CN201102543Y - Anti-lock integration controller of vehicle electric steering, active suspension system and brake - Google Patents
Anti-lock integration controller of vehicle electric steering, active suspension system and brake Download PDFInfo
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- CN201102543Y CN201102543Y CNU2007200405056U CN200720040505U CN201102543Y CN 201102543 Y CN201102543 Y CN 201102543Y CN U2007200405056 U CNU2007200405056 U CN U2007200405056U CN 200720040505 U CN200720040505 U CN 200720040505U CN 201102543 Y CN201102543 Y CN 201102543Y
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The utility model relates to the automobile control field, in particular to the integrated controller of an automobile electric boost steering system, an active suspension system and an anti-lock braking system. The integrated controller consists of a signal sensor, a signals processing module, a coordinator, a suspension system controller, a steering system controller and a braking system controller. The coordinator generates compensation signals according to the input signals of an automobile body to coordinate and control the suspension system controller, the steering system controller and the braking system controller. The integrated controller solves the problems in the prior art that the three systems are respectively independent and interacting and the best control status can not be achieved and improves the driving smoothness of the whole automobile, the operation satiability and the driving safety through the integrated control on the three sub-control systems.
Description
Technical field
The utility model relates to field of automobile control
Background technology
At present, in the electronic control system research process of car chassis, groundwork concentrates on to the control policy of each automatically controlled subsystem and the improvement of controlled variable thereof, by the optimization to controlled variable, make controller performance reach optimum, thereby improve controlled object---some performance of automobile.But each subsystem on the actual car chassis, for example exist between electric boosting steering system EPS, active suspension system ASS and the anti-blocking brake system ABS system and influence each other, the relation of mutual restriction, the improvement of a certain system performance may make the performance of another system reduce; Simultaneously, from the viewpoint of global optimization, also exist the problem of mutual coupling and optimization between its intrasystem controlled variable and the mechanical configuration parameter.Therefore, in order to overcome influencing each other between automobile EPS, ASS and the ABS system, must at first analyze the interrelation between main control parameters in EPS, ASS and the ABS system and these parameters; Secondly, study the controlled variable between EPS, ASS and the ABS individual system inside and the relation of mechanical configuration parameter.On this basis, controlled variable main in three systems and mechanical configuration parameter are carried out the while optimal design; From the angle that vehicle performance is improved, they are carried out the integrated co-operative control research of active member, just can reach improvement to performances such as car load riding comfort, road-holding property and driving safeties.
The utility model content
Technical problem to be solved in the utility model provides a kind of automobile electric booster steering system, active suspension system and anti-blocking brake system integrated manipulator, it has improved car load riding comfort, road-holding property, driving safety by the centralized control to three sub-control systems.
The technical scheme that the utility model adopted is: automobile electric booster steering system, active suspension system and anti-blocking brake system integrated manipulator, form by signal transducer, signal processing module, combinator, suspension system controller, steering swivel system controller, brake system controller.The output that is installed on the signal transducer of Full Vehicle System connects signal processing module, the road surface incoming signal also is input to signal processing module, combinator, suspension system controller, steering swivel system controller, brake system controller are delivered in the output of signal processing module respectively, the compensating signal of tuning controller output is delivered to suspension system controller, steering swivel system controller, brake system controller respectively, and the final control signal of the comprehensive back generation of control signal that these three controllers produce separately and compensating signal outputs to the actuating unit in the Full Vehicle System.
The good effect that the utility model had is:
The utility model is at the different characteristics of EPS, ASS and ABS, from the angle that vehicle performance is improved, they are carried out the integrated design research of active member, on the basis of original automobile electric booster steering system, active suspension system and three separate control subsystem of anti-blocking brake system, increase higher level's combinator, send compensating signal in real time according to travel condition of vehicle these three subsystems are carried out co-operative control, realized the improvement of vehicle complete vehicle Combination property.
