IN-VEHICLE STABLE PLATFORM SYSTEM EMPLOYING ACTIVE SUSPENSION AND CONTROL METHOD THEREOF

An in-vehicle stable platform system employing active suspension and a control method thereof is provided. The system includes a vehicle body, an in-vehicle stable platform, an inertial measurement device, an electronic control device, a servo controller set, multiple wheels, and suspension servo actuation cylinders and displacement sensors respectively corresponding to the wheels. The wheels are divided into three groups, which form three support points. The heights of the three support points are controlled to control orientation of the vehicle body. An amount of extension/retraction of the suspension servo actuation cylinders required to cause the in-vehicle stable platform to return to a horizontal level is calculated according to a measured pitch angle and a roll angle of the in-vehicle stable platform, and when a vehicle travels on an uneven road, the extension/retraction of each suspension servo actuation cylinder is controlled to cause the in-vehicle stable platform to be horizontal. 1. A control method of an orientation of a vehicle employing active suspension , characterized in that the vehicle has three or more wheels , the wheels are divided into three groups , which constitute three support points for supporting a vehicle body; heights of the three support points are controlled to control an orientation of the vehicle body; each of the wheel groups has one wheel or multiple wheels therein , when the number of wheels in some wheel group is greater than one , upper chambers and lower chambers of all of the suspension servo actuation cylinders in the wheel group are respectively communicated , and the wheel group forms a support point for supporting the vehicle body , three wheel groups form three support points , so that the orientation of the vehicle body is controlled according to a principle that a plane is determined by three points.2. The control method of the orientation of the vehicle employing active suspension according to claim 1 , characterized ...

HYDRAULIC ACTIVE SUSPENSION FLOW CONTROL SYSTEM

A hydraulic active suspension flow control system includes a hydraulic oil tank, a variable displacement pump with an oil suction port communicating with the hydraulic oil tank, a check valve, a servo valve, a suspension cylinder controlled by the servo valve, an engine revolution speed sensor configured to detect an engine revolution speed, a vehicle speed sensor configured to detect a vehicle speed, an oil pressure sensor configured to detect an accumulator outlet pressure, a flow controller configured to control displacement of the variable displacement pump by receiving data from the engine revolution speed sensor, the vehicle speed sensor and the oil pressure sensor, and a relief valve connected to the check valve in parallel and provided at an oil outlet of the variable displacement pump. The variable displacement pump is connected to an engine through a clutch; and an accumulator is connected between the servo valve and the check valve.

INERTIAL REGULATION ACTIVE SUSPENSION SYSTEM BASED ON VEHICLE POSTURE DEVIATION, AND CONTROL METHOD THEREOF

An inertial regulation active suspension system based on posture deviation of a vehicle and a control method thereof are provided. The system comprises a vehicle body, an inertial measurement unit, an electronic control unit, a servo controller group, a plurality of wheels, suspension servo actuating cylinders respectively corresponding to the wheels, and displacement sensors for measuring a stroke of the suspension servo actuating cylinders. The electronic control unit reads posture parameters of the vehicle body measured by the inertial measurement unit, and calculates a deviation between the postures of the vehicle body at a current moment and at a previous moment, and then outputs posture control parameters to the servo controller group. The servo controller group controls extension and retraction of each of the suspension servo actuating cylinders according to the posture control parameters and displacement feedback values of the displacement sensors. 1. An inertial regulation active suspension system based on posture deviation of a vehicle , comprising a vehicle body and a plurality of wheels , an inertial measurement unit , an electronic control unit , a servo controller group , suspension servo actuating cylinders corresponding to the wheels one by one , and displacement sensors , wherein the inertial measurement unit , the electronic control unit and the servo controller group are secured to the vehicle body; the wheels are connected to a lower part of the vehicle body through the suspension servo actuating cylinders; the displacement sensors are used for measuring strokes of the suspension servo actuating cylinders; the electronic control unit is communicated with the inertial measurement unit and the servo controller group , respectively; the servo controller group is communicated with the displacement sensors; the electronic control unit reads posture parameters of the vehicle measured by the inertial measurement unit , and calculates a posture deviation ...

