Special vehicle vibration self-adaptive power supply voltage stabilization method and chopping control system

Abstract

The invention belongs to the technical field of vehicle power supply management, and relates to a special vehicle vibration adaptive power supply voltage stabilization method and a chopping control system, and the method comprises the following steps: generating an original vibration voltage signal corresponding to the vibration intensity; filtering and amplifying the original vibration voltage signal to generate a vibration feedforward signal; multiplying the vibration feed-forward signal by a preset compensation coefficient, and adding the product with a preset static reference voltage value to generate a dynamic reference voltage; collecting and conditioning the signal in real time to generate an actual output voltage value reflecting the current electrical output state; scaling the amplitude of the error voltage signal according to a preset safety threshold to generate a regulation error signal; a pulse control sequence is generated through a switch driving circuit so as to modulate the conduction duty ratio of a switch transistor in the chopping module, adjust the operation state of a chopping switch and output self-adaptive stable voltage. According to the invention, the problem that the response speed is often insufficient due to inherent sensing, calculation and execution delay of reactive control is solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicle power management, and relates to a vibration adaptive power stabilizing method and a chopper control system for special vehicles. BACKGROUND

[0002] Special vehicles often run on rough roads or complex field environments, and the vehicle body bears severe and frequent mechanical vibration and impact. The harsh physical environment poses a serious challenge to the power supply system of the on-board electronic equipment. Any slight fluctuation in the power supply voltage may affect the normal operation of key systems such as high-precision navigation, communication or fire control, and even cause them to malfunction or be damaged. How to provide a continuous and stable DC voltage for sensitive loads under strong vibration interference is one of the core technical problems to ensure the performance and reliability of the whole vehicle.

[0003] The commonly used power stabilizing scheme in the industry mainly relies on passive filtering and standard voltage closed-loop feedback control in the back end. The passive filtering scheme absorbs and filters voltage ripples by adding large-capacity inductors and capacitors in the circuit, while the closed-loop feedback control compares the output voltage with a fixed reference voltage in real time, and then adjusts the working state of the power converter to correct the deviation. These methods have certain effect in dealing with changes in conventional electrical loads or fluctuations in power input.

[0004] Based on the above problems, the drawbacks of the traditional method are the hysteresis of the response. For sudden disturbances caused by mechanical vibration, the reactive control often lacks response speed due to the inherent delay of sensing, calculation and execution, and it is difficult to effectively suppress the instantaneous jitter of the voltage. SUMMARY

[0005] In a first aspect, the present application provides a vibration adaptive power stabilizing method for special vehicles, which adopts the following technical scheme: A vibration adaptive power stabilizing method for special vehicles, comprising the following steps: S1, sensing the mechanical vibration of the vehicle through the sensing material integrated in the integrated suspension structure, and generating an original vibration voltage signal corresponding to the vibration intensity; S2, filtering and amplifying the original vibration voltage signal to generate a vibration feedforward signal; S3, obtaining a preset static reference voltage value, multiplying the vibration feedforward signal by a preset compensation coefficient, and adding the vibration feedforward signal to the preset static reference voltage value to generate a dynamic reference voltage; S4, acquiring and conditioning the signal through the voltage detection element deployed at the output end of the chopper module to generate an actual output voltage value reflecting the current electrical output state; S5. Compare the dynamic reference voltage with the actual output voltage value to generate an error voltage signal. Scaling the amplitude of the error voltage signal according to the preset safety threshold to generate a control error signal. S6. Based on the control error signal, a pulse control sequence is generated through the switch drive circuit to modulate the duty cycle of the switching transistor in the chopper module, adjust the chopper switch operation state, and output an adaptive stable voltage.

[0006] A further aspect of the present invention generates a raw vibration voltage signal corresponding to the vibration intensity, comprising the following steps: By utilizing the displacement of the inner core platform within the integrated suspension structure, the composite vibration damper connected to the inner core platform is deformed. By using sensing materials embedded in the viscoelastic layer of the composite damper, the pressure change caused by deformation is converted into an initial electrical response signal. The initial electrical response signals generated by multiple composite vibration dampers are combined to form a unified original vibration voltage signal that characterizes the overall vibration state.

[0007] A further aspect of the present invention generates a vibration feedforward signal, comprising the following steps: The original vibration voltage signal is input into a low-pass filter circuit to filter out high-frequency noise and electromagnetic interference that are higher than the preset cutoff frequency; The filtered raw vibration voltage signal is input to the amplifier circuit, which boosts its voltage amplitude to the preset industrial control voltage range, generating a vibration feedforward signal.

[0008] A further aspect of the present invention generates a dynamic reference voltage, comprising the following steps: Retrieve the preset static reference voltage value from the memory; The vibration feedforward signal is input to the multiplier and multiplied by the preset compensation coefficient to generate a compensation voltage; The compensation voltage is superimposed on the preset static reference voltage level by an adder circuit to generate a dynamic reference voltage.

