A step-by-step coordinated control strategy and system for adjusting the height of vehicle chassis suspension

Abstract

The present invention provides a step-by-step coordinated control strategy and system for adjusting the height of a vehicle chassis suspension, which solves the technical problems of poor reliability and safety of existing chassis suspension height adjustment control. The method includes: establishing an iterative process for adjusting the height of a vehicle chassis suspension according to a lifting instruction; when the expected height is reached during the iterative process of height adjustment, maintaining the height of the vehicle chassis suspension. A control priority and automatic feedback control process are formed according to the height difference of the support points during the chassis height adjustment process, which can ensure that the frame is uniformly stressed during the height adjustment process, prevent the chassis from tilting, and ensure the safety of the height adjustment. Further, a distributed coordinated adjustment of the positions of each support point is formed to ensure the comfort of the height adjustment process. When the driver operates the chassis height adjustment, it is used to safely and reliably control the chassis lifting and lowering, and improve the comfort of the vehicle. The method has universality.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle chassis suspension, and in particular to a step-by-step coordinated control strategy and system for height adjustment of vehicle chassis suspension. Background Art

[0002] In the prior art, in the field of vehicle chassis control, the height of the chassis can be raised or lowered by using the height control function of the chassis suspension, thereby enhancing the vehicle's passability and facilitating the loading and unloading of goods. It has high practical value, and usually uses an oil-gas spring to form a suspension structure. Since the height adjustment of the chassis suspension involves the safety of the vehicle, a reliable and reasonable control strategy is required to prevent the danger of overturning during the height adjustment of the chassis. Summary of the invention

[0003] In view of the above problems, an embodiment of the present invention provides a step-by-step coordinated control strategy and system for adjusting the height of a vehicle chassis suspension, which solves the technical problems of poor reliability and safety of existing chassis suspension height adjustment control.

[0004] The step-by-step coordinated control strategy for adjusting the height of the vehicle chassis suspension according to the embodiment of the present invention includes:

[0005] Establish an iterative process for raising the height of the vehicle chassis suspension according to the lifting instructions;

[0006] Maintain vehicle chassis suspension height when desired height is reached during height adjustment iterations.

[0007] In one embodiment of the present invention, the iterative process of establishing the height adjustment of the vehicle chassis suspension according to the lifting instruction includes a lifting iterative process:

[0008] Determine the target height value of the elevation according to the lifting instruction;

[0009] The current heights of the right front, left front, right rear and left rear elastic support points of the chassis are obtained through the height sensor;

[0010] According to the current height of the elastic support point, an ascending adjustment sequence of each elastic support point is formed;

[0011] In the ascending adjustment sequence, the lowest elastic support point is controlled to rise by a basic step length;

[0012] When all elastic support points have not reached the target height, an increase iteration is performed.

[0013] In one embodiment of the present invention, the iterative process of establishing the height adjustment of the vehicle chassis suspension according to the lifting instruction includes a lowering iterative process:

[0014] Determine the target value of the lowered height according to the lifting and lowering instruction;

[0015] The current heights of the right front, left front, right rear and left rear elastic support points of the chassis are obtained through the height sensor;

[0016] According to the current height of the elastic support point, the descending adjustment order of each elastic support point is formed;

[0017] In the descending adjustment sequence, the highest elastic support point is controlled to be lowered by one basic step length;

[0018] When all support points do not reach the target height, a lowering iteration is performed.

[0019] In one embodiment of the present invention, the iterative process of establishing the height adjustment of the vehicle chassis suspension according to the lifting instruction includes:

[0020] According to the number of iterations, the adjustment duration of a basic step height change is reduced according to a preset arithmetic progression ratio.

[0021] The step-by-step coordinated control system for adjusting the height of a vehicle chassis suspension according to an embodiment of the present invention comprises:

[0022] A memory, used to store program codes corresponding to the processing process in the above-mentioned step-by-step coordinated control strategy for adjusting the height of the vehicle chassis suspension;

[0023] The suspension controller is used to execute the program code.

[0024] The step-by-step coordinated control system for adjusting the height of a vehicle chassis suspension according to an embodiment of the present invention comprises:

[0025] A control establishment device, used for establishing an iterative process of raising the height of the vehicle chassis suspension according to the lifting command;

[0026] A state holding device is used to maintain the vehicle chassis suspension height when the desired height is reached during the height adjustment iteration process.