Description of drawings
Fig. 1 is the utility model structure principle chart
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further described
As shown in Figure 1, automobile electric booster steering system, active suspension system and anti-blocking brake system integrated manipulator are made up of signal transducer, signal processing module, combinator, suspension system controller, steering swivel system controller, brake system controller.The signal transducer that is installed on Full Vehicle System is sent to signal processing module with real-time detected travel condition of vehicle signal, with the road surface incoming signal after signal processing module is handled, output to combinator respectively, the suspension system controller, the steering swivel system controller, the brake system controller, tuning controller produces compensating signal and outputs to the suspension system controller respectively, the steering swivel system controller, the brake system controller, the final control signal of the comprehensive back generation of control signal that these three controllers will produce separately and compensating signal outputs to the actuating unit in the Full Vehicle System.
In Fig. 1, a
xa
y, the longitudinal velocity of the vehicle of representative and side velocity, ω are yaw velocities, what V car, V wheel were represented is the speed of a motor vehicle and wheel speed, θ,
Be vehicle body pitch angle, rate of pitch; z
s,
Vertical displacement, vertical speed for suspended mass.What M embodied is control torque: for suspension, because active controlling force changes, so also change around the moment of each coordinate axle of vehicle body, be mainly reflected in inclination and pitching aspect; Steering swivel system, power torque changes; Drg is lock torque change the size of drg hydraulic pressure (because corresponding variation has taken place).
Sensor acquisition bodywork system signal.
The function of signal processing module is collection, processing signals, and it is a signal acquisition module, and real-time gives controller with message feedback.Treating process also is that different sensors adopts different processing methods.
EPS, ASS, three sub-controllers of ABS are regulated and control by a combinator,
If there is not tuning controller among the design, three controllers also are self-organizing systems, also can system separately be controlled, and still, variation has all taken place a lot of parameters when actual vehicle is travelled.Why added a tuning controller, considered the influence of the variation of system parameter to the car load generation exactly, the effect that combinator played is exactly to compensate this influence.
From above-mentioned explanation as can be seen, EPS, ASS, three sub-system coordination controls of ABS are finished by controller and combinator, concerning a concrete vehicle, the parameter of controller and combinator is in case determine that the control effect has also just been determined.And the parameter designing of controller and combinator is decided as the case may be, and it is different and different to look vehicle.
The Parameters design of controller and combinator has adopted the method for designing of Comtemporary Control Theory, and whole chassis is considered as the control system of a multiinput-multioutput, sets up based on horizontal, vertical and vertical dynamic (dynamical) car load non-linear dynamic model.At first, detect the system signal of reflection vehicle body running state in real time by the sensor that is distributed in vehicle body, the incoming signal that sensor obtained in the system has the speed of a motor vehicle, wheel speed, lateral acceleration, longitudinal acceleration, vehicle body normal acceleration, vertical speed, roll angle acceleration, bank velocity, angle of roll, vehicle body yaw velocity, steering wheel angle, the pitch angle acceleration/accel of glancing impact, pitch angle etc.Then, based on these detected signals, choose suitable state variable, structural regime equation and output equation and objective function, just set up math modeling, and this model is optimized design, be regulation and control power steering square Tm, suspension control effort f to determine the parameter of controller and combinator, finally to control purpose
1, f
2, f
3, f
4, also comprise drg oil pressure P in the hydraulic efficiency pressure system, thereby to suspension, turn to and brake system is coordinated (just to regulate pitching moment M
Suspension, yaw moment M
Turn to, lock torque M
Braking), make car load ride comfort, braking ability and road-holding property reach better effects.
Wherein, pitching moment M
SuspensionBe to regulate yaw moment M by regulation and control power steering square Tm
Turn toBy regulation and control suspension control effort f
1, f
2, f
3, f
4Regulate, and lock torque M braking is to realize by control system oil pressure P,, is controlled near the expected value, make the adhesive ability maximum because the ABS system mainly is the control slip rate.By adjusting the oil pressure of drg, change the size of wheel speed, thereby change wheel slip.
Wheel speed can be regulated by regulating brake-pressure.
