CN116409101A - Vehicle vibration reduction control system and method and vehicle - Google Patents

Vehicle vibration reduction control system and method and vehicle Download PDF

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Publication number
CN116409101A
CN116409101A CN202111678967.1A CN202111678967A CN116409101A CN 116409101 A CN116409101 A CN 116409101A CN 202111678967 A CN202111678967 A CN 202111678967A CN 116409101 A CN116409101 A CN 116409101A
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CN
China
Prior art keywords
vehicle
vibration damping
vibration
determining
damping
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Pending
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CN202111678967.1A
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Chinese (zh)
Inventor
谢欣秦
邵雄
李�根
赵伟冰
滕仪宾
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BYD Co Ltd
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BYD Co Ltd
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Priority to CN202111678967.1A priority Critical patent/CN116409101A/en
Publication of CN116409101A publication Critical patent/CN116409101A/en
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/06—Characteristics of dampers, e.g. mechanical dampers
    • B60G17/08—Characteristics of fluid dampers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/20—Type of damper
    • B60G2202/24—Fluid damper
    • 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
    • B60G2400/25—Stroke; Height; Displacement
    • B60G2400/252—Stroke; Height; Displacement vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention relates to the technical field of vehicle suspensions, and discloses a vehicle vibration reduction control system and method and a vehicle, wherein the system comprises a sensing assembly, a vibration absorber and a controller connected with the sensing assembly and the vibration absorber; the controller is configured to be configured to: when the vehicle is in a parking state, a vehicle body height value is measured through a sensing assembly, and a load compensation coefficient of the vehicle is determined according to the vehicle body height value; when the vehicle is in a running state, acquiring running parameters measured by the sensing assembly in real time, and determining basic vibration damping according to the running parameters; determining working vibration damping according to the basic vibration damping and the load compensation coefficient; and executing preset vibration reduction operation according to the working vibration reduction damping control vibration damper. The invention can optimize the vibration damper effect of the vibration damper, finally realize the self-adaptive vibration damping compensation of the vehicle under different load states, and ensure the riding comfort and the operating stability of the vehicle under different loads.

Description

Vehicle vibration reduction control system and method and vehicle
Technical Field
The invention relates to the technical field of vehicle suspensions, in particular to a vehicle vibration reduction control system and method and a vehicle.
Background
With the wide use of vehicles and rapid development of scientific technology, the requirements of users on driving experience are also increasing. Vehicle ride comfort and steering stability are gaining increasing attention as characteristics that directly affect occupant sensory experience and personal safety. The vehicle suspension is connected with the wheels and the vehicle body, plays a role in vibration isolation and force transmission, and is one of important systems for determining the dynamic performance of the vehicle. At present, if the vibration of a vehicle body is required to be reduced, a softer shock absorber is required to filter the fluctuation of a road surface so as to achieve the purpose of better comfort; if the stability of the vehicle body posture during braking, accelerating and turning is required to be ensured, a harder shock absorber is required to reduce the pitching and the rolling of the vehicle body so as to achieve the aim of better operation stability; that is, there is a conflict between the two operations when the damper is currently adjusted to achieve high vehicle ride comfort and handling stability.
Disclosure of Invention
The embodiment of the invention provides a vehicle vibration reduction control system and method and a vehicle, which can perform self-adaptive compensation according to different load compensation coefficients when the vehicle is in different load regions, so that the vibration reduction effect of a vibration reduction device is optimal, and further the riding comfort and the steering stability of the vehicle under different loads are ensured.
A vehicle vibration damping control system comprising a sensing assembly, a vibration damper, and a controller connecting the sensing assembly and the vibration damper;
the controller is configured to be configured to:
when the vehicle is in a parking state, measuring a vehicle body height value through the sensing assembly, and determining a load compensation coefficient of the vehicle according to the vehicle body height value;
when the vehicle is in a running state, acquiring running parameters measured by the sensing assembly in real time, and determining basic vibration damping according to the running parameters;
determining working vibration damping according to the basic vibration damping and the load compensation coefficient;
and controlling the shock absorber to execute preset vibration reduction operation according to the working vibration reduction damping.
