CN113306356A - Cargo-carrying commercial vehicle air suspension height keeping control system and method - Google Patents
Cargo-carrying commercial vehicle air suspension height keeping control system and method 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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
- B60G17/0525—Height adjusting or levelling valves
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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
- B60G17/0155—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 pneumatic unit
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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
- B60G17/017—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their use when the vehicle is stationary, e.g. during loading, engine start-up or switch-off
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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
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Abstract
The invention discloses a height keeping control system and method for an air suspension of a cargo-carrying commercial vehicle. Acquiring vehicle state parameters, calculating a height difference between the actual height of the vehicle body and a set target height before loading or unloading when the vehicle is judged to be in a static condition according to the vehicle parameters, and controlling an electromagnetic valve of an air suspension in a quick adjustment and/or stability adjustment mode according to the height difference so as to keep the height of the vehicle body in a stable interval; after the height of the vehicle body is stable, the actual height of the vehicle body is collected in real time when loading or unloading is carried out, and the electromagnetic valve of the air suspension is controlled in an independent left-right double-error-zone adjusting mode according to the height difference between the actual height and the set target height, so that the height of the vehicle body is kept stable; the body height includes a left body height and a right body height. The invention can realize automatic, rapid and stable adjustment of the height of the vehicle body according to the change of the weight of the goods to be loaded and unloaded, so that the height of the vehicle body and the height of the platform are always kept in the target height range.
Description
Technical Field
The invention belongs to the technical field of cargo-carrying commercial vehicles, and particularly relates to a height keeping control system and method for an air suspension of a cargo-carrying commercial vehicle.
Background
With the rapid development of electronic control technology, an electronic control air suspension system combined with a high-speed switching electromagnetic valve gets more and more extensive attention. The electronic control air suspension system can not only perform self-adaptive adjustment on the rigidity, damping and the like of the air suspension system according to road running conditions, vehicle running speed, driver control requirements and the like, but also can perform active control on the height of a vehicle body of the vehicle, and meets the control requirements of the vehicle under complex running conditions. Electronically controlled air suspension systems are currently finding increasing use on heavy duty vehicles, passenger cars, and most luxury vehicles. The passive air suspension is widely applied to luxury passenger cars and heavy goods vehicles, and is developed into an electric control air suspension from a passive air suspension, so that the trafficability and the fuel economy of the vehicle under different working conditions are remarkably improved. Specifically, under the development of an electronic control technology, the height of the air spring is increased and decreased by inflating and deflating the air spring, so that the height of a vehicle body can be adjusted. Under a high-speed working condition, the height of the vehicle body is reduced by releasing air in the air spring, the running stability can be improved, the probability of side turning is reduced, the air resistance during running is also reduced, and the fuel economy is improved; when the road condition is severe, the height of the vehicle body is improved by inflating the air spring, so that the chassis is prevented from being scratched by road barriers, and the passing performance of the vehicle is improved.
The electric control air suspension system (ECAS) is composed of an ECU, a height sensor, an electromagnetic valve, an air pressure sensor, a remote controller and the like. The height sensor measures height signals between the chassis and the axle and transmits the height signals to the ECU, the ECU receives other signals such as vehicle speed, braking state, air bag pressure, a remote controller and the like at the same time, all input information is integrated, corresponding actions of the electromagnetic valve are excited according to control parameters and height control indexes which are arranged in the ECU, a closed-loop control system is formed, inflation or deflation of each air bag is realized, and the chassis is adjusted to reach a target height.
At present, height control based on an electric control air suspension system aims at running vehicles, such as Chinese patent application 'an electric control air suspension vehicle body height adjusting method (202011521864X) based on model prediction control', a nonlinear vehicle height adjusting model of a quarter of electric control air suspension is established and linearized to be used as a prediction model; observing the model linearization error and road surface interference by using an extended state observer and feeding back to the prediction model; according to the target vehicle body height, the actual vehicle body height and the prediction model, the required air mass flow is calculated by utilizing model prediction control, and then the air mass flow is converted into an opening and closing signal of the electromagnetic valve through PWM control; a self-adaptive event triggering mechanism is designed, whether model prediction control optimization calculation is carried out or not is judged at each sampling moment according to a self-adaptive threshold and a triggering condition, and therefore the speed and the precision of vehicle body height adjustment are improved.