[0009] A further aspect of the present invention involves real-time acquisition and conditioning of signals to generate an actual output voltage value reflecting the current electrical output state, comprising the following steps: The DC output is sampled by a voltage divider circuit deployed at the output of the chopper module to generate a voltage sample value; The voltage sample value is input to the signal conditioning circuit for impedance transformation to generate an actual output voltage value with low output impedance.

[0010] A further aspect of the present invention generates a control error signal, comprising the following steps: Input the dynamic reference voltage and the actual output voltage value into the difference calculator to generate an error voltage signal; The absolute value of the error voltage signal is monitored in real time by the monitoring circuit. When the absolute value exceeds the preset safety threshold, the amplitude scaling circuit is activated. The amplitude scaling circuit compresses the amplitude of the error voltage signal according to a preset ratio to generate a control error signal.

[0011] A further aspect of the present invention, in generating the control error signal, further includes the following steps: When the absolute value of the error voltage signal does not exceed the preset safety threshold, the amplitude scaling circuit is not activated, and the error voltage signal is directly used as the control error signal output. The conditional activation of the amplitude scaling circuit and the difference calculator are combined to enable the system to correct errors under normal operating conditions and actively suppress overshoot by compressing the error signal under extreme operating conditions.

[0012] A further embodiment of the present invention outputs an adaptive and stable voltage, comprising the following steps: The control error signal is input into the error amplifier for linear amplification; The amplified control error signal is input to the PWM controller, which compares it with an internal carrier signal to generate a pulse control sequence. The pulse control sequence is converted into a strong drive signal by a switching drive circuit to control the duty cycle of the switching transistor.

[0013] A further embodiment of the present invention, which outputs an adaptive and stable voltage, further includes the following steps: When the control error signal is negative, the PWM controller reduces the duty cycle of the pulse control sequence; When the control error signal is positive, the PWM controller increases the duty cycle of the pulse control sequence; Among them, the polarity of the control error signal is combined with the increase or decrease of the conduction duty cycle.

[0014] Secondly, this invention provides a vibration adaptive power chopper control system for special vehicles, employing the following technical solution: A vibration adaptive power chopper control system for special vehicles includes the following modules: The vibration sensing module senses the vehicle's mechanical vibration through sensing materials integrated into the integrated suspension structure and generates a raw vibration voltage signal corresponding to the vibration intensity. The signal processing module filters and amplifies the original vibration voltage signal to generate a vibration feedforward signal. The dynamic reference generation module is used to obtain a preset static reference voltage value, multiply the vibration feedforward signal by a preset compensation coefficient, and add it to the preset static reference voltage value to generate a dynamic reference voltage. The voltage acquisition module, through a voltage detection element deployed at the output of the chopper module, acquires and conditions signals in real time to generate an actual output voltage value that reflects the current electrical output state; The error calculation module is used to compare the dynamic reference voltage with the actual output voltage value to generate an error voltage signal. The amplitude of the error voltage signal is scaled according to a preset safety threshold to generate a control error signal. The chopper control module, based on the control error signal, generates a pulse control sequence through the switch drive circuit to modulate the duty cycle of the switching transistors within the chopper module, adjust the chopper switch operation state, and output an adaptive stable voltage.

[0015] In summary, the present invention has the following beneficial technical effects: 1. By introducing vibration feedforward signals, the system can predict and actively compensate for disturbances, thereby improving voltage stability. Instead of passively waiting for voltage deviations to occur before correcting them, the system directly senses mechanical vibration as a source of disturbance and adjusts the control target in advance. This proactive control strategy can offset the impact of vibration on the electrical system, making the output voltage more robust to external physical disturbances, with fluctuations far smaller than those of traditional pure feedback control systems.

[0016] 2. Optimizing dynamic response characteristics and improving control accuracy by constructing a dynamic reference voltage. Traditional control methods with a fixed reference voltage are prone to large instantaneous errors when encountering significant disturbances, leading to drastic system responses or even overshoot. In this method, the reference voltage actively changes based on vibration prediction information, ensuring that the error to be corrected by the closed-loop control system remains within a small range, effectively avoiding oscillations in the control system and achieving rapid and accurate tracking of the target voltage.

[0017] 3. By combining vibration sensing, feedforward compensation, and closed-loop feedback, a composite precision control system is constructed to comprehensively improve the operational reliability of sensitive electronic equipment on special vehicles. A stable and clean power supply is fundamental for the normal operation of all high-performance electronic equipment. The adaptive stable voltage provided by this method effectively isolates the impact of harsh mechanical environments on the electrical system, ensuring the performance and lifespan of key modules such as vehicle navigation, communication, and detection. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings are used to provide a further understanding of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Fig. 1 A flowchart illustrating an embodiment of this application is disclosed.

