CN1758045A - Damping matching test method and system for automobile suspension system based on magnetic rheology technology - Google Patents
Damping matching test method and system for automobile suspension system based on magnetic rheology technology Download PDFInfo
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- CN1758045A CN1758045A CN 200510057350 CN200510057350A CN1758045A CN 1758045 A CN1758045 A CN 1758045A CN 200510057350 CN200510057350 CN 200510057350 CN 200510057350 A CN200510057350 A CN 200510057350A CN 1758045 A CN1758045 A CN 1758045A
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Abstract
This invention discloses a car suspended damp matching test method and system based on a magneto-rheopectic technology, in which, the system is composed of an up-sprung mass, an unsprung mass, a spring, a magneto-rheopectic damper, a force sensor, a shift sensor, a switch analog switch of an outside peak test module and a feed back controller. Before testing, related voltage signals are got by designing necessary recovered damp value and the compressed damp value of the magneto-rheopectic damper, when an operation head moves up and down to excite the system and the shift sensor tests the relative signal peak value of the piston, the relative voltage signals are input to the feedback controller as the given value by the switch analog switch to control the damper to reach the designed recovered damp value, the compressed damp value and the optimum matching.
Description
Technical field
The invention belongs to damping matching test technology in the automobile suspension system design.
Background technology
The damping coupling is the key link of automotive suspension design, and the new model of each automobile main frame maker all must carry out damping matching test before going into operation.The method that present each factory's damping matching test is adopted is to design one group (nearly ten kinds in advance, even tens of kinds) damper of different damping value is at the damping matching test that carries out on the experimental stand under the different parameters, till selecting a kind of damper of thinking optimum matching.This test replacing damper labour intensity is big, and the test period is long, cost is high, and because damping force is determined by structural parameters and damping oil that in advance can't regulate continuously, the damping that this test findings is difficult to reach optimum is mated.
Summary of the invention
The objective of the invention is to above-mentioned defective, a kind of automobile suspension system damping matching test method and system based on magnetic converting technique is provided, simplify the proof strength of damping coupling, shorten the test period, and reach the damping Optimum Matching at the prior art existence.
MR damper (MRD) based on magnetic converting technique, be to utilize magnetic flow liquid under the action of a magnetic field, apparent viscosity dullness is within the specific limits passed the stepless adjustable device of damping of the characteristics design of transferring reversible variation, can satisfy the testing requirements of automotive suspension damping Optimum Matching.
The method that the present invention adopts is as follows:
Employing can free-moving in vertical direction simulated automotive sprung mass, the simulated automotive unsprung mass that is connected with the action head, and be connected displacement transducer (LVDT) between them, spring and MR damper (MRD), be installed in the force transducer on the sprung mass, peripheral peak detection block, the pilot system that switching analoging switch and feedback controller are formed, by potentiometer is set required MR damper recovery damping value is set respectively before the test, the compression damping value, obtain the correspondent voltage signal, shuttling movement about the action head, when system is encouraged (normally sinusoidal excitation or triangular wave excitation), displacement transducer output damper piston relative displacement signal, become by compression in damper direction of motion and to stretch or when becoming compression (summit of motion) by stretching, the relative displacement signal of damper piston is just reaching/is bearing maximal value, maximum constantly and export high level and trigger analog switch and switch by peak detection block detecting position shifting signal, the recovery damping value that will be provided with by switching analoging switch, compression damping value correspondent voltage signal inputs to controller and makes set-point, by the FEEDBACK CONTROL MR damper (MRD) of controller, make MR damper (MRD) reach set recovery damping value then, the compression damping value.Carry out many group experiments as long as change the damping force value of setting like this, just can realize the damping Optimum Matching.
The feedback control procedure of its middle controller is as follows:
Force feedback signal after damping force set-point and the conditioning relatively, controlled error E inputs to speed change integral PID control device, determine control signal U according to governing equation (1), U Control current driver is exported corresponding electric current I and is given MR damper (MRD) as exciting current, thereby regulate the damping force of MRD, finish Control Circulation one time.