A vehicle vibration damping control method is applied to a controller of a vehicle vibration damping control system; the vehicle vibration damping control method includes:
when the vehicle is in a parking state, measuring a vehicle body height value through the sensing assembly, and determining a load compensation coefficient of the vehicle according to the vehicle body height value;
when the vehicle is in a running state, acquiring running parameters measured by the sensing assembly in real time, and determining basic vibration damping according to the running parameters;
determining working vibration damping according to the basic vibration damping and the load compensation coefficient;
and controlling the shock absorber to execute preset vibration reduction operation according to the working vibration reduction damping.
A vehicle includes the vehicle vibration damping control system.
The invention provides a vehicle vibration reduction control system, a vehicle vibration reduction control method and a vehicle, wherein the vehicle vibration reduction control system comprises a sensing assembly, a vibration absorber and a controller connected with the sensing assembly and the vibration absorber; the controller is configured to be configured to: when the vehicle is in a parking state, measuring a vehicle body height value through the sensing assembly, and determining a load compensation coefficient of the vehicle according to the vehicle body height value; when the vehicle is in a running state, acquiring running parameters measured by the sensing assembly in real time, and determining basic vibration damping according to the running parameters; determining working vibration damping according to the basic vibration damping and the load compensation coefficient; and controlling the shock absorber to execute preset vibration reduction operation according to the working vibration reduction damping. The invention utilizes the sensing assembly to measure the height value of the vehicle in a parking state, thereby determining a load compensation coefficient corresponding to the current load state of the vehicle according to the height value of the vehicle, and then, after determining the basic vibration damping according to the vehicle running parameters measured by the sensing assembly in real time, working the vibration damping according to the basic vibration damping and the load compensation coefficient; and further, the working vibration damping control vibration absorber executes preset vibration damping operation, so that the vibration absorber effect of the vibration absorber is optimal, the self-adaptive vibration damping compensation of the vehicle under different load states is finally realized, and the riding comfort and the operating stability of the vehicle under different loads are ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a vehicle vibration damping control system according to an embodiment of the present invention.
FIG. 2 is a flowchart of steps performed by a controller in a vehicle vibration damping control system in accordance with one embodiment of the present invention.
FIG. 3 is a schematic diagram of a vehicle vibration damping control system according to another embodiment of the present invention.
FIG. 4 is a schematic view of a mounting structure of a sensing assembly in a vehicle in accordance with an embodiment of the present invention.
Reference numerals in the specification are as follows:
1. a controller; 2. a sensing assembly; 21. a vehicle height sensor; 211. a first height sensor; 212. a second height sensor; 22. an unsprung acceleration sensor; 221. a first acceleration sensor; 222. a second acceleration sensor; 23. a gyroscope; 3. a vibration damper.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a vehicle vibration damping control system, as shown in fig. 1, which comprises a sensing assembly 2, a vibration damper 3 and a controller 1 connected with the sensing assembly 2 and the vibration damper 3; in one embodiment, as shown in fig. 3, the sensing assembly 2 includes a body height sensor 21, an unsprung acceleration sensor 22, and a gyroscope disposed on the vehicle; wherein the gyroscope may be an IMU (inertial measurement unit ) gyroscope; the body height sensor 21 is used to measure a body height value of the vehicle in a parked state and a suspension stroke when the vehicle is in a running state. The unsprung acceleration sensor 22 is used for measuring the unsprung vertical acceleration of the vehicle (for example, measuring the unsprung vertical acceleration of the vehicle in a running state in real time); the gyroscope 23 is used to measure the sprung vertical acceleration of the vehicle (e.g., measure the sprung vertical acceleration of the vehicle in a running state in real time). In the present invention, two dampers 3 are provided in each of the front and rear of the vehicle, and the dampers 3 may be CDC dampers 3 (continuous damping control dampers 3,Continous Damping Contol). Meanwhile, a current driving module connected with the shock absorber 3 is arranged in the controller 1 and is used for outputting control current to the shock absorber 3, and then the shock absorber 3 can adjust the orifice opening of the electromagnetic valve through the input control current so as to change the vibration damping force of the shock absorber 3, and further the vibration of the automobile body is damped in real time through the adjustment of the damping force of the shock absorber 3, so that riding comfort is improved.
