with the rodless cavity through the channel 9, the oil flows between the rodless cavity 2 and the liquid storage cylinder 6 to generate damping, and the overall rigidity of the stabilizer bar connecting rod can be adjusted by changing the flowing speed and the flowing flow of the oil.
This embodiment is provided with the circulation valve at the lower extreme of liquid storage cylinder 6, and the liquid flow who passes in and out to liquid storage cylinder 6 is controlled through the circulation valve to adjust stabilizer bar connecting rod's overall length and rigidity. The valve body of the circulation valve is driven by the driving structure to move vertically to realize opening degree adjustment control, the driving structure is connected with the control module of the embodiment, and control adjustment is carried out through the control module.
As shown in fig. 1 and 6, a circle of annular boss 12 is arranged on the inner wall of the cylinder body of the liquid storage cylinder 6 in the embodiment, the boss 12 is spaced from the bottom of the cylinder body, a flow channel 13 communicated with the inner space of the liquid storage cylinder 6 is arranged in a gap between the boss 12 and the bottom of the cylinder body, an accommodating cavity 14 is further arranged between the boss 12 and the bottom of the cylinder body, the accommodating cavity 14 is arranged between the channel 9 and the flow channel 13, and the channel 9 and the flow channel 13 are connected in series to form a passage between the liquid storage cylinder 6 and the rodless cavity 2.
The steel ball 8 capable of rolling in the cavity is arranged in the accommodating cavity 14, the connecting parts of the two sides of the accommodating cavity 14 and the channel 9 and the flow channel 13 are provided with limiting ports for limiting the entering of the steel ball 8, and the limiting ports comprise a first limiting port 16 arranged at the connecting part of the accommodating cavity 14 and the channel 9 and a second limiting port 17 arranged at the connecting part of the accommodating cavity 14 and the flow channel 13. As shown in fig. 6, the limiting port is a rectangular hole (not limited to a rectangular hole structure in practical application, as long as the function described in this embodiment can be achieved) having a width smaller than the diameter of the steel ball 8 and a length larger than the diameter of the steel ball 8, and after the steel ball 8 moves to the limiting port, the flow area is reduced, but a gap is left between the steel ball 8 and the limiting port, which is not completely closed, so that the liquid can flow through the gap between the steel ball 8 and the limiting port, and the damping of the stabilizer link slowly changes.
In addition, a through hole 10 for communicating the liquid storage cylinder 6 with the accommodating cavity 14 is formed in the boss 12 above the accommodating cavity 14, one end, facing the accommodating cavity 14, of the through hole 10 is of a conical structure with a large bottom and a small top, and the through hole 10 can be completely blocked by the steel ball 8 after the steel ball 8 enters the lower end of the through hole 10 under the squeezing and pushing action of oil.
As shown in fig. 1, the flow valve structure of this embodiment includes a valve body 15 disposed at the bottom of the liquid storage cylinder and a valve core 7 mounted on the valve body 15 and capable of being controlled by a control device to be vertically adjusted, wherein the valve core 7 moves up and down and penetrates through the middle of a boss 12 to form a valve structure with the boss 12 for changing the flow rate of liquid flowing into and out of the liquid storage cylinder 6.
When the circulation valve is in a non-fully closed state, the stabilizer bar connecting rod is in a compressed state, oil flows from the rodless cavity 2 to the liquid storage cylinder 6, the steel ball 8 moves to the second limiting port 17 under the action of the oil, as shown in fig. 2, a part of the oil flows through a gap between the steel ball 8 and the second limiting port 17, and a part of the oil flows through the through hole 10 above the steel ball 8; when the stabilizer bar connecting rod is in a stretching state, oil flows to the rodless cavity 2 from the liquid storage cylinder 6, as shown in fig. 3, the steel ball 8 moves to the first limiting port 16 under the action of the oil, and the oil flows through a gap between the steel ball 8 and the first limiting port 16.
When the circulation valve is in a closed state, the stabilizer bar connecting rod is in a compressed state, the steel ball 8 moves into the through hole 10 under the action of oil, as shown in fig. 4, the oil cannot flow between the rodless cavity 2 and the liquid storage cylinder 6, and the roll stiffness is maximum; when the stabilizer bar connecting rod is in a stretching state, oil flows to the rodless cavity 2 from the liquid storage cylinder 6, as shown in fig. 5, the steel ball 8 enters the first limiting port 16, and the oil flows through a gap between the steel ball 8 and the first limiting port 16.