[0020] Fig. 2 Structural schematic diagrams of embodiments of this application are disclosed. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] The following is in conjunction with the appendix Figs. 1-2 A preferred description of the present invention is provided below.

[0023] See attached document Fig. 1 As shown, this invention proposes a vibration adaptive power supply voltage regulation method for special vehicles, comprising the following steps: S1. The vehicle's mechanical vibration is sensed by the sensing material integrated into the integrated suspension structure, and the original vibration voltage signal corresponding to the vibration intensity is generated. S2. Filter and amplify the original vibration voltage signal to generate a vibration feedforward signal; S3. Obtain the preset static reference voltage value, multiply the vibration feedforward signal by the preset compensation coefficient, and add it to the preset static reference voltage value to generate a dynamic reference voltage. S4. By using a voltage detection element deployed at the output of the chopper module, signals are collected and conditioned in real time to generate an actual output voltage value that reflects the current electrical output status. S5. Compare the dynamic reference voltage with the actual output voltage value to generate an error voltage signal. Scaling the amplitude of the error voltage signal according to the preset safety threshold to generate a control error signal. S6. Based on the control error signal, a pulse control sequence is generated through the switch drive circuit to modulate the duty cycle of the switching transistor in the chopper module, adjust the chopper switch operation state, and output an adaptive stable voltage.

[0024] In one embodiment of the present invention, step S1 includes the following steps: During the operation of special vehicles, the inner core platform is subjected to environmental vibration impacts, causing the composite shock absorber to compress or stretch. The sensing material embedded in the viscoelastic layer of the shock absorber responds to the pressure changes, generating a raw voltage fluctuation that is positively correlated with the vibration intensity. By integrating multiple shock absorber sensing signals, a unified raw vibration voltage signal characterizing the overall vibration is generated.

[0025] Specifically, a mechanical structure integrating sensing functions detects bumps or swaying encountered by the vehicle during driving, converting them into voltage signals that are understood by the electronic system. The process begins when the vehicle is in motion, and uneven road surfaces or sudden impacts from the external environment act on the vehicle's suspension system. These forces are transmitted to a specially designed integrated suspension structure. This integrated suspension structure integrates load-bearing components, damping components, and sensing components to isolate and capture vibration and impact information; this information refers to the data set of physical quantities such as the amplitude, frequency, and direction of the forces generated by the vehicle's mechanical vibrations. The integrated suspension structure contains an inner core platform, which is connected to the vehicle's main structure through multiple composite dampers. The inner core platform is the core load-bearing component of the integrated suspension structure, achieving a flexible connection with the main structure through the composite dampers.

[0026] Vehicle mechanical vibration refers to all non-uniform movements caused by factors such as uneven road surfaces, acceleration, braking, or steering during vehicle operation, manifesting as vertical undulation, lateral swaying, or longitudinal pitching of the vehicle body. When vehicle mechanical vibration occurs, the inner core platform displaces relative to the vehicle's main structure, causing these composite shock absorbers to be compressed or stretched. Composite shock absorbers are actuators that combine damping and sensing functions, including springs, damping materials, and built-in sensing materials, designed to cover the main vibration frequencies of 1 to 50 Hz encountered during daily vehicle operation. Each composite shock absorber contains a viscoelastic layer, a special material layer used to dissipate vibrational energy, possessing both the damping characteristics of a viscous fluid and the energy storage characteristics of an elastic solid. Embedded within the viscoelastic layer is the sensing material, which is a piezoelectric ceramic material. When the sensing material is subjected to pressure, it generates an electric charge and forms a voltage. Based on the average value selected after actual measurements of 200 sets of industrial-grade piezoelectric ceramic sensors under different loads, the piezoelectric constant is typically 400. .

[0027] When the shape of the composite vibration damper changes, the viscoelastic layer applies pressure or tension to the sensing material. The sensing material, utilizing its physical properties, directly converts the sensed mechanical stress into a weak initial electrical response signal. This initial electrical response signal is the original voltage signal generated by the deformation of a single sensing material under stress. The data structure is an analog voltage that varies over time. The voltage level of the initial electrical response signal is directly proportional to the severity of the vibration impact, and the amplitude is typically in the millivolt range. The integrated suspension structure is equipped with multiple composite vibration dampers, each generating an independent initial electrical response signal.

[0028] To obtain a unified signal representing the overall vibration state of the vehicle, all independent initial electrical response signals undergo maximum value picking and averaging to form a continuously varying original vibration voltage signal. The original vibration voltage signal is a single output signal formed after all initial electrical response signals have been processed by the signal integration circuit, representing an analog voltage signal characterizing the overall vibration state of the entire core platform.