Further, as shown in fig. 4, the vehicle body height sensor 21 includes a first height sensor 211 provided at a right front portion of the vehicle and a second height sensor 212 provided at a left rear portion of the vehicle. The unsprung acceleration sensor 22 includes a first acceleration sensor 221 provided at the front left portion of the vehicle, and a second acceleration sensor 222 provided at the rear right portion of the vehicle; it is to be appreciated that in another embodiment, the first height sensor 211 may be disposed at the front left of the vehicle, and the second height sensor 212 is disposed at the rear right of the vehicle, the first acceleration sensor 221 is disposed at the front right of the vehicle, and the second acceleration sensor 222 is disposed at the rear left of the vehicle. It is to be understood that, in the present invention, a total of four dampers 3 are provided in front of and behind the vehicle, respectively, in one-to-one correspondence with the installation positions of the first height sensor 211, the second height sensor 212, the first acceleration sensor 221, and the second acceleration sensor 222, respectively. The gyroscope 23 is disposed in the middle of the vehicle. In the invention, only two unsprung acceleration sensors 22 and two vehicle body height sensors 21 are needed to ensure that the effect of the shock absorber 3 is optimal, and finally, the self-adaptive shock absorption compensation of the vehicle under different load states is realized, the riding comfort and the operation stability requirements of the vehicle under different loads are ensured, the cost is reduced, and the commercialization is facilitated.
It will be appreciated that since the number of passengers and the number of loads may vary while the vehicle is in a parked state, but the load will remain unchanged while in a driving state, in an embodiment of the present invention, the load state of the vehicle (corresponding to different load sections, each load section corresponding to a load compensation coefficient) is identified while in the parked state, and the working vibration damping is calculated while the vehicle is in the driving state, and the vibration damper 3 is controlled to achieve the optimal vibration damping effect according to the working vibration damping. Thereby improving riding comfort and operation stability.
In an embodiment, as shown in fig. 2, the controller 1 is configured to be configured (i.e., the controller 1 is further configured to perform the following steps S100-S400):
s100, when a vehicle is in a parking state, measuring a vehicle body height value through the sensing assembly 2, and determining a load compensation coefficient of the vehicle according to the vehicle body height value; in this embodiment, the load state of the vehicle (different body height values for the same vehicle correspond to different load sections, one load compensation coefficient for each load section) is identified in the parking state. Specifically, the controller 1 is further configured to be configured to: after the vehicle is started, CAN signals containing vehicle gear information are acquired in real time, and the vehicle is determined to be in the parking state or the driving state according to the vehicle gear information. That is, after the vehicle starts, firstly, a CAN signal of the vehicle is obtained through a CAN bus, then, whether the vehicle is in a parking state is determined according to the vehicle gear information in the CAC signal, then, a vehicle body height value is measured through the sensing assembly 2, and a load compensation coefficient of the vehicle is determined according to the vehicle body height value.
As will be appreciated, since the number of passengers and the number of loads may vary while the vehicle is in the parked state, but the load will remain unchanged while in the driving state, it is possible to directly determine the load zone of the vehicle in the driving state as the moment when the vehicle is switched from the parked state to the driving state, and the controller 1 ultimately determines the load zone of the vehicle from the body height value measured by the sensing assembly.
In one embodiment, as shown in fig. 3, the sensing assembly 2 includes a body height sensor 21 disposed on the vehicle; wherein the body height sensor 21 is for measuring a body height value of the vehicle in a parked state. The controller 1 is further adapted to be arranged to:
the body height value of the vehicle in the parked state is measured by the two body height sensors 21; as shown in fig. 4, further, the vehicle body height sensor 21 includes a first height sensor 211 provided at a right front portion of the vehicle and a second height sensor 212 provided at a left rear portion of the vehicle. That is, a first height value of the front portion of the vehicle in the parked state may be measured by the first height sensor 211, while a second height value of the rear portion of the vehicle in the parked state may be measured by the second height sensor 212, both of which are the vehicle body heights when the vehicle is in the parked state.