When goods are loaded and unloaded in work places such as logistics parks, wharfs, factories and the like, the cargo-carrying commercial vehicle with the electric control air suspension system adopts a remote controller manual adjustment mode to enable the height of a vehicle body to be kept flush with the height of a platform.
The prior art has the following defects:
a) the accuracy of the height adjustment of the vehicle body completely depends on the operation accuracy of a person.
b) The number of times of operation for adjusting the height of the vehicle body is large, one vehicle of goods is loaded and unloaded, and multiple times of manual adjustment are needed along with the increase or decrease of the weight of the vehicle-mounted goods.
c) Manual and multiple times of adjustment, long adjustment time, uncontrollable adjustment error and low working efficiency.
Therefore, in order to solve the problems of obvious overshoot and oscillation phenomena around a target value generated in the process of adjusting the height of the vehicle body of the electronic control air suspension system, a fast and stable cargo commercial vehicle air suspension height maintaining control system needs to be provided so as to realize effective adjustment of the height of the vehicle body.
Disclosure of Invention
The invention aims to solve the problems of long time, non-automatic adjustment, low accuracy and the like of the manual height adjustment mode in the background technology, and provides a height keeping control system and method for an air suspension of a cargo-carrying commercial vehicle, which can realize automatic, rapid and stable adjustment of the height of a vehicle body according to the weight change of cargos to be loaded and unloaded, so that the height of the vehicle body and the height of a platform are always kept in a height target range.
The technical scheme adopted by the invention is as follows: a method for keeping and controlling the height of an air suspension of a cargo commercial vehicle,
acquiring vehicle state parameters, calculating a height difference between the actual height of the vehicle body and a set target height before loading or unloading when the vehicle is judged to be in a static condition according to the vehicle parameters, and controlling an electromagnetic valve of an air suspension in a quick adjustment and/or stability adjustment mode according to the height difference so as to keep the height of the vehicle body in a stable interval;
after the height of the vehicle body is stable, the actual height of the vehicle body is collected in real time when loading or unloading is carried out, and the electromagnetic valve of the air suspension is controlled in an independent left-right double-error-zone adjusting mode according to the height difference between the actual height and the set target height, so that the height of the vehicle body is kept stable;
the body height includes a left body height and a right body height.
Further, the static condition is that the vehicle speed is less than or equal to a vehicle speed threshold.
Further, the vehicle speed threshold is 0-5 km/h.
Further, before loading or unloading,
if the absolute value of the height difference is larger than a second threshold value, firstly carrying out quick adjustment and then carrying out stability adjustment to keep the height of the vehicle body within a stable range;
if the absolute value of the height difference is smaller than or equal to a second threshold and larger than a first threshold, performing stability adjustment to keep the height of the vehicle body within a stable range;
and if the absolute value of the height difference is smaller than or equal to a first threshold value, not adjusting the height of the vehicle body.
Further, the fast adjustment is to determine the duty ratio of the PWM control signal of the solenoid valve by adopting a PD control manner.
Further, the stability adjustment is to determine the duty ratio of the PWM control signal of the solenoid valve by using a PID control method.
Further, the independent left and right double error bands are adjusted as follows:
when the absolute value of the height difference is smaller than or equal to a second threshold value, the height of the vehicle body is not adjusted;
and when the absolute value of the height difference is larger than the second threshold value and the duration is larger than or equal to the set time, performing stability adjustment to stabilize the height of the vehicle body.
Further, the set time is 1-2 min.
The utility model provides a high control system that keeps of load commercial car air suspension which characterized in that:
the vehicle state detection module is used for detecting a vehicle state signal and sending the vehicle state signal to the signal processing module;
the signal processing module is used for filtering the received vehicle state parameters and sending the processed signals to the height decision module;
the height decision module is used for determining the actual height and the target height of the vehicle body according to the received signals and sending the actual height and the target height to the height keeping module;
and the height maintaining module is used for calculating a height difference value between the actual height of the vehicle body and the target height, and outputting a control signal to the control execution module in a quick adjustment and/or stability adjustment mode according to the height difference value.
And the control execution module is used for executing corresponding actions according to the received control signals so as to keep the height of the vehicle body within a stable interval.