The anti-roll system of the embodiment mainly comprises a data acquisition module, a data acquisition module and a control module, wherein the data acquisition module is used for acquiring the roll angle and the wheel center displacement of a vehicle;
the automatic control module is used for calculating the real-time rigidity value and the roll angle change trend of the vehicle according to the obtained roll angle and judging the opening of the corresponding flow valve; the control module correspondingly adjusts the flow valve according to the acquired opening degree of the flow valve;
the automatic control module comprises a rigidity judgment module; the rigidity judgment module calculates a real-time rigidity value of the vehicle according to the roll angle and compares the real-time rigidity value with a set roll rigidity, and when the real-time rigidity value is smaller than the set roll rigidity, the rigidity judgment module sends a command of fully opening the circulation valve to the control module;
the automatic control module comprises a change trend judgment module; the change trend judging module calculates the change trend of the roll angle of the vehicle according to the roll angle and compares the change trend with a set change trend, and when the real-time rigidity value is not less than the set roll rigidity, a corresponding opening adjusting instruction of the circulation valve is sent to the control module according to the comparison result of the change trend of the roll angle and the set change trend;
as shown in fig. 7, the specific determination control method is as follows: the roll angle sensor is used for acquiring the roll angle of the vehicle body as theta, and the real-time roll stiffness of the vehicle is calculated as follows:
wherein: c-real time roll stiffness;
theta-side inclination angle;
ms-the sprung mass of the vehicle;
hs-vehicle centre of gravity and roll centre height difference;
d θ/dt — acceleration of the change in roll angle;
calculating the change trend F of the roll angle:
wherein: f is the change trend of the roll angle;
A1-a first stepA coefficient of variation;
A2-a second coefficient of variation;
wherein A is1And A2According to the requirement of vehicle model control stability, determining optimal coefficients of different vehicle models in chassis adjustment.
When the real-time roll stiffness C is smaller than the designed roll stiffness K of the vehicle, the system opens a flow valve of a hydraulic control system, and reduces the stiffness of the transverse stabilizer bar so as to achieve the purpose of improving the comfort;
when the real-time roll stiffness C is greater than the vehicle design roll stiffness K, judging the magnitude of F:
when F is more than 1 and less than 2, the change rate of the roll angle is considered to be slower, namely the roll angle rigidity needs to be increased less, the ECU controls the opening of the circulating valve to be 30 percent, and the corresponding damping force of oil flowing is increased due to the fact that the opening of the circulating valve is reduced, so that the roll angle rigidity is improved to a certain extent;
when F is more than or equal to 2 and less than 4, the change of the roll angle is considered to be large at the moment, the ECU controls the opening of the flow valve to be 70 percent, and the rigidity of the roll angle is further increased;
when F is larger than or equal to 4, the roll angle of the vehicle is considered to be in violent change at the moment, and very high roll rigidity is needed to improve the running stability and the operation performance of the vehicle;
in the present embodiment, the first setting variation tendency is 1, the second setting variation tendency is 2, and the third setting variation tendency is 4, and the setting value is not limited to this value in actual use.
The present embodiment sets the fully closed state of the flow valve 5 to the sport mode where the roll rigidity is the largest, and sets the fully open state of the flow valve 5 to the comfort mode where the roll rigidity is the smallest.
In a comfort mode, an emergency protection mechanism is arranged in the embodiment, namely, when the vehicle meets an emergency or when the vehicle meets a condition that a driver cannot react in time, a protection mechanism judgment module is arranged in the embodiment, and whether the protection mechanism is started or not is judged based on the roll angle and the wheel center displacement of the vehicle in a comfort mode that the flow valve is fully opened; and the control module receives the protection mechanism starting instruction transmitted by the protection mechanism judging module to completely close the flow valve.