Acquiring a preset height-load interval table corresponding to the vehicle, and determining a load interval corresponding to the vehicle body height value according to the preset height-load interval table; the height-load interval table is obtained through a whole vehicle test, specifically, the vehicle body heights under different loads are tested, the vehicle body heights corresponding to different load intervals are obtained, a preset number of load intervals (set according to requirements) are finally set, and each load interval is associated with one vehicle body height range. In one embodiment of the present invention, the load section may be divided into three load sections of a light load section, a half load section and a full load section; each load section corresponds to a vehicle height range obtained according to a vehicle experiment, and further, when the vehicle height values of the vehicles measured by the vehicle height sensors 21 are in different vehicle height ranges, the load section of the vehicle corresponding to the vehicle height range can be determined. Specifically, according to a preset height-load section table corresponding to the vehicle, a first load section corresponding to the first height value and a second load section corresponding to the second height value may be determined. In this embodiment, only the load intervals are set to a preset number (for example, three), so that frequent switching of the load compensation coefficients obtained by the control algorithm can be reduced, the calculation load of the controller 1 is reduced, and the running stability of the vehicle is improved.
And determining a load compensation coefficient according to the load interval. Understandably, each load interval has a preset load compensation coefficient, and the corresponding relationship between the load interval and the load compensation coefficient is obtained according to the actual vehicle test calibration, which is not described herein. It is understandably possible to determine a first load compensation coefficient corresponding to the shock absorber 3 in the front of the vehicle from the first load zone and to determine a second load compensation coefficient corresponding to the shock absorber 3 in the rear of the vehicle from the second load zone.
S200, when the vehicle is in a running state, acquiring running parameters measured by the sensing assembly 2 in real time, and determining basic vibration damping according to the running parameters; further, the controller 1 is further configured to be configured to: after the vehicle is started, CAN signals containing vehicle gear information are acquired in real time, and the vehicle is determined to be in a running state according to the vehicle gear information. That is, after the vehicle is started, the CAN signal of the vehicle is first acquired through the CAN bus, and then whether the vehicle is in a driving state is determined according to the vehicle gear information in the CAC signal. In one embodiment, as shown in fig. 3, the sensing assembly 2 includes an unsprung acceleration sensor 22 and a gyroscope 23 disposed on the vehicle; the running parameters include the sprung vertical acceleration of the vehicle in a running state measured in real time by the unsprung acceleration sensor 22, the sprung vertical acceleration of the vehicle in a running state measured in real time by the gyroscope 23, and the suspension stroke of the vehicle in a running state measured by the height sensor; the controller 1 is further adapted to be arranged to:
acquiring the sprung vertical acceleration transmitted by the unsprung acceleration sensor 22, the sprung vertical acceleration transmitted by the gyroscope 23 and the suspension stroke transmitted by the height sensor; further, as shown in fig. 4, the unsprung acceleration sensor 22 includes a first acceleration sensor 221 provided at the front left portion of the vehicle and a second acceleration sensor 222 provided at the rear right portion of the vehicle; the gyroscope 23 is disposed in the middle of the vehicle. At this time, the first acceleration sensor 221 measures the first spring vertical acceleration, and the second acceleration sensor 222 measures the second spring vertical acceleration. Meanwhile, a first suspension stroke of the front portion of the vehicle in a running state may be measured by the first height sensor 211, while a second suspension stroke of the rear portion of the vehicle in a running state may be measured by the second height sensor 212, both of which are suspension strokes when the vehicle is in a running state.
Determining the vehicle body vertical speed of all the positions of the shock absorbers 3 according to the sprung vertical acceleration, determining the first suspension relative speed of the shock absorber 3 of the position of the unsprung acceleration sensor 22 according to the unsprung vertical acceleration, and determining the second suspension relative speed of the shock absorber 3 of the position of the height sensor according to the running vehicle body height. Specifically, the sprung vertical speeds corresponding to the positions of all four shock absorbers 3 of the vehicle are reconstructed from the state observer after the integration process is performed according to the sprung vertical acceleration measured by the gyroscope 23. After integrating the first spring vertical acceleration and the second spring vertical acceleration, determining the first suspension relative speed of the shock absorber 3 corresponding to the positions of the first acceleration sensor 221 and the second acceleration sensor according to the state observer; after differential processing based on the first suspension stroke and the second suspension stroke, the second suspension relative speed of the shock absorber 3 corresponding to the positions where the first height sensor 211 and the second height sensor 212 are located can be determined based on the state observer.
And determining the basic vibration damping of the shock absorber 3 according to the vertical speed of the vehicle body, the relative speed of the first suspension and the relative speed of the second suspension. That is, based on the ceiling algorithm and the vehicle body vertical speed, the first suspension relative speed, and the second suspension relative speed, the base damping of the shock absorber 3 in the current running state of the vehicle can be calculated.