Further, the vehicle state detection module is used for detecting a vehicle state signal and sending a signal to the signal processing module when the vehicle is judged to be in a static condition according to the vehicle state signal.
The invention adopts an automatic adjusting method of quick adjustment and stability adjustment to align the vehicle and the platform before static loading and unloading; the height of the left and right vehicle bodies is automatically and independently adjusted and controlled by adopting an independent left and right double-error-zone adjusting method in the loading and unloading process, the basic horizontal balance state of the vehicle bodies is kept, the whole process can realize automatic, rapid and stable adjustment of the height of the vehicle bodies according to the change of the weight of loaded and unloaded goods, the height of the vehicle bodies and the height of a platform are always kept in a height target range, and the height adjustment is reliable and efficient.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
FIG. 2 is a block diagram of a system implementation of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and 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, should not be construed as limiting the present invention.
Where the terms "comprising", "having" and "including" are used in this specification, there may be another part or parts unless otherwise stated, and the terms used may generally be in the singular but may also be in the plural.
It should be noted that although the terms "first," "second," "top," "bottom," "side," "other," "end," "other end," and the like may be used and used in this specification to describe various components, these components and parts should not be limited by these terms. These terms are only used to distinguish one element or section from another element or section. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, with the top and bottom elements being interchangeable or switchable with one another, where appropriate, without departing from the scope of the present description; the components at one end and the other end may be of the same or different properties to each other.
Further, in constituting the component, although it is not explicitly described, it is understood that a certain error region is necessarily included.
As shown in figure 1, the height maintaining control system for the air suspension of the commercial truck for carrying goods is a closed-loop control system with height feedback of a truck body, and the system is composed of a signal detection input part, a signal processing and control part and an output control part.
Signal detection input section: the remote control device is composed of a vehicle state signal module, a remote control module, a height sensor group and a pressure sensor group.
a) And the vehicle state signal module acquires an ignition lock ON gear signal, an engine rotating speed signal, a vehicle speed signal, a pedal plate signal, a parking hand brake signal, a shaft difference/wheel difference signal and the like, and the signals are used as the input of the signal processing module.
b) The remote controller module is a wired remote controller integrating digital keys, function operation keys, a display function and a CAN communication function. The number keys comprise 0-9, a click number and a clear key; the 9 keys for functional operation comprise a front axle key, a drive axle key, a lifting axle key, a memory M1 key, a memory M2 key, a reset key, a rising key, a falling key and a STOP STOP key, and key signals are provided to the signal detection and processing module through CAN communication.
c) The height sensor group determines the height change of the left and right vehicle bodies by detecting the charging and discharging time length of each sensor inductor, and height change detection signals are provided for the signal detection and processing module. The height sensor group is used as a key component of a height maintenance control system, and 2-4 vehicles are generally configured, and the number of the sensors is determined according to user requirements and system control types.
d) The pressure sensor group is a group of sensors for detecting the pressure change of each air spring air bag of the vehicle, and the pressure change detection signal is provided for the signal detection and processing module. The signals of the pressure sensor group are main parameters for realizing functions such as height maintenance control, height safety control and the like, and are used as important basis for switching among multifunctional modes and safety control strategies, and the configuration number of the pressure sensors is determined according to the control type of the system.
The signal processing and control part: the height decision-making device is composed of a signal processing module, a height decision-making module and a height maintaining module.
a) And the signal detection and processing module respectively receives three types of signals from a vehicle state signal, a height sensor group and a pressure sensor group, and carries out filtering processing on each signal according to the characteristics of each signal, wherein the three types of signals are used as the input of the height decision module, and the other actual height signal is used as the input of the height keeping module. Meanwhile, the signal detection and processing module identifies three states of vehicle static state, vehicle starting state and vehicle running state and provides the three states for the height decision module to use.
b) And the height decision module operates a height decision strategy and outputs a target height according to the vehicle state signal, the left and right vehicle body height signals, the pressure signals of all air spring air bags and the like, and the target height is used as the input of the height keeping module. The accuracy and precision of the module output target height directly influence and determine the accuracy of the height maintenance system control.
c) And the height keeping module is used as the actual input of height keeping according to the difference value of the target height and the actual height, operates the height keeping strategy, outputs and drives each electromagnetic valve, opens the air source to charge and discharge each air spring air bag, and is a closed-loop control process which controls the height of the vehicle body repeatedly until the target height is reached. The quality of the height keeping strategy directly determines the performance indexes of the whole vehicle height control response time length, stability and the like.