[0029] For example, suppose a special vehicle travels at 60 km / h over a speed bump 5 cm high, generating severe mechanical vibration. An integrated suspension structure mounted on the vehicle chassis captures this vibration impact information, causing a 10 mm vertical displacement in the inner core platform, resulting in the simultaneous compression of four composite shock absorbers beneath it. The sensing material embedded in the viscoelastic layer of each composite shock absorber generates four initial electrical response signals with a peak value of 200 mV due to the compression. These four initial electrical response signals are sent to a signal aggregation circuit, which outputs a raw vibration voltage signal with a peak value of 200 mV, whose waveform is synchronized with the vibration process.

[0030] In one embodiment of the present invention, step S2 includes the following steps: Use a filter circuit to remove high-frequency noise and electromagnetic interference; amplify and adjust the signal level to ensure that it is within the operable range and generate a vibration feedforward signal.

[0031] Specifically, the system receives the raw vibration voltage signal from the integrated suspended sensing structure. While this raw vibration voltage signal accurately reflects the vehicle's vibration state, it is mixed with high-frequency noise and electromagnetic interference generated by the engine ignition system, wireless communication equipment, etc. High-frequency noise and electromagnetic interference refer to unwanted high-frequency electronic fluctuations generated by electronic devices inside and outside the vehicle, which are mixed with useful signals. To eliminate this interference, the raw vibration voltage signal is first fed into a filtering circuit. This circuit is designed to allow only signals below a specific frequency to pass through, thereby filtering out invalid high-frequency components and obtaining a purer vibration voltage signal. The filtering circuit selectively allows signals within a specific frequency range to pass through while blocking signals of other frequencies. Here, the low-pass filter has a cutoff frequency of 100 Hz, retaining effective vibration information from 1 to 50 Hz while filtering out irrelevant noise at higher frequencies.

[0032] The voltage generated by the viscoelastic layer-embedded sensing material is very weak, usually insufficient to directly drive subsequent control circuits. The filtered signal is then sent to an amplifier circuit for processing. The amplifier circuit boosts the signal voltage level from the mV level to the standard industrial control voltage range, such as 0 to 5 V, ensuring the signal strength is sufficient for subsequent system recognition and use. This process completes the signal modulation of the initial response. Signal modulation refers to the process of changing one or more characteristics of a signal, specifically optimizing the amplitude and purity of the original vibration voltage signal. To ensure that the processed original vibration voltage signal is stably used as a control source, and to ensure that the output voltage source has low output impedance and stable driving capability, avoiding the influence of subsequent circuit loads on its accuracy, a vibration feedforward signal is formed after filtering, amplification, and stabilization.

[0033] For example, a raw vibration voltage signal with a peak value of 200 mV is filtered by a filter circuit with a cutoff frequency set to 100 Hz. A small portion of the raw vibration voltage signal is filtered out by electromagnetic interference above 120 Hz generated by the car radio. After interference filtering, the waveform of the raw vibration voltage signal becomes smoother, but the peak value remains 200 mV. The clean signal is then fed into an amplifier circuit with a gain set to 25, amplifying its voltage amplitude from 200 mV to 5 V. The 5 V signal is buffered by a voltage follower circuit to form a vibration feedforward signal. The peak value of the vibration feedforward signal is 5 V, and its waveform profile corresponds to the physical vibration process of a vehicle driving over a speed bump.

[0034] In one embodiment of the present invention, step S3 includes the following steps: A reference base is dynamically generated based on the vibration feedforward signal, abandoning the fixed reference voltage to achieve predictive control; a preset static reference voltage value is obtained, the vibration feedforward signal is multiplied by the compensation coefficient, and superimposed into the static reference through an adder circuit; a dynamic reference voltage that actively adapts to vibration changes is output as a new target for voltage regulation.

[0035] Specifically, the system retrieves a preset static reference voltage value from its internal memory. This static reference voltage value is preset based on the target voltage required by the device under ideal and vibration-free rated operating conditions. The preset static reference voltage value is a fixed DC voltage value, set based on providing the downstream sensitive electronic equipment with a rated operating voltage of 24V. The system receives the vibration feedforward signal generated in step S2. To achieve predictive control, which refers to using prediction information about interference to perform compensation actions in advance, thereby reducing or eliminating the impact of interference on the system output, the vibration feedforward signal is multiplied by a compensation coefficient. This compensation coefficient determines the system's sensitivity to the vibration feedforward signal, i.e., the extent to which adjustments need to be made in advance for upcoming vibrations.