The protection mechanism judging module comprises a stability trend calculating module for calculating the stability trend of the vehicle body and the chassis system through the roll angle and the wheel center displacement and a judging and identifying module for comparing the stability trend of the vehicle body and the chassis system with a set trend value and judging whether to start the protection mechanism or not; the system also comprises a valve closing time calculation module used for calculating the time for closing all the flow valves based on the roll angle change rate and the wheel center displacement change rate when the protection mechanism is started.
The specific control measures are as follows: calculating the stability trend of the vehicle body and the chassis system according to the common input of the roll angle sensor and the wheel center displacement sensor,
wherein: theta-side inclination angle;
s-wheel center displacement;
d θ/dt — acceleration of the change in roll angle;
ds/dt — acceleration of the change in wheel center displacement;
K1-the roll angle feedback compensation factor;
K2-wheel center displacement feedback compensation factor;
the determination of the compensation coefficient mainly determines a specific numerical value according to the mass of the whole vehicle, the rigidity of a suspension, the influence of the position of a hard point of the suspension and the like;
the control flow of the protection mechanism in the comfort mode is shown in fig. 8, when it is detected that the stability trend of the vehicle body and the chassis system is greater than the set trend value, the protection mechanism is considered to be required to be opened, and the control module closes the circulation valve. And when the stability trend of the vehicle body and the chassis system is less than or equal to the set trend value, keeping the opening state of the circulating valve.
The driving mode can be selected, and the user can select the automobile driving mode: comfort mode, automatic mode, sport mode. When the current vehicle speed V is larger than 60KM/h (specific parameters can be calibrated) acquired from the vehicle speed sensor, the user can not manually switch to the comfort mode. This is to prevent a reduction in the driving stability of the vehicle due to the selection of the comfort mode when the vehicle speed is high, which may cause a safety problem in an emergency. When the vehicle speed is below 60KM/h, passengers can freely select three modes. The driving mode selection unit transmits a driving mode signal to the CAN bus, and the CAN bus integrated signal is input to the ECU control unit. The ECU control unit transmits instructions to the drive unit through input signals. And under the combined action of the final driving unit and the stabilizer bar hydraulic system, the roll stiffness of the stabilizer bar is changed.
The ECU unit receives a signal of the driving mode selection unit firstly, and directly outputs the signal to control the driving unit and open the circulating valve under the condition that the comfortable mode is selected, and the stabilizer bar connecting rod can freely move up and down at the moment, so that the roll rigidity is small and the comfort is high. When the motion mode is selected, the ECU unit outputs a signal to close the circulating valve, and at the moment, under the action of a stabilizer bar connecting rod hydraulic system, the roll rigidity is increased, and the running stability of the automobile is improved. When the automatic mode is selected, the ECU system converts the vehicle body roll angle signal into roll angle rigidity C required for keeping excellent driving stability under the current roll angle according to the signal input by the roll angle sensor.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A semi-active anti-roll structure comprises a stabilizer bar connecting rod, wherein the stabilizer bar connecting rod comprises a piston cylinder body (1) and a liquid storage cylinder (6) fixedly connected with the piston cylinder body through a cross rod (11); the liquid storage cylinder (6) is communicated with the rodless cavity (2) of the piston cylinder body (1) through a channel (9) formed in the cross rod (11); the liquid storage cylinder (6) is provided with a flow valve for changing the flow of liquid entering and exiting the liquid storage cylinder (6),
the method is characterized in that: a circle of annular boss (12) is arranged on the inner wall of the liquid storage cylinder (6); a flow channel (13) communicated with the liquid storage cylinder (6) is formed between the boss (12) and the bottom of the liquid storage cylinder (6); the flow channel (13) is communicated with the channel (9) through an accommodating cavity (14) below the boss (12); a steel ball (8) capable of rolling in the cavity is arranged in the accommodating cavity (14), and limiting ports for limiting the entering of the steel ball (8) are arranged at the connection parts of the two sides of the accommodating cavity (14) and the channel (9) and the flow passage (13); when the steel ball (8) moves to the limiting port, a gap for liquid to pass through is reserved between the limiting port and the steel ball (8); the boss (12) is provided with a through hole (10) for communicating the liquid storage cylinder (6) with the accommodating cavity (14); the lower end of the through hole (10) is configured such that the through hole (10) is completely closed when the steel ball (8) moves to the lower end of the through hole (10).