S300, determining working vibration damping according to the basic vibration damping and the load compensation coefficient; further, the controller 1 is further configured to be configured to: and obtaining the product of the basic vibration reduction damping and the load compensation coefficient, and determining the working vibration reduction damping according to the product and the preset damping range of the vibration absorber 3. That is, in the present embodiment, first, the product of the base vibration damping and the load compensation coefficient is determined, and when the product falls within a preset damping range, the product is taken as the working vibration damping of the shock absorber 3; when the product is larger than the maximum value of the preset damping range, taking the maximum value of the preset damping range as working vibration reduction damping; and when the product is smaller than the minimum value of the preset damping range, taking the minimum value of the preset damping range as the working vibration reduction damping. The embodiment realizes the fusion of the basic vibration damping and the load compensation coefficient so as to obtain the working vibration damping.
S400, controlling the shock absorber 3 to execute preset vibration reduction operation according to the working vibration reduction damping. The preset vibration damping operation may be set according to a demand, for example, to control the vibration damper 3 to adjust the orifice opening of the solenoid valve according to the input control current to change the vibration damping force of the vibration damper 3. Wherein the control current may be determined based on the operational vibration damping. Further, the controller 1 is further configured to be configured to:
acquiring a preset damping-current correlation table corresponding to the shock absorber 3, and determining a control current corresponding to the working vibration damping according to the preset damping-current correlation table; that is, each shock absorber 3 corresponds to a preset damping-current correlation table, and the preset damping-current correlation table is determined according to the specific performance of the shock absorber 3. In the preset damping-current correlation table, one control current is applied to each damping army in the preset damping range of the shock absorber 3. Since it has been determined in the above step S300 that the working vibration damping is within the above-described preset damping range, the control current corresponding to the working vibration damping can be queried in the preset damping-current correlation table.
The control current is output to the shock absorber 3 to adjust the vibration reduction damping force of the shock absorber 3 to the operation vibration reduction damping. That is, in this embodiment, a current drive module connected to the damper 3 is provided in the controller 1, and the current drive module is configured to output the above-described determined control current to the damper 3, and further, the damper 3 can adjust the orifice opening of the solenoid valve by the input control current to change the vibration damping force of the damper 3, and further, real-time damping of the vibration of the vehicle body by adjustment of the damping force of the damper 3, improving riding comfort.
In the above embodiment of the present invention, the vehicle vibration damping control system measures the vehicle body height value of the vehicle in the parking state by using the sensing assembly 2, so as to determine the load compensation coefficient corresponding to the current load state of the vehicle according to the vehicle body height value, and then, after determining the base vibration damping according to the vehicle running parameter measured in real time by the sensing assembly 2, working the vibration damping according to the base vibration damping and the load compensation coefficient; and further, the vibration absorber 3 is controlled to execute preset vibration reduction operation according to the working vibration reduction damping, so that the vibration absorber 3 effect of the vibration absorber 3 is optimal, the self-adaptive vibration reduction compensation of the vehicle under different load states is finally realized, and the riding comfort and the steering stability of the vehicle under different loads are ensured.
The invention also provides a vehicle vibration reduction control method which is applied to the controller 1 of the vehicle vibration reduction control system; the vehicle vibration damping control method includes:
when the vehicle is in a parking state, a vehicle body height value is measured through the sensing assembly 2, and a load compensation coefficient of the vehicle is determined according to the vehicle body height value;
when the vehicle is in a running state, acquiring running parameters measured by the sensing assembly 2 in real time, and determining basic vibration damping according to the running parameters;
determining working vibration damping according to the basic vibration damping and the load compensation coefficient;
and controlling the shock absorber 3 to execute a preset vibration reduction operation according to the working vibration reduction damping.
In the embodiment of the invention, the vehicle vibration reduction control method utilizes the sensing component 2 to measure the height value of the vehicle in a parking state, so that the load compensation coefficient corresponding to the current load state of the vehicle is determined according to the height value of the vehicle, and then the base vibration reduction damping is determined according to the vehicle running parameter measured in real time by the sensing component 2, and then the vibration reduction damping is operated according to the base vibration reduction damping and the load compensation coefficient; and further, the vibration absorber 3 is controlled to execute preset vibration reduction operation according to the working vibration reduction damping, so that the vibration absorber 3 effect of the vibration absorber 3 is optimal, the self-adaptive vibration reduction compensation of the vehicle under different load states is finally realized, and the riding comfort and the steering stability of the vehicle under different loads are ensured.