An output control section: consists of a controlled object electromagnetic valve and an air spring air bag.
a) The electromagnetic valve is a combined valve generally and is formed by combining 2-4 independent valves, a vehicle is a triple valve with 1 air inlet and 2 air outlets commonly used, the air inlet of the valve is connected into an air storage cylinder through an air path, two air outlets of the valve are connected into an air spring air bag through an air path, and an exhaust hole communicated with the atmosphere is formed in the valve body to exhaust redundant indoor air into the atmosphere. The electromagnetic valve is used as an actuator, the ECU PWM module controls the air inlet and the air outlet of the valve to be opened simultaneously to inflate the air spring air bag, or controls the air inlet and the air outlet of the valve to be closed to deflate the air, and the opening or closing time of the control valve is determined by the height keeping control module.
b) The air spring air bag inflates the air bag or deflates the air bag outwards according to a valve control instruction, when the air bag inflates and deflates, the height of the air spring air bag rises to push the vehicle body to rise, and when the air bag deflates outwards, the height of the air spring air bag falls to push the vehicle body to fall.
The method for realizing height maintenance based on the system comprises the following steps:
acquiring vehicle state parameters, calculating a height difference between the actual height of the vehicle body and a set target height before loading or unloading when the vehicle is judged to be in a static condition according to the vehicle parameters, and controlling an electromagnetic valve of an air suspension in a quick adjustment and/or stability adjustment mode according to the height difference so as to keep the height of the vehicle body in a stable interval;
after the height of the vehicle body is stable, the actual height of the vehicle body is collected in real time when loading or unloading is carried out, and the electromagnetic valve of the air suspension is controlled in an independent left-right double-error-zone adjusting mode according to the height difference between the actual height and the set target height, so that the height of the vehicle body is kept stable;
the vehicle body height comprises a left vehicle body height and a right vehicle body height, namely the height is kept and adjusted by adjusting the left vehicle body height and the right vehicle body height respectively.
The static condition is that the vehicle speed is less than or equal to a vehicle speed threshold value, and the vehicle speed threshold value can be 0-5 km/h.
Before loading or unloading, if the absolute value of the height difference is larger than a second threshold value (D _ val2), firstly carrying out quick adjustment and then carrying out stability adjustment to keep the height of the vehicle body in a stable interval;
if the absolute value of the height difference is smaller than or equal to a second threshold value and larger than a first threshold value (D _ val1), performing stability adjustment to keep the height of the vehicle body in a stable interval;
and if the absolute value of the height difference is smaller than or equal to a first threshold value, not adjusting the height of the vehicle body.
The rapid adjustment is to determine the duty ratio of the PWM control signal of the electromagnetic valve by adopting a PD control mode. And the stability regulation is to determine the duty ratio of a PWM control signal of the electromagnetic valve by adopting a PID control mode.
The independent left and right double error bands are adjusted as follows:
when the absolute value of the height difference is smaller than or equal to a second threshold value, the height of the vehicle body is not adjusted;
and when the absolute value of the height difference is larger than the second threshold value and the duration is larger than or equal to the set time, performing stability adjustment to stabilize the height of the vehicle body.
Specific applications are detailed below:
when the platform height calibrating device is used for the first time, the platform height (namely the target height) needs to be calibrated firstly, the platform height is calibrated at one time, the platform height does not need to be calibrated again as long as the platform field for loading and unloading vehicles is fixed and does not change, and the platform height is calibrated for the first time continuously subsequently. If the platform site changes, only one recalibration is needed.
Platform height calibration has two modes: the first measurement platform is set by the digital keys of the remote controller; the second method is to visually observe the alignment of the vehicle body and the platform through the ascending and descending keys of the remote controller and press the setting of the memory M key.
The system is capable of memorizing two different platform heights, a typical application scenario being different platform heights where the vehicle is traveling in two places on a fixed route A, B.