2. A semi-active roll prevention structure as claimed in claim 1, wherein: the limiting ports are rectangular holes which are arranged at the connecting part of the accommodating cavity (14) and the channel (9) and the connecting part of the accommodating cavity (14) and the flow channel (13), the width of the rectangular holes is smaller than the diameter of the steel ball (8), and the length of the rectangular holes is larger than the diameter of the steel ball (8).
3. A semi-active roll prevention structure as claimed in claim 1, wherein: one end of the through hole (10) facing the accommodating cavity (14) is of a conical structure with a large lower part and a small upper part and can be completely blocked by the steel ball (8).
4. A semi-active roll prevention structure as claimed in claim 1, wherein: the circulation valve comprises a valve body (15) arranged at the bottom of the liquid storage cylinder body and a valve core (7) which is arranged on the valve body (15) and can be vertically adjusted; the valve core (7) moves up and down and penetrates through the middle of the boss (12) to form a valve structure with the boss (12) for changing the flow of liquid entering and exiting the liquid storage cylinder (6).
5. A method for controlling a semi-active anti-roll structure according to any of claims 1 to 4, characterized in that: collecting a roll angle signal of a vehicle body, controlling the opening degree of the flow valve according to the roll angle signal, collecting the roll angle and the wheel center displacement of the vehicle when the flow valve is fully opened, namely the vehicle body is in a comfortable mode, if the roll angle and the wheel center displacement of the vehicle exceed set limit values, starting a protection mechanism, closing the flow valve, enabling the steel ball (8) to roll to a limit port on one side of the channel (9) to enable the channel (9) to be partially opened when oil flows from the liquid storage cylinder (6) to the rodless cavity (2), and rolling to the through hole (10) to limit the oil to flow into the liquid storage cylinder (6) when the oil flows from the rodless cavity (2) to the liquid storage cylinder (6).
6. A method of controlling a semi-active anti-roll structure according to claim 5, characterised in that: the method for starting the protection mechanism comprises the following steps: the method comprises the steps of collecting vehicle roll angles and wheel center displacements, calculating the stability trend of a vehicle body and a chassis system, comparing the stability trend of the vehicle body and the chassis system with a set trend value, and if the stability trend exceeds the set trend value, starting a protection mechanism.
7. A control method of a semi-active anti-roll structure according to claim 5 or 6, characterized in that: the method of closing a flow-through valve comprises: the time for which the flow valve is fully closed is calculated from the rate of change of the roll angle and the rate of change of the center displacement, and the full closing of the flow valve is controlled in accordance with the calculated time for which the flow valve is fully closed.
8. A method of controlling a semi-active anti-roll structure according to claim 5, characterised in that: the method for controlling the opening degree of the flow valve according to the roll angle signal comprises the following steps: and calculating a real-time rigidity value and a change trend of the roll angle of the vehicle according to the collected roll angle signal, calculating the corresponding opening of the flow valve based on the real-time rigidity value and the change trend of the roll angle, and controlling the flow valve to correspondingly adjust according to the calculated opening of the flow valve.
9. A method of controlling a semi-active anti-roll structure according to claim 8, characterised in that: if the real-time rigidity value of the vehicle is smaller than the set roll rigidity, controlling the flow valve to be fully opened; and if the real-time rigidity value of the vehicle is not less than the set roll rigidity, carrying out opening adjustment control on the flow valve according to the comparison result of the roll angle change trend and the set change trend.
10. A method of controlling a semi-active anti-roll structure according to claim 9, characterised in that: the method for adjusting and controlling the opening degree of the flow valve according to the comparison result of the change trend of the roll angle and the set change trend comprises the following steps: if the change trend of the roll angle is larger than the first set change trend and smaller than the second change trend, the opening degree of the circulating valve is adjusted to be the first opening degree; the first set variation trend is less than the second set variation trend;
if the change trend of the side angle is larger than or equal to a second set change trend and smaller than the second change trend, the opening degree of the circulating valve is adjusted to be a second opening degree; the second set variation trend is less than a third set variation trend; the second opening degree is smaller than the first opening degree;
and if the change trend of the roll angle is larger than or equal to the third set change trend, adjusting the opening of the circulating valve to be fully closed.
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