The vehicle vibration damping control method of the present invention corresponds to the steps of the controller 1 set for execution in the vehicle vibration damping control system one by one, and will not be described here again. It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
The invention further provides a vehicle, which comprises the vehicle vibration reduction control system. The vehicle vibration damping control system comprises a sensing assembly 2, a vibration damper 3 and a controller 1 connected with the sensing assembly 2 and the vibration damper 3, as shown in fig. 1; in one embodiment, as shown in fig. 3, the sensing assembly 2 includes a body height sensor 21, an unsprung acceleration sensor 22, and a gyroscope 23 provided on the vehicle; the body height sensor 21 is used for measuring a body height value of the vehicle in a parking state and a suspension stroke when the vehicle is in a running state. The unsprung acceleration sensor 22 is for measuring the unsprung vertical acceleration of the vehicle; the gyroscope 23 is used to measure the sprung vertical acceleration of the vehicle. In the present invention, two dampers 3 are provided in each of the front and rear of the vehicle, and the dampers 3 may be CDC dampers 3. Meanwhile, a current driving module connected with the shock absorber 3 is arranged in the controller 1 and is used for outputting control current to the shock absorber 3, and then the shock absorber 3 can adjust the orifice opening of the electromagnetic valve through the input control current so as to change the vibration damping force of the shock absorber 3, and further the vibration of the automobile body is damped in real time through the adjustment of the damping force of the shock absorber 3, so that riding comfort is improved.
Further, as shown in fig. 4, the vehicle body height sensor 21 includes a first height sensor 211 provided at a right front portion of the vehicle and a second height sensor 212 provided at a left rear portion of the vehicle. The unsprung acceleration sensor 22 includes a first acceleration sensor 221 provided at the front left portion of the vehicle, and a second acceleration sensor 222 provided at the rear right portion of the vehicle; it is to be appreciated that in another embodiment, the first height sensor 211 may be disposed at the front left of the vehicle, and the second height sensor 212 is disposed at the rear right of the vehicle, the first acceleration sensor 221 is disposed at the front right of the vehicle, and the second acceleration sensor 222 is disposed at the rear left of the vehicle. It is to be understood that, in the present invention, a total of four dampers 3 are provided in front of and behind the vehicle, respectively, in one-to-one correspondence with the installation positions of the first height sensor 211, the second height sensor 212, the first acceleration sensor 221, and the second acceleration sensor 222, respectively. The gyroscope 23 is disposed in the middle of the vehicle. In the invention, only two unsprung acceleration sensors 22 and two vehicle body height sensors 21 are needed to ensure that the effect of the shock absorber 3 is optimal, and finally, the self-adaptive shock absorption compensation of the vehicle under different load states is realized, the riding comfort and the operation stability requirements of the vehicle under different loads are ensured, the cost is reduced, and the commercialization is facilitated.
It will be appreciated that since the number of passengers and the number of loads may vary while the vehicle is in a parked state, but the load will remain unchanged while in a driving state, in an embodiment of the present invention, the load state of the vehicle (corresponding to different load sections, each load section corresponding to a load compensation coefficient) is identified while in the parked state, and the working vibration damping is calculated while the vehicle is in the driving state, and the vibration damper 3 is controlled to achieve the optimal vibration damping effect according to the working vibration damping. Thereby improving riding comfort and operation stability.
The specific limitation of the controller 1 in the present invention may be referred to as limitation of the vehicle vibration damping control system hereinabove, and will not be described herein. The respective modules in the controller 1 described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.

Claims (10)

1. A vehicle vibration damping control system, comprising a sensing assembly, a vibration damper, and a controller connecting the sensing assembly and the vibration damper;
the controller is configured to be configured to:
when the vehicle is in a parking state, measuring a vehicle body height value through the sensing assembly, and determining a load compensation coefficient of the vehicle according to the vehicle body height value;
when the vehicle is in a running state, acquiring running parameters measured by the sensing assembly in real time, and determining basic vibration damping according to the running parameters;
determining working vibration damping according to the basic vibration damping and the load compensation coefficient;
and controlling the shock absorber to execute preset vibration reduction operation according to the working vibration reduction damping.