K in the formula---sampling sequence number, k=0,1,2 ...
E (k)---the deviate of input during the k time sampling
E (k-1)---the deviate of (k-1) inferior sampling instant input
Ki---integral coefficient, Ki=KpT/T1
Kd---differential number system, Kd=KpTD/T1
U (k)---the k time sampling instant output valve
T1 is an integration time constant, and TD is a derivative time constant, and T is the sampling period
Above-mentioned feedback control algorithm can be controlled with PID, but is not limited to PID control.Owing to adopt the Controlled by Microcomputer structure, the Control Software establishment has dirigibility, fuzzy control, and optimum control ANN (Artificial Neural Network) Control scheduling algorithm all can be used for native system.
For realizing that said method the present invention has designed following automotive suspension damping matching test system:
This system is made up of framework, sprung mass, action head, unsprung mass, spring, MR damper, displacement transducer, force transducer, peak detection block, switching analoging switch and feedback controller, sprung mass is free movement in vertical direction, unsprung mass is connected on the action head, displacement transducer, spring and MR damper are connected between sprung mass and the unsprung mass, installing force sensor on the sprung mass.The signal wire of displacement transducer is connected to peak detection block, the output signal of peak detection block inserts switching analoging switch, the recovery damping value of the required MRD that switching analoging switch will set in advance and compression damping value are converted to voltage signal access feedback controller and do set-point, the control line of feedback controller connects MR damper, and the signal wire of force transducer inserts feedback controller.
Damping among the present invention coupling experimental technique not only can be used for bench test, remove framework and the first-class servicing unit of action after, also can directly MR damper (MRD) and controller be installed in the automotive suspension, be used for the test of real vehicle road matching.
Advantage of the present invention is to utilize the continuously adjustable characteristic of damping force and the FEEDBACK CONTROL of MR damper, can comparatively fast determine optimum damping coupling more exactly, simplified the proof strength of damping coupling greatly, shorten the test period, and utilize the designed method and system of the present invention, can accomplish that damper compression damping power and recovery damping force are provided with respectively, accurately regulate, reach the purpose of damping Optimum Matching.
Description of drawings
Fig. 1 is the structure principle chart of this pilot system;
Fig. 2 is the control principle figure of native system;
Fig. 3 is the peak detection block block diagram.
Embodiment
1/4 auto model is adopted in the bench test of damping coupling as shown in Figure 1, by in the framework 1, framework 1 can free-moving in vertical direction sprung mass 2, with move 6 unsprung mass that are connected 5 and the force transducer 3 between sprung mass 2 and unsprung mass 5, displacement transducer 4, spring 8 and MR damper (MRD) 7 and form, the peripherals that is complementary with it in addition also has peak detection block, switching analoging switch, potentiometer and feedback controller.On equipment connects, the signal wire of displacement transducer is connected to peak detection block, the output signal of peak detection block inserts switching analoging switch, the recovery damping value of the required MRD that switching analoging switch sets in advance potentiometer and compression damping value are converted to voltage signal and insert feedback controller as set-point, the control line of feedback controller connects MR damper, and the signal wire of force transducer inserts feedback controller.Specific implementation process: start 6 is set moves up and down in a certain way when system encouraged (normally sine wave or triangular wave excitation), be installed on the spring-displacement transducer 4 between the unsprung mass 2 and 5 detects the displacement peak signal, be input to feedback controller by analog switch, recovery damping value, compression damping value correspondent voltage signal that the while switching analoging switch will be provided with input to feedback controller and do set-point, by FEEDBACK CONTROL shown in Figure 2, reach set recovery damping value and compression damping value.Set different recovery damping values and compression damping value by potentiometer and carry out damping matching test under the different parameters, till selecting a kind of damper of thinking optimum matching.