VEHICLE-MOUNTED MOTION SIMULATION PLATFORM BASED ON ACTIVE SUSPENSION, AND CONTROL METHOD THEREOF

A vehicle-mounted motion simulation platform based on active suspension and a control method thereof is provided. The vehicle-mounted motion simulation platform includes a vehicle body, a motion simulation platform fixedly connected to the vehicle body, an upper computer for posture control, a gyroscope, a plurality of wheels, and suspension servo actuating cylinders and displacement sensors corresponding to the wheels respectively, an electronic control unit, and a servo controller group. The electronic control unit calculates posture control parameters based on the posture instructions of the motion simulation platform input by the upper computer for posture control and posture information of the motion simulation platform measured by the gyroscope, and then outputs the posture control parameters to the servo controller group. The servo controller group controls extension of the respective suspension servo actuating cylinders according to the posture control parameters to realize follow-up control over the posture of the motion simulation platform. 1. A vehicle-mounted motion simulation platform based on active suspension , comprising a vehicle body , a motion simulation platform fixedly connected to the vehicle body , an upper computer for posture control , a gyroscope , an electronic control unit , a servo controller group , a plurality of wheels , suspension servo actuating cylinders respectively corresponding to the wheels one by one , and displacement sensors respectively corresponding to the wheels one by one; wherein the gyroscope is fixed on the motion simulation platform; the electronic control unit and the servo controller group are fixed on the vehicle body; the wheels are connected to a lower part of the vehicle body by the suspension servo actuating cylinders; the displacement sensors are used to measure stroke of the suspension servo actuating cylinders; the electronic control unit is in communication with the gyroscope and the servo controller group ...

ACTIVE-PASSIVE DUAL MODE SWITCHABLE VEHICLE SUSPENSION SYSTEM AND SWITCHING METHOD THEREFOR

An active-passive dual mode switchable vehicle suspension system is provided. The suspension system includes a filter, a hydraulic pump, a one-way valve, a power takeoff, a servo valve, a suspension cylinder, an overflow valve, an energy accumulator, a reversing valve, a first pressure sensor, a second pressure sensor, a controller, an oil tank and a displacement sensor. Further related is a switching method for the active-passive dual mode switchable vehicle suspension system. When the active and passive dual-mode switchable vehicle suspension system is switched between modes, an oil pressure in the rodless cavity of the suspension cylinder and an oil pressure in the energy accumulator are adjusted to be equal in advance, so that the stable switching of the active-passive suspension system can be realized, and the vibration of the vehicle body is eliminated when the existing active-passive suspension system is switched. Moreover, the accumulator and overflow valve can be shared in the active and passive suspension mode, thereby effectively reducing the use number of accumulators and overflow valves, greatly saving the layout space of the vehicle body, effectively reducing the total weight of the vehicle body, which is favorable to the lightweight of the vehicle chassis. 1. An active-passive dual mode switchable vehicle suspension system , comprising a filter , a hydraulic pump , a one-way valve , a power take-off , a servo valve , a suspension cylinder , an overflow valve , an energy accumulator , a reversing valve , a first pressure sensor , a second pressure sensor , a controller , an oil tank and a displacement sensor; wherein the filter has an oil inlet communicated with the oil tank through an oil pipe , and has an oil outlet communicated with an oil inlet of the hydraulic pump through an oil pipe; the hydraulic pump has an oil outlet communicated with an oil inlet of the one-way valve through an oil pipe , the one-way valve has an oil outlet communicated with ...

Inertial regulation active suspension system based on vehicle posture deviation, and control method therefor

Disclosed are an inertial regulation active suspension system based on vehicle posture deviation, and a control method therefor. The system comprises a vehicle body (13), an inertial measurement unit (1), an electronic control unit (11), a servo controller group (12), a plurality of wheels (2, 3, 4), suspension servo actuating cylinders (5, 6, 7) corresponding to the wheels on a one-to-one basis, and displacement sensors (8, 9, 10) for measuring the distance traveled of the suspension servo actuating cylinders (5, 6, 7). The electronic control unit (11) reads posture parameters of the vehicle body (13) measured by the inertial measurement unit (1), and calculates a deviation between the postures of the vehicle body (13) at the current moment and at the previous moment, and then outputs posture control parameters to the servo controller group (12). The servo controller group (12) controls the expansion of the suspension servo actuating cylinders (5, 6, 7) according to the posture control parameters and displacement feedback values of the displacement sensors (8, 9, 10), such that the center of mass of a vehicle moves along a straight line or a curved line when the vehicle is driven on an uneven road surface, and the posture of the vehicle is kept unchanged, so that vibration of the vehicle body (13) when the vehicle is driven on a complex road surface is reduced, and the driving speed, handling stability and driving smoothness of the vehicle are thus improved.

Vehicle-mounted motion simulation platform based on active suspension, and control method thereof

Disclosed are a vehicle-mounted motion simulation platform based on active suspension and a control method therefor. The vehicle-mounted motion simulation platform comprises a vehicle body (13), a motion simulation platform (14) fixedly connected to the vehicle body (13), an upper computer (15) for posture control, a gyroscope (1), a plurality of wheels (2, 3, 4), suspension servo actuating cylinders (5, 6, 7) and displacement sensors (8, 9, 10) corresponding to the wheels on a one-to-one basis, an electronic control unit (11), and a servo controller group (12). The electronic control unit (11) calculates posture control parameters based on posture instructions of the motion simulation platform (14) input by the upper computer (15) for posture control and posture information of the motion simulation platform (14) measured by the gyroscope (1), and then outputs the posture control parameters to the servo controller group (12). The servo controller group (12) controls the extension of the respective suspension servo actuating cylinders (5, 6, 7) according to the posture control parameters to realize follow-up control over the posture of the motion simulation platform (14).