[0036] The vibration feedforward signal, after being scaled by a compensation coefficient, forms a compensation voltage. This voltage is then superimposed on a preset static reference voltage value using an adder circuit. The adder circuit is a basic analog arithmetic circuit that adds the voltage signals from its multiple input terminals according to preset weights. The output of the adder circuit is a continuously changing dynamic reference voltage, satisfying the following formula:

[0037] in, The dynamic reference voltage refers to the target voltage value that changes in real time. The dynamic reference voltage is no longer a constant value, but rather fluctuates up and down based on the real-time fluctuations of the vibration feedforward signal, with the preset static reference voltage value as the center. The unit is V.

[0038] It is a preset static reference voltage value, set according to the rated operating voltage of the downstream electrical equipment, for example, 24V. This represents the vibration feedforward signal, measured in V. The compensation coefficient is used to determine the proportion of vibration information converted into voltage compensation. Through 100 simulation tests of the whole vehicle data under different road conditions, the compensation coefficient is usually set to -0.1. The negative sign indicates that the impact caused by vibration needs to be offset in advance by reducing the reference voltage. The value is selected to achieve the best balance between ensuring voltage stability and ride comfort.

[0039] For example, when a vehicle drives over a speed bump, a vibration feedforward signal with a peak value of 5V is generated as input. The preset static reference voltage value is set to 24V, and the set compensation coefficient is -0.1. At the instant the vibration reaches its peak value, the vibration feedforward signal... The voltage is 5V, and the dynamic reference voltage calculated by the adder circuit is: In order to counteract the impact of impending vibration on the output voltage, the control target is temporarily lowered from 24V to 23.5V, thereby achieving predictive control based on vibration feedforward signals.

[0040] In one embodiment of the present invention, step S4 includes the following steps: The DC output terminal of the chopper module is equipped with a voltage detection element to sample the DC voltage signal. Sampling means reading the instantaneous value of the signal at a fixed time frequency. The DC voltage signal is converted into a low-impedance measurement signal and outputs a stable and reliable actual output voltage value.

[0041] Specifically, the DC output of the chopper module is equipped with a voltage sensing element. The function of the chopper module is to convert an unstable DC voltage source into a stable or adjustable DC voltage output, commonly used for speed control of DC motors or power supply voltage regulation. The voltage sensing element refers to a voltage divider circuit composed of two precision resistors connected in series, used to reduce the output high voltage ratio. The voltage sensing element continuously samples the output DC voltage, that is, reads the instantaneous voltage value at a fixed time frequency, converts the high voltage (such as 24V level) into a low voltage suitable for processing (such as 0-5V), and uses a voltage divider circuit to attenuate the voltage at a ratio of 10:1.

[0042] Instantaneous voltage values ​​are read at a fixed time frequency, converting continuous physical voltage quantities into a series of discrete voltage sample values. The signal directly output from the voltage divider circuit, i.e., the voltage sample value, has a relatively high output impedance, making it susceptible to noise interference and causing a load effect when driving subsequent circuits. The acquired voltage sample values ​​are sent to a signal conditioning circuit, where the high-impedance input measurement signal is converted into a low-impedance measurement signal that is proportional to it but has an extremely low output impedance; this is the feedback voltage signal. The low-impedance measurement signal is characterized by its very low internal resistance, making its voltage less prone to drop when driving subsequent circuits, i.e., it has strong load resistance. The output impedance of the low-impedance measurement signal is set to be lower than... This is designed to match the input interface requirements of conventional microcontrollers and is derived from the analysis of the input impedance characteristics of five mainstream industrial controllers.

[0043] This conversion enhances the signal's driving capability and anti-interference performance. The signal conditioning circuit output represents the actual output voltage value of the chopper module's current output state. The actual output voltage value is the magnitude of the DC voltage truly output by the chopper module at a specific moment, either an analog voltage signal or a digital quantity after analog-to-digital conversion.

[0044] For example, suppose the vehicle's electrical equipment requires a stable 24V DC power supply. A chopper module is operating to provide this voltage. A voltage detection element deployed at the chopper module's output samples the actual output voltage fluctuating around 24V using a 10:1 precision voltage divider circuit. Within a very short time interval, the chopper module's actual output voltage is exactly 24.1V. After passing through the voltage divider circuit, the sampled voltage is 2.41V. This 2.41V signal is then fed into a signal conditioning circuit with high input impedance and low output impedance. The signal conditioning circuit generates an output voltage of 2.41V, but with a lower output impedance. The low-impedance measurement signal is transformed by impedance conversion, and the conditioned 2.41V signal constitutes the actual output voltage value at this moment.

[0045] In one embodiment of the present invention, step S5 includes the following steps: A differential calculation feedback loop with adaptive scaling is used to compare the dynamic reference voltage with the actual output voltage. The difference between the dynamic reference voltage and the actual output voltage is converted into an error voltage signal that can drive the actuator. Under extreme conditions, the error amplitude is automatically scaled to prevent overshoot. Extreme conditions refer to conditions encountered by the system that exceed the normal design range, such as instantaneous load short circuits or strong vibrations caused by extremely bumpy roads. Overshoot refers to the phenomenon where the system output exceeds the set value and oscillates back and forth during control.