In conjunction with Fig. 2 as seen, feedback control procedure wherein: the force feedback signal after damping force set-point and the conditioning relatively, controlled error E is input to PID controller (proportional-integral derivative controller), pass through Kp, the setting of Ki and three parameters of Kd, processing the signal into required control signal U according to governing equation (1) is input in the current driver output and stablizes adjustable electric current I and give MR damper (MRD) as exciting current, the exciting current of different numerical value just can be regulated MRD and produce different damping forces, and damping force forms the damping force feedback signal by force transducer and signal conditioning circuit again and finishes Control Circulation one time.
In conjunction with Fig. 3 as seen, the peak detection block course of work: displacement signal is input to the data buffer of DSP again through the A/D sampling after low-pass filtering, the extremum search to sampled data is finished in utilization " maximum value process ", and the output peak value.The D/A module is input to controller with output stage value transform simulation trigger pip by analog switch, recovery damping value, compression damping value correspondent voltage signal that the while switching analoging switch will be provided with input to controller and do set-point, finish peak value and detect whole process.
The technical requirement of the electric elements that adopted in the native system is as follows:
Analog switch: require the conducting resistance of analog switch little, leakage current is little, and interelectrode capacity is little and switch speed is fast.Have 3.5 low RON (+2.7V power supply) as MAX4729 series analog switch; 0.45RON flatness (+2.7V power supply); 0.05 interchannel RON matching degree (+2.7V power supply);-three dB bandwidth: 300MHz; Low conducting electric capacity: 19.5pF; 0.036% total harmonic distortion is hanged down source current: 1nA; + 1.8V is to the work of+5.5V single supply.
Signal conditioner: can provide and amplify and temperature compensation; Adapt to inductor output susceptibility from 5mV/V to 40mV/V; Complete analog signal path; 3.2KHZ fast frequency response etc.As MAX1455EUE, MAX1455AUE, MAX1455EAE, MAX1455AAE, MAX1455C/D etc. all is very practical automobile sensor signal conditioner.
Peak detection block: the peak value that can measure displacement signal accurately and timely.
Controller: mainly the requirement oneself according to Fig. 2 designs or buys suitable controller.
Above-mentioned peak detection block, feedback controller etc. can be realized by a slice processor, as the dsp chip TMS320F240 (see figure 3) of Texas Instruments's production.
Sensor: force transducer requires to measure 10
-4～10
4The dynamic force of N; Displacement transducer measures-250～250mm; Sensor error scope 0.1%～0.01%; Frequency response 0.1～1kHz; Adaptability to complex environment is strong, can work under rugged surroundings, shock and vibration condition; As long as carry out the design of suitable structure and select suitable material for use, also can be under high temperature (or low temperature), deep-etching and nuclear radiation condition reliably working.
Claims (3)
1, automotive suspension damping matching test method based on magnetic converting technique, it is characterized in that: employing can free-moving in vertical direction sprung mass, the unsprung mass that is connected with the action head, and be connected displacement transducer between them, spring and MR damper, be arranged on the force transducer on the sprung mass, the pilot system that peripheral peak detection block switching analoging switch and feedback controller are formed, by potentiometer is set required MR damper recovery damping value is set respectively before the test, the compression damping value, obtain the correspondent voltage signal, when the action head moves up and down, system is encouraged, when normally sinusoidal displacement encourages, be installed on the spring-displacement transducer between the unsprung mass detects the displacement peak signal, the recovery damping value that will be provided with by switching analoging switch, compression damping value correspondent voltage signal inputs to feedback controller and does set-point, then by feedback controller control MR damper, make MR damper reach set recovery damping value, the compression damping value reaches the damping Optimum Matching.