The height keeping control method consists of three parts of quick adjustment, stability adjustment and independent left and right double-error-zone adjustment, and has two combination modes:
the first combination mode is as follows: the method comprises the steps of quick adjustment, stability adjustment and independent left-right double-error-zone adjustment, and when the difference between the height of a platform (target height) and the actual height of a vehicle body is large in a quick adjustment range, most application scenes generally adopt the adjustment control mode.
The second combination mode: the method is characterized by comprising the following steps of stability adjustment and independent left-right double-error-zone adjustment, wherein when the difference value between the platform height (target height) and the actual height of a vehicle body is in a stability adjustment range, the adjustment control mode is adopted.
The specific control strategy is as follows:
quick adjustment and stability adjustment refer to the method by which the system automatically adjusts each time the vehicle is aligned with the dock.
The independent left-right double-error-zone adjustment refers to a method for automatically adjusting the system when the height of the vehicle body changes in the loading or unloading process.
a) And quickly adjusting: the vehicle comes to the commodity circulation garden, inputs platform height, target height promptly, and the actual height of system real-time detection automobile body when actual height and target altitude difference (being altitude difference) > D _ val2, adopts PD quick adjustment, and quick adjustment automobile body height makes the automobile body height be close to the stability control interval.
b) And (3) stability regulation: and when the height difference value is less than or equal to D _ val2, considering the nonlinearity of the air suspension system and the time delay condition of the control system, adopting PID stability adjustment, and stopping adjustment until the height difference value is less than or equal to D _ val 1. The PID can meet the requirements of system regulation precision and system control smoothness.
c) Independent left and right double error band adjustment: after the quick adjustment and the stability adjustment are completed, it is indicated that the vehicle body is aligned with the platform at this time.
Next, the height adjustment control of the loading or unloading process is started, if the unloading is reduced along with the goods, the height of the vehicle body is gradually increased, if the loading is increased along with the goods, the height of the vehicle body is gradually reduced, in order to solve the problem that the height of the vehicle body is changed a little, the system immediately starts to adjust, and in order to prevent the problem that the system is too sensitive, the repeated adjustment, the back-and-forth shaking and the oscillation are caused, at the moment, an independent left-right double-error-band adjusting method is adopted, and the specific strategy is as follows:
1) and when the height difference D _ val is less than or equal to D _ val2, the height adjustment control is not performed, and the current situation is maintained.
2) And when the height difference D _ val > D _ val2, starting timing, namely T, and when T is more than or equal to T _ delay, carrying out PID type height adjustment control, wherein the adjusted target height is D _ val1, namely, the actual height of the vehicle body is controlled within the range of D _ val 1.
The parameters are as follows:
target height: h _ act, the output of the altitude decision module.
Actual height: h _ tgt, the output of the signal monitoring and processing module.
Height difference: d _ val ═ H _ act-H _ tgt.
Error 1: d _ val1, typically may take 3 mm.
Error 2: d _ val2, typically may take 8 mm.
Control delay threshold: t _ delay, which can be 60s in general
Injecting;
D_val2>D_val1。
d _ val2, D _ val1 and T _ delay are all standard quantities, and specific parameter values are determined according to vehicle types.
The other function of independent left and right double-error band adjustment is used for independently adjusting and controlling the heights of the left and right automobile bodies respectively, so that the automobile bodies are kept in a basically horizontal balance state. In the loading or unloading process, when cargos in the carriage are uneven, the left and right bearing of the axle is different, the left and right sides of the vehicle have height difference, and the safety performance of the vehicle is affected by the large height difference of the left and right sides.
Example (b):
the frame diagram of the implementation of the air suspension height maintenance control system of the embodiment is shown in fig. 2 and consists of three parts, namely system input, a height maintenance control strategy and drive output.
Inputting a system:
a) and an ignition lock ON gear signal, and hardware is accessed into the ECAS controller.
b) And receiving an engine rotating speed signal, a pedal plate signal and a parking hand brake signal through power CAN communication at a baud rate of 500.
c) And receiving a vehicle speed signal, a shaft difference/wheel difference signal and the like through information CAN communication at a 250 baud rate.
d) And sensor signal: the inductive sensor type is selected, and comprises a drive axle left side height sensor and a drive axle right side height sensor.
e) Pressure sensor signal: a linear pressure sensor is adopted, the measuring range is 0.5bar-12bar, and the linear pressure sensor is provided with a drive axle left side pressure sensor, a drive axle right side pressure sensor, a follow-up axle pressure sensor and a lifting axle pressure sensor.
f) And a remote controller. And carrying out information interaction with the ECAS controller through CAN communication at the rate of 250 baud. The platform height is set for the first application, and then the platform height is directly set through the memory key M.