Vehicle-mounted motion simulation platform based on active suspension, and control method therefor

A vehicle-mounted motion simulation platform based on active suspension and a control method thereof is provided. The vehicle-mounted motion simulation platform includes a vehicle body, a motion simulation platform fixedly connected to the vehicle body, an upper computer for posture control, a gyroscope, a plurality of wheels, and suspension servo actuating cylinders and displacement sensors corresponding to the wheels respectively, an electronic control unit, and a servo controller group. The electronic control unit calculates posture control parameters based on the posture instructions of the motion simulation platform input by the upper computer for posture control and posture information of the motion simulation platform measured by the gyroscope, and then outputs the posture control parameters to the servo controller group. The servo controller group controls extension of the respective suspension servo actuating cylinders according to the posture control parameters to realize follow-up control over the posture of the motion simulation platform.

Vehicle-mounted motion simulation platform based on active suspension, and control method therefor

Vehicle-mounted motion simulation platform based on active suspension, and control method therefor

In-vehicle stable platform system employing active suspension and control method thereof

An in-vehicle stable platform system employing active suspension and a control method thereof is provided. The system includes a vehicle body, an in-vehicle stable platform, an inertial measurement device, an electronic control device, a servo controller set, multiple wheels, and suspension servo actuation cylinders and displacement sensors respectively corresponding to the wheels. The wheels are divided into three groups, which form three support points. The heights of the three support points are controlled to control orientation of the vehicle body. An amount of extension/retraction of the suspension servo actuation cylinders required to cause the in-vehicle stable platform to return to a horizontal level is calculated according to a measured pitch angle and a roll angle of the in-vehicle stable platform, and when a vehicle travels on an uneven road, the extension/retraction of each suspension servo actuation cylinder is controlled to cause the in-vehicle stable platform to be horizontal.

Hydraulic active suspension flow control system

A hydraulic active suspension flow control system, comprising a hydraulic oil tank (1), a variable displacement pump (2) having an oil suction port communicated with the hydraulic oil tank (1), and a one-way valve (4), a servo valve (8) and a suspension cylinder (7) controlled by the servo valve (8) which are sequentially connected to an oil discharge port of the variable displacement pump (2). The variable displacement pump (2) is connected to an engine (9) by means of a clutch (12). An energy accumulator (6) is communicated between the servo valve (8) and the one-way valve (4). The hydraulic active suspension flow control system further comprises an oil pressure sensor (5) mounted at an outlet of the energy accumulator (6), an engine rotational speed sensor (10), a vehicle speed sensor (11), and a flow controller (13) for controlling the displacement of the variable displacement pump (2). An overflow valve (3) communicated in parallel with the one-way valve (4) is further provided at the oil discharge port of the variable displacement pump (2).

Hydraulic active suspension flow control system

A hydraulic active suspension flow control system includes a hydraulic oil tank, a variable displacement pump with an oil suction port communicating with the hydraulic oil tank, a check valve, a servo valve, a suspension cylinder controlled by the servo valve, an engine revolution speed sensor configured to detect an engine revolution speed, a vehicle speed sensor configured to detect a vehicle speed, an oil pressure sensor configured to detect an accumulator outlet pressure, a flow controller configured to control displacement of the variable displacement pump by receiving data from the engine revolution speed sensor, the vehicle speed sensor and the oil pressure sensor, and a relief valve connected to the check valve in parallel and provided at an oil outlet of the variable displacement pump. The variable displacement pump is connected to an engine through a clutch; and an accumulator is connected between the servo valve and the check valve.

Hydraulic active suspension flow control system

A hydraulic active suspension flow control system, comprising a hydraulic oil tank (1), a variable displacement pump (2) having an oil suction port communicated with the hydraulic oil tank (1), and a one-way valve (4), a servo valve (8) and a suspension cylinder (7) controlled by the servo valve (8) which are sequentially connected to an oil discharge port of the variable displacement pump (2). The variable displacement pump (2) is connected to an engine (9) by means of a clutch (12). An energy accumulator (6) is communicated between the servo valve (8) and the one-way valve (4). The hydraulic active suspension flow control system further comprises an oil pressure sensor (5) mounted at an outlet of the energy accumulator (6), an engine rotational speed sensor (10), a vehicle speed sensor (11), and a flow controller (13) for controlling the displacement of the variable displacement pump (2). An overflow valve (3) communicated in parallel with the one-way valve (4) is further provided at the oil discharge port of the variable displacement pump (2).

