Wheel hub direct drive air suspension system and cooperative control method based on nmpc

An air suspension, direct drive technology, applied in suspension, elastic suspension, vehicle components, etc., can solve the problems of dynamic characteristic lag, increased constraints, serious parameter coupling, etc.

Active Publication Date: 2022-07-22
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of poor control performance caused by severe parameter coupling, hysteresis of dynamic characteristics and increased constraints in the existing hub direct drive air suspension system, and propose a hub based on nonlinear model predictive control (NMPC) Direct drive air suspension system and cooperative control method

Method used

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  • Wheel hub direct drive air suspension system and cooperative control method based on nmpc
  • Wheel hub direct drive air suspension system and cooperative control method based on nmpc
  • Wheel hub direct drive air suspension system and cooperative control method based on nmpc

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Embodiment Construction

[0018] see figure 1 , the NMPC-based wheel hub direct drive air suspension system of the present invention is composed of a sensor module, an extended observer module, an NMPC controller, a damping coefficient controller, a damping coefficient actuator, an additional air chamber controller and an additional air chamber actuator. Consists of 7 parts. The sensor module, the extended observer module, the NMPC controller, the damping coefficient controller and the additional air chamber controller are connected in series in sequence. The output end of the coefficient controller is connected to the input end of the damping coefficient actuator, and the output end of the additional air chamber controller is connected to the input end of the additional air chamber actuator.

[0019] The sensor module consists of three acceleration sensors, which are respectively installed at the sprung mass, the tire and the motor rotor mass, and the motor stator and the remaining unsprung mass, and...

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Abstract

The invention discloses an NMPC-based wheel hub direct-drive air suspension system and a coordinated control method. The suspension system is controlled by a sensor module, an extended observer module, an NMPC controller, a damping coefficient controller, a damping coefficient actuator and an additional air chamber. The input of the NMPC controller is the vertical displacement and speed of the sprung mass, the vertical displacement and speed of the tire and motor rotor mass, and the vertical displacement and speed of the motor stator and the remaining unsprung mass. , the output is the optimal suspension force, and the optimal suspension force of the system is solved by taking the optimal performance of the suspension system, reducing the eccentric distance of the motor and prolonging the life of the motor as the control objectives. The air suspension damping coefficient and the additional air chamber can be controlled in coordination, which can further reduce the body acceleration, suspension travel, tire deformation and motor eccentricity, and improve the comprehensive performance of the in-wheel direct drive air suspension system.

Description

technical field [0001] The invention belongs to a semi-active suspension installed on an electric vehicle, in particular to a wheel hub direct-drive air suspension system and the coordinated control of the damping coefficient and an additional air chamber of the wheel hub direct-drive air suspension system. Background technique [0002] Electric vehicles driven by in-wheel motors are a representative class of new energy vehicles. In-wheel motor drive is to install the motor directly on the wheel and drive the car to move. Its advantages reflect that the direct drive of the in-wheel motor saves some transmission devices such as gearboxes and reducers; because the driving torque is independently controllable, the torque and speed are easy to measure. , so it has significant advantages in stability, active safety control and energy saving. However, on the one hand, the introduction of in-wheel motors increases the unsprung mass, which causes the deterioration of vehicle tire g...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60G17/019B60G17/018B60G17/052
CPCB60G17/01908B60G17/01933B60G17/018B60G17/052
Inventor 李仲兴李忠远陈鑫周蓥江洪
Owner JIANGSU UNIV
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