These signals serve as inputs to the height maintenance control strategy.
Height maintenance control strategy: the height decision-making machine mainly comprises three parts, namely signal detection and processing, height decision-making and height keeping. The three modules, system configuration, power management strategy, fault diagnosis strategy, EOL function and program update Boot function form a height maintenance control system of a complete ECAS controller. The ECAS controller has the following main device parameters and functions:
MCU model: TC233 for Infineon 32-bit platform.
The model of the power supply chip: R1524S050B, 24V to 5V; R1524S033B, 24V to 3.3V.
A passive crystal oscillator: 20M.
CAN transceiver model: TJA1043T with wake-up function.
The electromagnetic valve drives the chip: BSP75N, using low-side drive.
Height sensor signal acquisition and processing: the signal is processed by low-pass filtering, and the charging and discharging time of the height sensor and the height change of the vehicle body are in a linear relation.
Pressure sensor signal acquisition and processing: and the anti-shake mean filtering treatment is adopted, so that the pressure and the axle load change form a linear relation.
The BSW adopts a mode of combining mature commercial codes and hand-written C codes to realize the development of bottom source codes such as CAN communication, signal acquisition, electromagnetic valve driving and the like.
The ASW adopts a Matlab/Simulink modular design mode to realize height decision and height maintenance strategy development, particularly model design such as signal filtering processing, power supply management strategy, rapid PD (proportion integration differentiation) control strategy, stability PID (proportion integration differentiation) control strategy, independent left and right double-error strategy, fault diagnosis strategy and the like is realized, ASW codes are generated after the models pass MIL (micro-inductor) test, an executable file of an ECAS (engineering automation system) height maintenance control system is generated by integrating with BSW (base station controller) and downloaded into an MCU (micro-controller unit).
And (3) driving and outputting: the output of the height keeping control strategy adopts a PWM mode to respectively drive the axle electromagnetic valve, the lifting axle/servo axle electromagnetic valve and the lifting axle/servo axle electromagnetic valve to realize the height keeping control of the air suspension.
The information display sends display information to the meter IC for display through information CAN communication.
The embodiment of the air suspension height maintaining control system and the implementation method are tested and verified on a 6X2 lifting bridge vehicle type of an east wind commercial vehicle, and the vehicle air suspension system is configured as follows:
2 height sensors, in a two-point arrangement.
2 two-channel solenoid valves.
4 pressure sensors.
1 ECAS controller.
1 CAN communication remote controller 1.
The verification result shows that the response time of the system is less than or equal to 8s, the control height error is within +/-3 mm, the suspension system basically has no phenomena of shaking and oscillation in the control process, the performance index is better than that of a competitive product, and the design target is achieved.
In describing positional relationships, for example, when positional sequences are described as being "on.. above", "over.. below", "below", and "next", unless such words or terms are used as "exactly" or "directly", they may include cases where there is no contact or contact therebetween. If a first element is referred to as being "on" a second element, that does not mean that the first element must be above the second element in the figures. The upper and lower portions of the member will change depending on the angle of view and the change in orientation. Thus, in the drawings or in actual construction, if a first element is referred to as being "on" a second element, it can be said that the first element is "under" the second element and the first element is "over" the second element. In describing temporal relationships, unless "exactly" or "directly" is used, the description of "after", "subsequently", and "before" may include instances where there is no discontinuity between steps. The features of the various embodiments of the present invention may be partially or fully combined or spliced with each other and performed in a variety of different configurations as would be well understood by those skilled in the art. Embodiments of the invention may be performed independently of each other or may be performed together in an interdependent relationship.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
The foregoing description of the embodiments and specific examples of the invention have been presented for purposes of illustration and description; it is not intended to be the only form in which the embodiments of the invention may be practiced or utilized. The embodiments are intended to cover the features of the various embodiments as well as the method steps and sequences for constructing and operating the embodiments. However, other embodiments may be utilized to achieve the same or equivalent functions and step sequences.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. To those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended 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.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The various illustrative logical blocks, or elements, described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. The height keeping control method for the air suspension of the cargo-carrying commercial vehicle is characterized by comprising the following steps of:
acquiring vehicle state parameters, calculating a height difference between the actual height of the vehicle body and a set target height before loading or unloading when the vehicle is judged to be in a static condition according to the vehicle parameters, and controlling an electromagnetic valve of an air suspension in a quick adjustment and/or stability adjustment mode according to the height difference so as to keep the height of the vehicle body in a stable interval;
after the height of the vehicle body is stable, the actual height of the vehicle body is collected in real time when loading or unloading is carried out, and the electromagnetic valve of the air suspension is controlled in an independent left-right double-error-zone adjusting mode according to the height difference between the actual height and the set target height, so that the height of the vehicle body is kept stable;
the body height includes a left body height and a right body height.