Hydraulic active suspension flow control system

A hydraulic active suspension flow control system, comprising a hydraulic oil tank (1), a variable displacement pump (2) having an oil suction port communicated with the hydraulic oil tank (1), and a one-way valve (4), a servo valve (8) and a suspension cylinder (7) controlled by the servo valve (8) which are sequentially connected to an oil discharge port of the variable displacement pump (2). The variable displacement pump (2) is connected to an engine (9) by means of a clutch (12). An energy accumulator (6) is communicated between the servo valve (8) and the one-way valve (4). The hydraulic active suspension flow control system further comprises an oil pressure sensor (5) mounted at an outlet of the energy accumulator (6), an engine rotational speed sensor (10), a vehicle speed sensor (11), and a flow controller (13) for controlling the displacement of the variable displacement pump (2). An overflow valve (3) communicated in parallel with the one-way valve (4) is further provided at the oil discharge port of the variable displacement pump (2).

Hydraulic active suspension flow control system

Inertial regulation method and control system of active suspensions based on terrain ahead of vehicle

An active suspension inertia regulation method based on a vehicle-front terrain (1), and a control system thereof. The method comprises: calculating, according to a scanned vehicle-front terrain (1), a trajectory of a center of mass and an attitude history of a vehicle traveling through the vehicle-front terrain (1) in a passive suspension; after smoothing the trajectory of the center of mass and the attitude history, controlling an active suspension so that the vehicle travels according to the smoothed trajectory; and during the period, adjusting a smoothing coefficient to limit each suspension stroke within a limit stroke, and performing force-displacement-based impedance control on an actuator of the suspension according to the support force and stroke of each active suspension calculated by a dynamic model. The ride comfort and handling stability of the vehicle traveling on an uneven road can be significantly improved.

Active suspension inertia regulation method based on vehicle-front terrain, and control system

Active suspension inertia regulation method based on vehicle-front terrain, and control system

Disclosed in the present invention are an inertial regulation method of active suspensions based on terrain ahead of a vehicle and a control system thereof. According to the scanned terrain ahead of the vehicle, a center of mass trajectory and attitude history are calculated when the vehicle passes through the terrain ahead of the vehicle with passive suspensions. After smoothing the trajectory, the active suspension is controlled to make the vehicle drives according to the smoothed trajectory. During this period, a smoothness coefficient is adjusted to make each suspension stroke be limited within a limit stroke, and according to the supporting force and stroke of each active suspension calculated from a dynamics model, the impedance control based on force-displacement is carried out on an actuator of the suspension. The present invention can significantly improve the driving comfort and handling stability of the vehicle driving on an uneven road surface.

Active suspension inertia regulation method based on vehicle-front terrain, and control system

Active suspension inertia regulation method based on vehicle-front terrain, and control system

Disclosed in the present invention are an inertial regulation method of active suspensions based on terrain ahead of a vehicle and a control system thereof. According to the scanned terrain ahead of the vehicle, a center of mass trajectory and attitude history are calculated when the vehicle passes through the terrain ahead of the vehicle with passive suspensions. After smoothing the trajectory, the active suspension is controlled to make the vehicle drives according to the smoothed trajectory. During this period, a smoothness coefficient is adjusted to make each suspension stroke be limited within a limit stroke, and according to the supporting force and stroke of each active suspension calculated from a dynamics model, the impedance control based on force-displacement is carried out on an actuator of the suspension. The present invention can significantly improve the driving comfort and handling stability of the vehicle driving on an uneven road surface.

Akti̇f süspansi̇yon kullanan araç i̇çi̇ sabi̇t platform si̇stemi̇ ve kontrol yöntemi̇

Aktif süspansiyon kullanan bir araç içi sabit platform sistemi ve ilgili bir kontrol yöntemi sağlanmaktadır. Bahis konusu sistem bir araç gövdesi, bir araç içi sabit platform, bir atalet ölçüm cihazı, bir elektronik kontrol cihazı, bir servo kontrolör seti, birden fazla tekerlek ve süspansiyon servo tahrik silindirleri ve sırasıyla bu tekerleklere karşılık gelen deplasman sensörleri içermektedir. Bu tekerlekler, üç destek noktası teşkil eden üç gruba bölünmektedir. Üç destek noktalarının yükseklikleri araç gövdesinin oryantasyonunu kontrol etmek üzere kontrol edilmektedir. Araç içi sabit platformun yatay bir seviyeye geri dönmesini sağlamak üzere gerekli olan süspansiyon servo tahrik silindirlerinin uzatma/geri çekme miktarı araç içi sabit platformun ölçümlenen yunuslama açısına ve bir yatış açısına göre hesaplanmaktadır ve bir araç düz olmayan bir yol üzerinde hareket ettiği zaman, her bir süspansiyon servo tahrik silindirine ait uzatma/geri çekme işlemi araç içi sabit platformun yatay kalmasını sağlamak üzere kontrol edilmektedir.

