Active suspension inertia regulation and control method and control system based on terrain in front of vehicle

A technology of active suspension and terrain, applied in the direction of suspension, elastic suspension, vehicle components, etc., can solve problems such as difficulty in obtaining control effect, simultaneous design without consideration, and complex design process.

Active Publication Date: 2021-09-10
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When establishing the mathematical model, the attitude control and ride comfort control are not considered to be designed at the same time. The design process is more complicated and it is difficult to obtain a better control effect.

Method used

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  • Active suspension inertia regulation and control method and control system based on terrain in front of vehicle
  • Active suspension inertia regulation and control method and control system based on terrain in front of vehicle
  • Active suspension inertia regulation and control method and control system based on terrain in front of vehicle

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Embodiment Construction

[0100] Below in conjunction with embodiment the present invention is described in further detail:

[0101] 1. Active suspension inertial control system based on the terrain in front of the vehicle

[0102] Such as figure 1 As shown, the system includes terrain 1 in front of the vehicle, vehicle body 2 and m wheels 3-1, 3-2, ..., 3-m, laser radar 4, inertial measurement unit 5, dual-antenna GPS positioning system 6-1, 6 -2, vehicle speed sensor 7, gear sensor 8, steering wheel angle sensor 9, accelerator opening sensor 10, and braking force sensor 11, suspension cylinders 12-1, 12-2, ..., 12-m corresponding to the wheels and Its displacement sensors 13-1, 13-2, ..., 13-m and supporting force sensors 14-1, 14-2, ..., 14-m, servo controller group 15, electric control unit 16, etc. Among them, the laser radar 4, the inertial measurement unit 5, the two antennas 6-1, 6-2 of the dual-antenna GPS positioning system, the electronic control unit 16 and the servo controller group 15 ...

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Abstract

The invention discloses an active suspension inertia regulation and control method based on terrain in front of a vehicle and a control system thereof. The method comprises the steps: according to the terrain in front of the vehicle obtained by scanning, calculating the centroid trajectory and the attitude history of the vehicle passing through the terrain in front of the vehicle in a passive suspension manner, and after smoothing the centroid trajectory and the attitude history, controlling the active suspension to enable the vehicle to run according to the smoothed trajectory; during the period, adjusting the smoothing coefficient to limit the travel of each suspension within the limit travel, and performing force-displacement-based impedance control on the actuator of the suspension according to the supporting force and travel of each active suspension calculated by the dynamical model. According to the invention, the smoothness and the control stability of the vehicle running on an uneven road surface can be obviously improved.

Description

technical field [0001] The invention relates to the field of vehicle suspension, in particular to an active suspension control method and control system based on terrain in front of a vehicle. Background technique [0002] The suspension system is an important part of the vehicle chassis, and its performance directly determines the ride comfort and handling stability of the vehicle. Most traditional vehicles use passive suspension. The suspension parameters are designed according to specific road conditions. Once selected, it is difficult to change and cannot change with road conditions and vehicle speeds. This limits the further improvement of vehicle driving performance. [0003] Active suspension is a computer-controlled suspension method that has been developed in the past ten years. Automatically adjust the stiffness and damping of the suspension or the expansion and contraction of the suspension to meet the requirements of the car's ride comfort and handling stability...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60G17/015B60G17/018
CPCB60G17/015B60G17/018B60G17/0182B60G17/0165B60G2400/252B60G2401/21B60G2401/174B60G2500/30B60G2400/82B60G2401/16B60G2400/41B60G2400/204B60G2800/87B60G2600/182B60G2600/09B60G2202/413B60G17/019B60G2400/822B60G2400/05B60Y2400/86
Inventor 赵丁选倪涛巩明德刘爽张祝新孙志国
Owner YANSHAN UNIV
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