[0046] Specifically, by comparing the desired state of the system with the actual state, the deviation between the two is calculated, and a control signal is generated to correct this deviation. Two key input signals are received: one is a dynamic reference voltage representing the ideal target of the system. The other is the actual output voltage value, which reflects the true output of the system. The dynamic reference voltage and the actual output voltage value are simultaneously fed into the two input terminals of the difference calculator, which is an analog calculation unit that subtracts the actual output voltage value from the dynamic reference voltage and outputs an error voltage signal. The magnitude of the error voltage signal is proportional to the difference between the expected and actual values, and the polarity of the error voltage signal reflects the direction of the control error.

[0047] Error voltage signal The signal is then processed by a unit such as a PID controller or proportional gain amplifier, and converted into a control error signal that is directly used to drive subsequent control units. To enhance the robustness and stability of the system and prevent over-adjustment or oscillation under extreme conditions such as severe vibration or sudden load changes, the system has a built-in protection mechanism that monitors the error voltage signal in real time. The built-in protection mechanism automatically activates the amplitude scaling circuit once it detects that the absolute value exceeds a preset safety threshold. This circuit could be a resistor attenuation network controlled by an analog switch or a variable gain amplifier. The amplitude scaling circuit would adjust the error signal. The amplitude is compressed by a preset ratio to ensure that the output control error signal is kept within a safe range, achieving gentle adjustment and avoiding violent oscillations.

[0048] The preset safety threshold is determined through experimental testing or simulation analysis of the response to different loads and disturbances. Based on the maximum allowable error voltage amplitude within the normal operating range, it ensures that normal regulation is not affected while timely detection of abnormal fluctuations. The value range is typically between 1% and 10% of the rated output voltage. The preset ratio is evaluated through simulation or actual measurement of the system's response characteristics under extreme conditions. The setting is based on ensuring that the system does not oscillate after being disturbed, while retaining as much correction force as possible to quickly restore stability. The value is typically between 20% and 80%.

[0049] For example, assuming the set error amplitude safety threshold is 0.8V, the amplitude scaling circuit will compress the signal amplitude by 50% when it is activated.

[0050] Under normal operating conditions: the generated dynamic reference voltage is 23.5V, the actual output voltage of the chopper module is 24.1V, the differential amplifier calculates an error voltage signal of -0.6V (23.5V-24.1V). Since its absolute value of 0.6V does not exceed the safety threshold of 0.8V, the amplitude scaling circuit is not activated. The -0.6V error voltage signal is then processed by normal gain and output as the adjustment error signal, indicating that the current output is too high and needs to be reduced.

[0051] Under extreme conditions: the dynamic reference voltage remains 23.5V, but the actual output surges to 25.0V due to a sudden event. The differential amplifier calculates an error voltage signal of -1.5V between 23.5V and 25.0V. Since its absolute value of 1.5V exceeds the safety threshold of 0.8V, the protection mechanism is activated. The amplitude scaling circuit compresses this signal by 50%, and the final output adjustable error signal amplitude is [value missing]. The compressed signal provides a strong down-adjustment command while avoiding overcorrection caused by excessive original error, effectively suppressing system over-adjustment and oscillation.

[0052] In one embodiment of the present invention, step S6 includes the following steps: The weak error signal is amplified to generate the regulation error signal of the drive control circuit; the regulation error signal is input to the PWM controller to generate a pulse control sequence with an adjustable duty cycle; the on-time of the chopper switch is corrected in real time through the switch drive circuit to output an adaptive stable voltage.

[0053] Specifically, the system receives a weak error signal from the difference calculation stage. This weak error signal is then fed into an error amplifier for linear amplification, forming a control error signal that drives subsequent circuits. The error amplifier linearly amplifies the weak error signal, increasing its amplitude to drive the electronic units of the subsequent control circuit. The control error signal is input to the PWM (Pulse Width Modulation) controller, which is the core of the switch drive circuit. The PWM controller is a core functional circuit that converts the input analog control signal into a digital pulse sequence with an adjustable duty cycle. The duty cycle refers to the ratio of the time the switching transistor is in the conducting state to the entire cycle, and it is a key parameter for adjusting the output voltage of the chopper circuit.

[0054] The PWM (Pulse Width Modulation) controller internally compares the input analog control error signal with a high-frequency triangular or sawtooth wave carrier signal, generating a series of pulse control sequences in real time. The duty cycle of these pulses is precisely proportional to the magnitude and polarity of the input control error signal. The generated pulse control sequences are then converted into strong drive signals with sufficient current and voltage swings by the output stage of the switching drive circuit. These pulse signals are directly used to control the core power components of the chopper circuit, namely the switching transistors.