2. The vehicle vibration damping control system of claim 1, wherein the controller is further configured to be configured to:
after the vehicle is started, CAN signals containing vehicle gear information are acquired in real time, and the vehicle is determined to be in the parking state or the driving state according to the vehicle gear information.
3. The vehicle vibration damping control system of claim 1, wherein the sensing assembly comprises a body height sensor disposed on the vehicle;
the controller is further configured to be configured to:
measuring a body height value of the vehicle in a parking state by two body height sensors;
acquiring a preset height-load interval table corresponding to the vehicle, and determining a load interval corresponding to the vehicle body height value according to the preset height-load interval table;
and determining a load compensation coefficient according to the load interval.
4. The vehicle vibration damping control system according to claim 3, wherein the vehicle body height sensor includes a first height sensor provided at a right front portion of the vehicle and a second height sensor provided at a left rear portion of the vehicle.
5. A vehicle vibration damping control system according to claim 3, wherein the sensing assembly comprises an unsprung acceleration sensor and gyroscope disposed on the vehicle; the running parameters comprise the unsprung vertical acceleration measured by the unsprung acceleration sensor, the sprung vertical acceleration of the vehicle measured by the gyroscope and the suspension stroke of the vehicle measured by the height sensor;
the controller is further configured to be configured to:
acquiring the unsprung vertical acceleration transmitted by the unsprung acceleration sensor, the sprung vertical acceleration transmitted by the gyroscope and the suspension stroke transmitted by the height sensor;
determining the vehicle body vertical speed of all the positions of the shock absorbers according to the sprung vertical acceleration, determining the first suspension relative speed of the shock absorber of the position of the unsprung acceleration sensor according to the unsprung vertical acceleration, and determining the second suspension relative speed of the shock absorber of the position of the height sensor according to the running vehicle body height;
and determining the basic vibration damping of the shock absorber according to the vertical speed of the vehicle body, the relative speed of the first suspension and the relative speed of the second suspension.
6. The vehicle vibration damping control system according to claim 5, characterized in that the unsprung acceleration sensor includes a first acceleration sensor provided at a left front portion of the vehicle and a second acceleration sensor provided at a right rear portion of the vehicle; the gyroscope is arranged in the middle of the vehicle.
7. The vehicle vibration damping control system of claim 1, wherein the controller is further configured to be configured to:
and obtaining the product of the basic vibration damping and the load compensation coefficient, and determining the working vibration damping according to the product and the preset damping range of the vibration absorber.
8. The vehicle vibration damping control system of claim 1, wherein the controller is further configured to be configured to:
acquiring a preset damping-current correlation table corresponding to the shock absorber, and determining a control current corresponding to the working vibration damping according to the preset damping-current correlation table;
and outputting the control current to the shock absorber to adjust the vibration reduction damping force of the shock absorber to the working vibration reduction damping.
9. A vehicle vibration damping control method, characterized by being applied to the controller of the vehicle vibration damping control system according to any one of claims 1 to 8; the vehicle vibration damping control method includes:
when the vehicle is in a parking state, measuring a vehicle body height value through the sensing assembly, and determining a load compensation coefficient of the vehicle according to the vehicle body height value;
when the vehicle is in a running state, acquiring running parameters measured by the sensing assembly in real time, and determining basic vibration damping according to the running parameters;
determining working vibration damping according to the basic vibration damping and the load compensation coefficient;
and controlling the shock absorber to execute preset vibration reduction operation according to the working vibration reduction damping.
10. A vehicle comprising the vehicle vibration damping control system according to any one of claims 1 to 8.
CN202111678967.1A 2021-12-31 2021-12-31 Vehicle vibration reduction control system and method and vehicle Pending CN116409101A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111678967.1A CN116409101A (en) 2021-12-31 2021-12-31 Vehicle vibration reduction control system and method and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111678967.1A CN116409101A (en) 2021-12-31 2021-12-31 Vehicle vibration reduction control system and method and vehicle

Publications (1)

Publication Number Publication Date
CN116409101A true CN116409101A (en) 2023-07-11

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111678967.1A Pending CN116409101A (en) 2021-12-31 2021-12-31 Vehicle vibration reduction control system and method and vehicle

Country Status (1)

Country Link
CN (1) CN116409101A (en)

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