Claims (1)
1. motorcar electric turns to, active suspension and anti-blocking brake system integrated manipulator, by signal transducer, signal processing module, combinator, the suspension system controller, the steering swivel system controller, the brake system controller is formed, it is characterized in that: the output that is installed on the signal transducer of Full Vehicle System connects signal processing module, the road surface incoming signal also is input to signal processing module, combinator is delivered in the output of signal processing module respectively, the suspension system controller, the steering swivel system controller, the brake system controller, the compensating signal of tuning controller output is delivered to the suspension system controller respectively, the steering swivel system controller, the brake system controller, the final control signal of the comprehensive back generation of control signal that these three controllers produce separately and compensating signal outputs to the actuating unit in the Full Vehicle System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200405056U CN201102543Y (en) | 2007-07-06 | 2007-07-06 | Anti-lock integration controller of vehicle electric steering, active suspension system and brake |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200405056U CN201102543Y (en) | 2007-07-06 | 2007-07-06 | Anti-lock integration controller of vehicle electric steering, active suspension system and brake |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201102543Y true CN201102543Y (en) | 2008-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200405056U Expired - Fee Related CN201102543Y (en) | 2007-07-06 | 2007-07-06 | Anti-lock integration controller of vehicle electric steering, active suspension system and brake |
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| CN (1) | CN201102543Y (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101905694B (en) * | 2009-06-04 | 2012-12-26 | 品秀橡胶股份有限公司 | Intelligent electronic suspension system capable of adjusting air pressure automatically |
| CN102975714A (en) * | 2012-11-19 | 2013-03-20 | 北京工业大学 | Electric vehicle chassis system and collaborative control method thereof |
| CN103310694A (en) * | 2012-03-06 | 2013-09-18 | 天津职业技术师范大学 | All-in-one teaching and practical training device of automobile active suspension and power-driven steering system |
| CN103879401A (en) * | 2012-12-24 | 2014-06-25 | 李果 | Coordinated control technology capable of effectively controlling automobile steering/braking system |
| CN106394560A (en) * | 2016-09-09 | 2017-02-15 | 山东理工大学 | Chassis coordinated control system for hub drive electric automobile |
| CN108146430A (en) * | 2017-11-08 | 2018-06-12 | 南京航空航天大学 | A kind of Active suspension and active steering integrated system and its robust control method |
| CN108216231A (en) * | 2018-01-12 | 2018-06-29 | 合肥工业大学 | One kind can open up united deviation auxiliary control method based on steering and braking |
-
2007
- 2007-07-06 CN CNU2007200405056U patent/CN201102543Y/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101905694B (en) * | 2009-06-04 | 2012-12-26 | 品秀橡胶股份有限公司 | Intelligent electronic suspension system capable of adjusting air pressure automatically |
| CN103310694A (en) * | 2012-03-06 | 2013-09-18 | 天津职业技术师范大学 | All-in-one teaching and practical training device of automobile active suspension and power-driven steering system |
| CN102975714A (en) * | 2012-11-19 | 2013-03-20 | 北京工业大学 | Electric vehicle chassis system and collaborative control method thereof |
| CN102975714B (en) * | 2012-11-19 | 2015-10-14 | 北京工业大学 | A kind of elec. vehicle chassis system |
| CN103879401A (en) * | 2012-12-24 | 2014-06-25 | 李果 | Coordinated control technology capable of effectively controlling automobile steering/braking system |
| CN106394560A (en) * | 2016-09-09 | 2017-02-15 | 山东理工大学 | Chassis coordinated control system for hub drive electric automobile |
| CN106394560B (en) * | 2016-09-09 | 2018-08-28 | 山东理工大学 | A kind of wheel hub driving electric automobile chassis coordinated control system |
| CN108146430A (en) * | 2017-11-08 | 2018-06-12 | 南京航空航天大学 | A kind of Active suspension and active steering integrated system and its robust control method |
| CN108216231A (en) * | 2018-01-12 | 2018-06-29 | 合肥工业大学 | One kind can open up united deviation auxiliary control method based on steering and braking |
| CN108216231B (en) * | 2018-01-12 | 2019-07-19 | 合肥工业大学 | One kind can open up united deviation auxiliary control method based on steering and braking |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080820 Termination date: 20100706 |