2. The cargo-carrying commercial vehicle air suspension height maintenance control method according to claim 1, characterized in that: the static condition is that the vehicle speed is less than or equal to a vehicle speed threshold value.
3. The cargo-carrying commercial vehicle air suspension height maintenance control method according to claim 1, characterized in that: the vehicle speed threshold value is 0-5 km/h.
4. The cargo-carrying commercial vehicle air suspension height maintenance control method according to claim 1, characterized in that: before the loading or unloading of the goods,
if the absolute value of the height difference is larger than a second threshold value, firstly carrying out quick adjustment and then carrying out stability adjustment to keep the height of the vehicle body within a stable range;
if the absolute value of the height difference is smaller than or equal to a second threshold and larger than a first threshold, performing stability adjustment to keep the height of the vehicle body within a stable range;
and if the absolute value of the height difference is smaller than or equal to a first threshold value, not adjusting the height of the vehicle body.
5. The cargo commercial vehicle air suspension height maintenance control method according to claim 1 or 4, characterized in that: the rapid adjustment is to determine the duty ratio of the PWM control signal of the electromagnetic valve by adopting a PD control mode.
6. The cargo commercial vehicle air suspension height maintenance control method according to claim 1 or 4, characterized in that: and the stability regulation is to determine the duty ratio of a PWM control signal of the electromagnetic valve by adopting a PID control mode.
7. The cargo-carrying commercial vehicle air suspension height maintenance control method according to claim 1, characterized in that: the independent left and right double error bands are adjusted as follows:
when the absolute value of the height difference is smaller than or equal to a second threshold value, the height of the vehicle body is not adjusted;
and when the absolute value of the height difference is larger than the second threshold value and the duration is larger than or equal to the set time, performing stability adjustment to stabilize the height of the vehicle body.
8. The cargo-carrying commercial vehicle air suspension height maintenance control method according to claim 7, characterized in that: the set time is 1-2 min.
9. The utility model provides a high control system that keeps of load commercial car air suspension which characterized in that: comprises that
The vehicle state detection module is used for detecting a vehicle state signal and sending the vehicle state signal to the signal processing module;
the signal processing module is used for filtering the received vehicle state parameters and sending the processed signals to the height decision module;
the height decision module is used for determining the actual height and the target height of the vehicle body according to the received signals and sending the actual height and the target height to the height keeping module;
and the height maintaining module is used for calculating a height difference value between the actual height of the vehicle body and the target height, and outputting a control signal to the control execution module in a quick adjustment and/or stability adjustment mode according to the height difference value.
And the control execution module is used for executing corresponding actions according to the received control signals so as to keep the height of the vehicle body within a stable interval.
10. The cargo-carrying commercial vehicle air suspension height maintenance control system according to claim 9, characterized in that: the vehicle state detection module is used for detecting a vehicle state signal and sending a signal to the signal processing module when the vehicle is judged to be in a static condition according to the vehicle state signal.
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| CN114654954A (en) * | 2022-03-28 | 2022-06-24 | 岚图汽车科技有限公司 | Air suspension height adjusting method and system |
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| CN115139721A (en) * | 2022-09-06 | 2022-10-04 | 万向钱潮股份公司 | Loading vehicle carriage height adjusting method and device, electronic equipment and loading vehicle |
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