[0055] If the control error signal is negative, it means the actual voltage is too high. The pulse control sequence generated by the switch drive circuit will reduce the duty cycle of the switching transistor, that is, shorten its conduction time within the switching cycle, thereby reducing energy transfer and causing the output voltage to drop. If the control error signal is positive, it means the actual voltage is too low, so it will increase the duty cycle, increase energy transfer, and cause the output voltage to rise. The switch drive circuit receives the weak logic signal from the PWM controller and converts it into the high current and high voltage signal required to drive the power switching transistor. Through real-time modulation of the chopper switch operation state in this way, rapid correction of the output voltage is achieved. This process is continuously cyclical; the system continuously compares, calculates, and adjusts, enabling the chopper module's output to follow changes in the dynamic reference voltage and output an adaptive and stable voltage.

[0056] For example, a -0.6V error voltage signal is received from step S5. This error voltage signal is directly input to the PWM controller as a control error signal. The PWM (Pulse Width Modulation) controller compares it with its internal triangular wave carrier. Assuming the output duty cycle is 50% when the input is 0V, the -0.6V input causes the PWM controller to reduce the duty cycle of its output pulse control sequence from 50% to 48%.

[0057] A pulse sequence with a 48% duty cycle is applied to the gate of the switching transistor in the chopper module via a switching drive circuit. This shortens the on-time of the switching transistor, resulting in a reduction in the average energy flowing from the input power supply to the output, causing the chopper module's output voltage to drop from 24.1V. This voltage drop is captured in the next sampling cycle, generating an error signal closer to zero, which in turn drives the duty cycle adjustment until the output voltage stabilizes near the target value of 24.0V, maintaining an adaptive, stable voltage that meets design accuracy even under vibration conditions.

[0058] See appendix Fig. 2 As shown, this invention also proposes a vibration adaptive power chopper control system for special vehicles, comprising the following modules: The vibration sensing module senses the vehicle's mechanical vibration through sensing materials integrated into the integrated suspension structure and generates a raw vibration voltage signal corresponding to the vibration intensity. The signal processing module filters and amplifies the original vibration voltage signal to generate a vibration feedforward signal. The dynamic reference generation module is used to obtain a preset static reference voltage value, multiply the vibration feedforward signal by a preset compensation coefficient, and add it to the preset static reference voltage value to generate a dynamic reference voltage. The voltage acquisition module, through a voltage detection element deployed at the output of the chopper module, acquires and conditions signals in real time to generate an actual output voltage value that reflects the current electrical output state; The error calculation module is used to compare the dynamic reference voltage with the actual output voltage value to generate an error voltage signal. The amplitude of the error voltage signal is scaled according to a preset safety threshold to generate a control error signal. The chopper control module, based on the control error signal, generates a pulse control sequence through the switch drive circuit to modulate the duty cycle of the switching transistors within the chopper module, adjust the chopper switch operation state, and output an adaptive stable voltage.

[0059] Each of the modules can be implemented in whole or in part through software, hardware, or a combination thereof. It supports hardware embedded in or independent of the processor in the computer device, and also supports software stored in the memory of the computer device, so that the processor can call and execute the operations corresponding to each of the above modules.

[0060] It should be noted that the human information (including but not limited to human device information and personal information) and data (including but not limited to data used for analysis, data stored and data displayed) involved in this invention are all information and data authorized by the human body or fully authorized by all parties. The collection, use and processing of related data require relevant legal standards.

[0061] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for vibration adaptive power stabilization of special vehicles, characterized by, The method comprises the following steps: S1, sensing the mechanical vibration of the vehicle through the sensing material integrated in the integrated suspension structure, and generating an original vibration voltage signal corresponding to the vibration intensity; S2, filtering and amplifying the original vibration voltage signal to generate a vibration feedforward signal; S3, obtaining a preset static reference voltage value, multiplying the vibration feedforward signal by a preset compensation coefficient, and adding the vibration feedforward signal to the preset static reference voltage value to generate a dynamic reference voltage; S4, through the voltage detection element deployed at the output end of the chopper module, real-time acquisition and conditioning of the signal are performed to generate an actual output voltage value reflecting the current electrical output state; S5, comparing the dynamic reference voltage with the actual output voltage value to generate an error voltage signal, and performing amplitude scaling processing on the error voltage signal according to a preset safety threshold to generate a control error signal; S6, according to the control error signal, a pulse control sequence is generated through a switch driving circuit to modulate the on-duty ratio of the switch transistor in the chopper module, adjust the operation state of the chopper switch, and output an adaptive stable voltage.