2, the automotive suspension damping matching test method based on magnetic converting technique according to claim 1, it is characterized in that: the feedback control procedure of feedback controller is as follows:
Force feedback signal after damping force set-point and the conditioning compares, and controlled error E is input to proportional-integral derivative controller, by the setting of Kp, integral coefficient Ki in the control program and three parameters of differential number system Kd, according to following governing equation
K in the formula---sampling sequence number, k=0,1,2,
E (k)---the deviate of input during the k time sampling
E (k-1)---the deviate of (k-1) inferior sampling instant input
Ki---integral coefficient, Ki=KpT/T1
Kd---differential number system, Kd=KpTD/T1
U (k)---the k time sampling instant output valve
T1 is an integration time constant, and TD is a derivative time constant, and T is the sampling period
Processing the signal into required control signal U is input in the current driver output and stablizes adjustable electric current I and give MR damper as exciting current, the exciting current of different numerical value just can be regulated MR damper and produce different damping forces, and damping force forms the damping force feedback signal by force transducer and signal conditioning circuit again and finishes Control Circulation one time.
3, automotive suspension damping matching test system based on magnetic converting technique, it is characterized in that, this system is by framework, sprung mass, the action head, unsprung mass, spring, MR damper, displacement transducer, force transducer, peak detection block, switching analoging switch, potentiometer and feedback controller are formed, sprung mass is free movement in vertical direction, unsprung mass is connected on the action head, displacement transducer, spring and MR damper are connected between sprung mass and the unsprung mass, installing force sensor on the sprung mass, displacement transducer detects the displacement peak signal, be input to feedback controller by analog switch, the output signal of peak detection block inserts switching analoging switch, the recovery damping value of the required MR damper that switching analoging switch will be set in advance by potentiometer and compression damping value are converted to voltage signal and insert feedback controller and do set-point, the control line of feedback controller connects MR damper, and the signal wire of force transducer inserts feedback controller.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101618547B (en) * | 2009-07-16 | 2011-04-06 | 重庆大学 | Robot anklebone damping device |
| CN102539171A (en) * | 2011-12-23 | 2012-07-04 | 青岛大学 | Test-bed of double-control vehicle semi-active suspension system |
| CN102664566A (en) * | 2012-05-12 | 2012-09-12 | 济南大学 | Force-control-based magnetic levitation system and control method |
| CN103616039A (en) * | 2013-11-27 | 2014-03-05 | 联合汽车电子有限公司 | Parameter matching method for magnetoelectric signal detection system |
| CN106813564A (en) * | 2015-11-30 | 2017-06-09 | 杭州奥莫自动化科技有限公司 | A kind of LVDT displacement transducers digitalized processing method and device |
| CN107539385A (en) * | 2016-06-24 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | A kind of variable damping flexible leg and its quadruped robot |
-
2005
- 2005-10-26 CN CNB2005100573502A patent/CN100487411C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101618547B (en) * | 2009-07-16 | 2011-04-06 | 重庆大学 | Robot anklebone damping device |
| CN102539171A (en) * | 2011-12-23 | 2012-07-04 | 青岛大学 | Test-bed of double-control vehicle semi-active suspension system |
| CN102539171B (en) * | 2011-12-23 | 2015-01-07 | 青岛大学 | Test-bed of double-control vehicle semi-active suspension system |
| CN102664566A (en) * | 2012-05-12 | 2012-09-12 | 济南大学 | Force-control-based magnetic levitation system and control method |
| CN102664566B (en) * | 2012-05-12 | 2014-07-16 | 济南大学 | Force-control-based magnetic levitation system and control method |
| CN103616039A (en) * | 2013-11-27 | 2014-03-05 | 联合汽车电子有限公司 | Parameter matching method for magnetoelectric signal detection system |
| CN103616039B (en) * | 2013-11-27 | 2017-01-04 | 联合汽车电子有限公司 | A kind of characteristic parameter matching method of magneto-electric signal detection system |
| CN106813564A (en) * | 2015-11-30 | 2017-06-09 | 杭州奥莫自动化科技有限公司 | A kind of LVDT displacement transducers digitalized processing method and device |
| CN107539385A (en) * | 2016-06-24 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | A kind of variable damping flexible leg and its quadruped robot |
| CN107539385B (en) * | 2016-06-24 | 2019-11-12 | 沈阳新松机器人自动化股份有限公司 | A kind of variable damping flexible leg and its quadruped robot |
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