Araç önü arazi̇si̇ne bağli olan akti̇f süspansi̇yon atalet düzenleme yöntemi̇ ve kontrol si̇stemi̇

Mevcut buluşta bir aracın (1) önündeki araziye bağlı olarak aktif süspansiyonların atalet düzenleme yöntemi ve bunun bir kontrol sistemi açıklanır. Aracın (1) önündeki taranan araziye göre araç, aracın (1) önündeki araziden pasif süspansiyonlar ile geçtiğinde kütle merkezi yörüngesi ve durum geçmişi hesaplanır. Yörüngenin düzleştirilmesinden sonra aktif süspansiyon, aracın düzleştirilen yörüngeye göre sürülmesini sağlamak üzere kontrol edilir. Bu periyot boyunca bir düzgünlük katsayısı, her bir süspansiyon strokunun bir sınır stroku içerisinde sınırlandırılmasını sağlamak üzere ayarlanır ve bir dinamik modelden hesaplanan her bir aktif süspansiyonun destekleme kuvvetine ve strokuna göre kuvvet deplasmanına bağlı olarak empedans kontrolü, süspansiyon aktüatörü üzerinde gerçekleştirilir. Mevcut buluş, engebeli bir yol yüzeyinde sürülen aracın sürüş konforunu ve yol tutuş stabilitesini önemli ölçüde geliştirebilir.

Hydraulic active suspension flow control system

A hydraulic active suspension flow control system, comprising a hydraulic oil tank (1), a variable displacement pump (2) having an oil suction port communicated with the hydraulic oil tank (1), and a one-way valve (4), a servo valve (8) and a suspension cylinder (7) controlled by the servo valve (8) which are sequentially connected to an oil discharge port of the variable displacement pump (2). The variable displacement pump (2) is connected to an engine (9) by means of a clutch (12). An energy accumulator (6) is communicated between the servo valve (8) and the one-way valve (4). The hydraulic active suspension flow control system further comprises an oil pressure sensor (5) mounted at an outlet of the energy accumulator (6), an engine rotational speed sensor (10), a vehicle speed sensor (11), and a flow controller (13) for controlling the displacement of the variable displacement pump (2). An overflow valve (3) communicated in parallel with the one-way valve (4) is further provided at the oil discharge port of the variable displacement pump (2).

Active-passive dual mode switchable vehicle suspension system and switching method therefor

Vehicle active suspension inertia regulation method based on wheel supporting force, and control system

Vehicle active suspension inertia regulation method based on wheel supporting force, and control system.

Disclosed are a vehicle active suspension inertia regulation method based on wheel supporting force, and a control system, comprising inner loop control and outer loop control: for inner loop control, according to the six-dimensional acceleration and attitude angle of a vehicle as measured by an inertial measurement unit, using dynamics to solve for a theoretical value of the supporting force of each wheel when the vehicle is running on a corresponding virtual slope plane, comparing the theoretical values with the actual values of the supporting forces of the wheels, and, according to the difference values therebetween, controlling each suspension cylinder to extend and retract, so that the supporting forces of the wheels change according to the theoretical values; for outer loop control, controlling the suspension cylinders to extend or retract by the same amount of displacement, so that the average stroke value of all of the suspension cylinders approaches the median value. The present invention can significantly improve the smoothness and operating stability of a vehicle running on an uneven road surface.

Tekerlek destek kuvveti̇ne ve kontrol si̇stemi̇ne dayanan araç akti̇f süspansi̇yon atalet düzenleme yöntemi̇

Mevcut buluşta, her tekerleğin bir destekleme kuvvetine dayanan bir atalet düzenleme yöntemi ve araç aktif süspansiyonunun kontrol sistemi açıklanır, burada atalet kontrol yöntemi, bir iç döngü kontrolünü ve bir dış döngü kontrolünü ihtiva eder. İç döngü kontrolü, dinamiklere göre, araç bir atalet ölçüm ünitesi yoluyla ölçülen 6 boyutlu bir ivme ve bir adım açısı ile sanal bir eğim düzleminde giderken her tekerleğin teorik destekleme kuvvetini hesaplayacak; teorik destekleme kuvvetini her tekerleğin ölçülen destekleme kuvveti ile karşılaştıracak; ve her bir süspansiyon silindirinin genleşmesini fark değerine göre kontrol edecektir, böylece her tekerleğin destekleme kuvveti, teorik destekleme kuvvetine göre değişir. Dış döngü kontrolü, aynı yer değiştirme genleşmesine yönelik her bir süspansiyon silindirini kontrol edecektir, böylece tüm süspansiyon silindiri stroklarının ortalama değeri, bir medyan değere yönelecektir. Mevcut buluş, engebeli bir yol yüzeyinde aracın sürüş konforunu ve yol tutuş stabilitesini önemli ölçüde geliştirebilir.