2. The vibration self-adaptive power stabilizing method for special vehicles according to claim 1, characterized in that, Generating an original vibration voltage signal corresponding to the vibration intensity comprises the following steps: Displacement of the inner core platform in the integrated suspension structure causes the composite shock absorber connected to the inner core platform to deform; Through the sensing material embedded in the viscoelastic layer of the composite shock absorber, the pressure change caused by the deformation is converted into an initial electric response signal; The initial electric response signals generated by multiple composite shock absorbers are collected to form an original vibration voltage signal that uniformly represents the overall vibration state.

3. The vibration self-adaptive power stabilizing method for special vehicles according to claim 1, characterized in that, Generating a vibration feedforward signal comprises the following steps: The original vibration voltage signal is input into a low-pass filter circuit to filter out high-frequency noise and electromagnetic interference above a preset cutoff frequency; The filtered original vibration voltage signal is input into an amplifier circuit to increase its voltage amplitude to a preset industrial control voltage range, thereby generating a vibration feedforward signal.

4. The vibration self-adaptive power stabilizing method for special vehicles according to claim 1, characterized in that, Generating a dynamic reference voltage comprises the following steps: A preset static reference voltage value is obtained from a memory; The vibration feedforward signal is input into a multiplier to multiply it by a preset compensation coefficient to generate a compensation voltage; The compensation voltage is added to the preset static reference voltage value through an addition circuit to generate a dynamic reference voltage.

5. The vibration self-adaptive power stabilizing method for special vehicles according to claim 1, characterized in that, Real-time acquisition and conditioning of the signal to generate an actual output voltage value reflecting the current electrical output state comprises the following steps: A voltage sampling value is generated by sampling the direct current output through a voltage dividing circuit deployed at the output end of the chopper module; The voltage sampling value is input into a signal conditioning circuit for impedance conversion processing to generate an actual output voltage value with low output impedance.

6. The vibration self-adaptive power stabilizing method for special vehicles according to claim 1, characterized in that, Generating a control error signal comprises the following steps: The dynamic reference voltage and the actual output voltage value are input into a difference calculator to generate an error voltage signal; The absolute value of the error voltage signal is monitored in real time through a monitoring circuit, and when the absolute value exceeds a preset safety threshold, an amplitude scaling circuit is activated; The amplitude scaling circuit compresses the amplitude of the error voltage signal by a preset ratio to generate a control error signal.

7. The vibration self-adaptive power stabilizing method for special vehicles according to claim 6, characterized in that, Generating a control error signal further comprises the following steps: When the absolute value of the error voltage signal does not exceed the preset safety threshold, the amplitude scaling circuit is not activated, and the error voltage signal is directly output as the control error signal. The conditional activation of the amplitude scaling circuit and the difference calculator are combined with each other, so that the system can correct errors in normal working conditions and actively suppress over-regulation by compressing error signals in extreme working conditions.

8. The method of claim 1, wherein the method further comprises: The adaptive stable voltage output comprises the following steps: The control error signal is input into the error amplifier for linear amplification; The amplified control error signal is input into the PWM controller, which compares it with the internal carrier signal to generate a pulse control sequence; The pulse control sequence is converted into a strong driving signal by the switch driving circuit to control the on-duty ratio of the switching transistor.

9. The vibration self-adaptive power stabilizing method for special vehicle according to claim 8, characterized in that, The adaptive stable voltage output further comprises the following steps: When the control error signal is negative, the PWM controller reduces the on-duty ratio of the pulse control sequence; When the control error signal is positive, the PWM controller increases the on-duty ratio of the pulse control sequence; The polarity of the control error signal is combined with the increase and decrease adjustment of the on-duty ratio.

10. A special vehicle vibration adaptive power chopping control system, characterized by, The system comprises the following modules: The vibration sensing module senses the mechanical vibration of the vehicle through the sensing material integrated in the integrated suspension structure, and generates an original vibration voltage signal corresponding to the vibration intensity; The signal processing module filters and amplifies the original vibration voltage signal to generate a vibration feedforward signal; The dynamic reference generation module is used to obtain a preset static reference voltage value, multiply the vibration feedforward signal by a preset compensation coefficient, and add the preset static reference voltage value to generate a dynamic reference voltage; The voltage acquisition module acquires and conditions the signal in real time through the voltage detection element deployed at the output end of the chopping module to generate an actual output voltage value reflecting the current electrical output state; The error calculation module is used to compare the dynamic reference voltage with the actual output voltage value to generate an error voltage signal, and to perform amplitude scaling processing on the error voltage signal according to a preset safety threshold to generate a control error signal; The chopping control module generates a pulse control sequence through a switch driving circuit according to the control error signal to modulate the on-duty ratio of the switching transistor in the chopping module, adjusts the chopping switch operating state, and outputs an adaptive stable voltage.

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