Electromagnetic suspension system based on wheel rim driven electric vehicle and control method thereof

Abstract

The invention provides an electromagnetic suspension system based on a wheel rim driven electric vehicle and a control method thereof. The electromagnetic suspension system comprises sprung mass, an elastic element, a shock absorber, a linear motor, a wheel motor, unsprung mass, an acceleration signal sensor, a displacement sensor A, a displacement sensor B and an ECU; the control method comprises three modes of a comfort mode, a safety mode and a comprehensive mode; and according to the electromagnetic suspension system based on the wheel rim driven electric vehicle and the control method thereof, coordination control of an inner ring and an outer ring is adopted, the inner ring control uses the PI control algorithm, the outer ring control adopts the LQG control algorithm, compared with single-loop control adopted by most researchers, a force tracking control method based on control of the LQG and the PI can use a feedback mechanism to track real-time motion state of a suspension better, and the target tracking force can be output more effectively to improve vibration of a vehicle body. At the same time, according to the electromagnetic suspension system based on the wheel rim driven electric vehicle and the control method thereof, a three-freedom-degree electromagnetic suspension model based on the wheel rim driven electric vehicle is established, the model structure is more complicated, considered factors are more, and the model can be applied to the modern electric vehicle and is in line with targets of energy conservation and emission reduction.

Description

technical field [0001] The patent of the invention belongs to the field of automobile safety, and specifically relates to an electromagnetic suspension system and a control method thereof based on a wheel-side driven electric vehicle. Background technique [0002] With the continuous development of automobile technology, consumers have higher and higher requirements for automobile safety and comfort. During the use of the car, the load, speed, road conditions and other driving conditions will change greatly. Different working conditions have different requirements for ride comfort and handling stability, and the suspension characteristics will also change accordingly. For example, ride comfort generally requires the suspension to be relatively soft, while driving safety requires the suspension to be relatively hard during sharp turns, emergency braking and acceleration, and high-speed driving maneuvers to maintain the body posture and ground contact of the tires. Passive su...

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Problems solved by technology

[0004] Chinese patent 201510645787.1 discloses a design method for the optimal control force of the LQG controller of the active suspension of automobiles, but it only uses the LQG algorithm alone, and it is worth considering in terms of the accuracy and effectiveness of the tracking force output; and the method used is Simpler two-degree-of-freedom suspension system

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