Vehicle active suspension inertia regulation method based on wheel supporting force, and control system

An inertial regulation method and control system of vehicle active suspension based on a supporting force of each wheel comprises an inner loop control and an outer loop control. The inner loop control is to calculate, according to the dynamics, a theoretical supporting force of each wheel when the vehicle is driving on a virtual slope plane with a 6-dimensional acceleration and a pitch angle measured by an inertial measurement unit; compare the theoretical supporting force with the measured supporting force of each wheel; and control the expansion of each suspension cylinder according to the difference value, so that the supporting force of each wheel changes according to the theoretical supporting force. The outer loop control is to control each suspension cylinder for the same expansion of displacement, so that the average value of all the suspension cylinder strokes tends to a median value.

Vehicle active suspension inertia regulation method based on wheel supporting force, and control system

Disclosed in the present invention is an inertial regulation method and control system of vehicle active suspension based on a supporting force of each wheel, wherein the inertial control method comprises an inner loop control and an outer loop control. The inner loop control is to calculate, according to the dynamics, a theoretical supporting force of each wheel when the vehicle is driving on a virtual slope plane with a 6-dimensional acceleration and a pitch angle measured by an inertial measurement unit; compare the theoretical supporting force with the measured supporting force of each wheel; and control the expansion of each suspension cylinder according to the difference value, so that the supporting force of each wheel changes according to the theoretical supporting force. The outer loop control is to control each suspension cylinder for the same expansion of displacement, so that the average value of all the suspension cylinder strokes tends to a median value. The present invention can significantly improve the driving comfort and handling stability of the vehicle on an uneven road surface.

Procédé de régulation d'inertie de suspension active de véhicule sur la base d'une force de support de roue, et système de commande

L'invention concerne un procédé de régulation d'inertie de suspension active d'un véhicule sur la base d'une force de support de roue, et un système de commande, comprenant un contrôle en boucle interne et un contrôle en boucle externe: pour un contrôle en boucle interne, en fonction de l'accélération en six dimensions et de l'angle d'attitude d'un véhicule tel que mesuré par une unité de mesure inertielle, l'utilisation d'une dynamique pour résoudre une valeur théorique de la force de support de chaque roue lorsque le véhicule roule sur un plan de pente virtuelle correspondant, la comparaison des valeurs théoriques aux valeurs réelles des forces de support des roues, et, en fonction des valeurs de différence entre celles-ci, la commande de chaque cylindre de suspension pour un allongement et une rétraction, de sorte que les forces de support des roues changent en fonction des valeurs théoriques; pour un contrôle en boucle externe, la commande de l'allongement ou de rétraction des cylindres de suspension pour par la même quantité de déplacement, de sorte que la valeur de course moyenne de tous les cylindres de suspension se rapproche de la valeur médiane. La présente invention peut améliorer considérablement le douceur et la stabilité de fonctionnement d'un véhicule roulant sur une surface de route irrégulière.

Inertial regulation method and control system of vehicle active suspension based on supporting force of each wheel

Disclosed are a vehicle active suspension inertia regulation method based on wheel supporting force, and a control system, comprising inner loop control and outer loop control: for inner loop control, according to the six-dimensional acceleration and attitude angle of a vehicle as measured by an inertial measurement unit, using dynamics to solve for a theoretical value of the supporting force of each wheel when the vehicle is running on a corresponding virtual slope plane, comparing the theoretical values with the actual values of the supporting forces of the wheels, and, according to the difference values therebetween, controlling each suspension cylinder to extend and retract, so that the supporting forces of the wheels change according to the theoretical values; for outer loop control, controlling the suspension cylinders to extend or retract by the same amount of displacement, so that the average stroke value of all of the suspension cylinders approaches the median value. The present invention can significantly improve the smoothness and operating stability of a vehicle running on an uneven road surface.

Método de regulação inercial de suspensão ativa veicular com base em uma força de apoio de cada roda, e sistema de controle que aplica o método de regulação inercial

método de regulação inercial de suspensão ativa veicular com base em uma força de apoio de cada roda, e sistema de controle que aplica o método de regulação inercial. revela-se na presente invenção um método de regulação inercial e sistema de controle de suspensão ativa veicular com base em uma força de apoio de cada roda, em que o método de controle inercial compreende um controle de circuito interno e um controle de circuito externo. o controle de circuito interno serve para calcular, conforme a dinâmica, uma força de apoio teórica de cada roda quando o veículo está se movendo em um plano de inclinação virtual com uma aceleração de 6 dimensões e um ângulo de inclinação medido por uma unidade de medição de inércia; comparar a força de apoio teórica com a força de apoio medida de cada roda; e controlar a expansão de cada cilindro da suspensão de acordo com o valor de diferença, de modo que a força de apoio de cada roda mude de acordo com a força de apoio teórica. o controle de circuito externo serve para controlar cada cilindro da suspensão para a mesma expansão de deslocamento, de modo que o valor médio de todos os golpes do cilindro da suspensão tenda para um valor mediano. a presente invenção pode melhorar significativamente o conforto de condução e a estabilidade de manuseio do veículo sobre uma superfície rodoviária irregular.

Vehicle active suspension inertia regulation method based on wheel supporting force, and control system

Vehicle active suspension inertia regulation method based on wheel supporting force, and control system

Active-passive dual mode switchable vehicle suspension system and switching method therefor

An active-passive dual mode switchable vehicle suspension system. The system comprises a filter (1), a hydraulic pump (2), a check valve (3), a power takeoff (4), a servo valve (6), a suspension cylinder (7), a overflow valve (9), an energy accumulator (10), a reversing valve (11), a first pressure sensor (12), a second pressure sensor (13), a controller (14), a fuel tank (15) and a displacement sensor (16). Further related is a switching method for the active-passive dual mode switchable vehicle suspension system. When switching the mode, the fuel hydraulic pressure in the rodless cavity of the suspension cylinder is adjusted in advance to be equal to the fuel hydraulic pressure in the energy accumulator, a stable switching between active and passive suspension modes is thus achieved so as to eliminate oscillation of the vehicle body during the existing switching between active and passive suspension systems. Moreover, the energy accumulator and the overflow valve can be shared in active and passive suspension modes, thereby effectively decreasing the usage amount of energy accumulators and overflow valves, greatly saving the space of the vehicle body, effectively reducing the gross mass of the vehicle body and facilitating the light weight of the vehicle chassis.

Active-passive dual mode switchable vehicle suspension system and switching method therefor

An active-passive dual mode switchable vehicle suspension system. The system comprises a filter (1), a hydraulic pump (2), a check valve (3), a power takeoff (4), a servo valve (6), a suspension cylinder (7), a overflow valve (9), an energy accumulator (10), a reversing valve (11), a first pressure sensor (12), a second pressure sensor (13), a controller (14), a fuel tank (15) and a displacement sensor (16). Further related is a switching method for the active-passive dual mode switchable vehicle suspension system. When switching the mode, the fuel hydraulic pressure in the rodless cavity of the suspension cylinder is adjusted in advance to be equal to the fuel hydraulic pressure in the energy accumulator, a stable switching between active and passive suspension modes is thus achieved so as to eliminate oscillation of the vehicle body during the existing switching between active and passive suspension systems. Moreover, the energy accumulator and the overflow valve can be shared in active and passive suspension modes, thereby effectively decreasing the usage amount of energy accumulators and overflow valves, greatly saving the space of the vehicle body, effectively reducing the gross mass of the vehicle body and facilitating the light weight of the vehicle chassis.

Active-passive dual mode switchable vehicle suspension system and switching method therefor

An active-passive dual mode switchable vehicle suspension system is provided. The suspension system includes a filter, a hydraulic pump, a one-way valve, a power takeoff, a servo valve, a suspension cylinder, an overflow valve, an energy accumulator, a reversing valve, a first pressure sensor, a second pressure sensor, a controller, an oil tank and a displacement sensor. Further related is a switching method for the active-passive dual mode switchable vehicle suspension system. When the active and passive dual-mode switchable vehicle suspension system is switched between modes, an oil pressure in the rodless cavity of the suspension cylinder and an oil pressure in the energy accumulator are adjusted to be equal in advance, so that the stable switching of the active-passive suspension system can be realized, and the vibration of the vehicle body is eliminated when the existing active-passive suspension system is switched. Moreover, the accumulator and overflow valve can be shared in the active and passive suspension mode, thereby effectively reducing the use number of accumulators and overflow valves, greatly saving the layout space of the vehicle body, effectively reducing the total weight of the vehicle body, which is favorable to the lightweight of the vehicle chassis.

Active-passive dual mode switchable vehicle suspension system and switching method therefor

Metodo de regulacion de la inercia de la suspension activa del vehiculo basado en la fuerza de apoyo de la rueda y sistema de control.

En la presente invención se divulga un método de regulación inercial y un sistema de control de la suspensión activa de un vehículo basado en una fuerza de soporte de cada rueda, en donde el método de control inercial comprende un control de bucle interno y un control de bucle externo. El control de bucle interno tiene como objetivo calcular, según la dinámica, una fuerza de apoyo teórica de cada rueda cuando el vehículo circula sobre un plano dependiente virtual con una aceleración de 6 dimensiones y un ángulo de paso medido por una unidad de medición inercial; comparar la fuerza de apoyo teórica con la fuerza de apoyo medida de cada rueda; y controlar la expansión de cada cilindro de suspensión según el valor de diferencia, de modo que la fuerza de soporte de cada rueda cambie según la fuerza de soporte teórica. El control de bucle exterior sirve para controlar cada cilindro de suspensión para la misma expansión de cilindrada, de modo que el valor medio de todas las carreras de los cilindros de suspensión tienda a un valor medio. La presente invención puede mejorar significativamente la comodidad de conducción y la estabilidad de manejo del vehículo en una superficie de carretera irregular.

Active suspension inertia regulation method based on vehicle-front terrain, and control system

Disclosed in the present invention are an inertial regulation method of active suspensions based on terrain ahead of a vehicle (1) and a control system thereof. According to the scanned terrain ahead of the vehicle (1), a center of mass trajectory and attitude history are calculated when the vehicle passes through the terrain ahead of the vehicle (1) with passive suspensions. After smoothing the trajectory, the active suspension is controlled to make the vehicle drives according to the smoothed trajectory. During this period, a smoothness coefficient is adjusted to make each suspension stroke be limited within a limit stroke, and according to the supporting force and stroke of each active suspension calculated from a dynamics model, the impedance control based on force-displacement is carried out on an actuator of the suspension. The present invention can significantly improve the driving comfort and handling stability of the vehicle driving on an uneven road surface.

Akti̇f-pasi̇f çi̇ft mod geçi̇şli̇ araç süspansi̇yon si̇stemi̇ ve i̇lgi̇li̇ geçi̇ş yöntemi̇

Bir aktif-pasif çift mod geçişli araç süspansiyon sistemi sağlanmıştır. Süspansiyon sistemi bir hidrolik pompası, bir tek yollu valf, bir elektrik kesme tertibatı, bir servo valfi, bir süspansiyon silindiri, bir taşma valfi, bir enerji akümülatörü, bir ters valf, birinci basınç sensörü, ikinci basınç sensörü, bir kontrol elemanı, bir yağ deposu ve bir deplasman sensörü içerir. Mevcut tarifname ayrıca aktif-pasif çift mod geçişli araç süspansiyon sistemi kullanarak bir geçiş yöntemi ile ilgilidir. Aktif ve pasif çift mod geçişli araç süspansiyon sistemi modları arasında geçiş yapıldığında süspansiyon silindirinin rotsuz boşluğundaki yağ basıncı ile enerji akümülatöründeki yağ basıncı önceden eşit olacak şekilde ayarlanır, böylece aktif-pasif süspansiyon sisteminin stabil geçişi gerçekleştirilebilir ve mevcut aktif-pasif süspansiyon sistemi değiştirildiğinde cihaz gövdesinin vibrasyonu ortadan kalkar. İlaveten akümülatör ve taşma valfi aktif ve pasif süspansiyon modunda paylaştırılabilir, böylece akümülatörlerin ve taşma valflerinin kullanım sayısını etkili şekilde azaltır, araç gövdesinin düzen alanında büyük tasarruf sağlar, araç gövdesinin toplam ağırlığını azaltır ve bu da araç şasisinin hafifliği açısından avantajlıdır.

Hydraulic active suspension flow control system

Active-passive dual mode switchable vehicle suspension system and switching method therefor

An active-passive dual mode switchable vehicle suspension system. The system comprises a filter (1), a hydraulic pump (2), a check valve (3), a power takeoff (4), a servo valve (6), a suspension cylinder (7), a overflow valve (9), an energy accumulator (10), a reversing valve (11), a first pressure sensor (12), a second pressure sensor (13), a controller (14), a fuel tank (15) and a displacement sensor (16). Further related is a switching method for the active-passive dual mode switchable vehicle suspension system. When switching the mode, the fuel hydraulic pressure in the rodless cavity of the suspension cylinder is adjusted in advance to be equal to the fuel hydraulic pressure in the energy accumulator, a stable switching between active and passive suspension modes is thus achieved so as to eliminate oscillation of the vehicle body during the existing switching between active and passive suspension systems. Moreover, the energy accumulator and the overflow valve can be shared in active and passive suspension modes, thereby effectively decreasing the usage amount of energy accumulators and overflow valves, greatly saving the space of the vehicle body, effectively reducing the gross mass of the vehicle body and facilitating the light weight of the vehicle chassis.