[0027] In one embodiment of the present invention, the control establishment device includes:

[0028] A lifting instruction recognition module is used to determine a lifting height target value according to the lifting instruction;

[0029] The first signal acquisition module is used to obtain the current heights of the right front, left front, right rear and left rear elastic support points of the chassis through a height sensor;

[0030] An ascending order establishment module is used to form an ascending order adjustment sequence of each elastic support point according to the current height of the elastic support point;

[0031] An elevation adjustment module, used to control the lowest elastic support point to be elevated by a basic step length in an ascending adjustment sequence;

[0032] The first iterative control module is used to perform elevation iteration when all elastic support points have not reached the target height value.

[0033] In one embodiment of the present invention, the control establishment device includes:

[0034] A lowering instruction recognition module is used to determine a lowering height target value according to the lifting instruction;

[0035] The second signal acquisition module is used to obtain the current heights of the right front, left front, right rear and left rear elastic support points of the chassis through the height sensor;

[0036] A descending order establishment module is used to form a descending order adjustment sequence of each elastic support point according to the current height of the elastic support point;

[0037] A lowering adjustment module, used to control the highest elastic support point to be lowered by a basic step length in a descending adjustment sequence;

[0038] The second iterative control module is used to perform a lowering iteration when all supporting points have not reached the target height value.

[0039] In one embodiment of the present invention, the control establishment device includes:

[0040] The adjustment time optimization device is used to reduce the adjustment time of a basic step height change according to a preset arithmetic progression ratio based on the number of iterations.

[0041] The step-by-step coordinated control system for adjusting the height of a vehicle chassis suspension according to an embodiment of the present invention comprises:

[0042] The suspension controller is used to receive lifting instructions to form an on-off switching control signal sequence of the switching solenoid valve in the liquid working medium passage, and the on-off switching control signal sequence forms a height adjustment iterative process.

[0043] The adjustable support unit is used to form a suspension support structure of a vehicle chassis, and the support height is controlled to be adjusted according to the on-off switching control signal sequence.

[0044] The step-by-step coordinated control strategy and system for adjusting the height of the vehicle chassis suspension of the embodiment of the present invention forms a control priority and an automatic feedback control process according to the height difference of the support points during the chassis height adjustment process, which can ensure that the frame is evenly stressed during the height adjustment process, prevent the chassis from tilting, and ensure the safety of the height adjustment. Further, the distribution of the positions of each support point is coordinated to ensure the comfort of the height adjustment process. When the driver operates the chassis height adjustment, it is used to safely and reliably control the chassis lifting and lowering and improve the comfort of the vehicle. This method has universality. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 Shown is a schematic diagram of the composition of a step-by-step coordinated control system for adjusting the height of a vehicle chassis suspension according to an embodiment of the present invention.

[0046] Figure 2It is a schematic flow chart of a step-by-step coordinated control strategy for adjusting the height of a vehicle chassis suspension according to an embodiment of the present invention.

[0047] Figure 3 It is a schematic diagram of the architecture of a step-by-step coordinated control system for adjusting the height of a vehicle chassis suspension according to an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] A step-by-step coordinated control system for adjusting the height of a vehicle chassis suspension according to an embodiment of the present invention includes:

[0050] The suspension controller is used to receive lifting instructions to form an on-off switching control signal sequence of the switching solenoid valve in the liquid working medium passage.

[0051] The adjustable support unit is used to form a suspension support structure of the vehicle chassis, and the support height is controlled to be adjusted according to the on-off switching control signal sequence.

[0052] A step-by-step coordinated control system for adjusting the height of a vehicle chassis suspension according to an embodiment of the present invention is as follows Figure 1 As shown. Figure 1 In this embodiment, the adjustable support unit includes:

[0053] The oil-gas spring is used to form an elastic support point of the vehicle chassis suspension.

[0054] The reversing solenoid valve is used to be arranged in the oil supply circuit of the working chamber of the oil-gas spring to control the formation of the forward and reverse inlet and outlet passages of the liquid working medium. In one embodiment of the present invention, a 3-position 2-way solenoid valve can be used to form three flow working states of the liquid working medium: forward, reverse, and locked, to ensure the controllable stability of the supporting state of the oil-gas spring.

[0055] The height sensor is used to be arranged at the connection position between the vehicle chassis and the elastic support fulcrum to obtain the relative height of the connection position.

[0056] like Figure 1 As shown, in one embodiment of the present invention, four adjustable support units are included, which respectively form elastic support points for the right front, left front, right rear and left rear of the chassis. The working chamber of the oil-gas spring in each adjustable support unit is connected to the liquid working medium oil circuit, and the channel of the reversing solenoid valve on the liquid working medium oil circuit is respectively connected to the liquid inlet trunk and the liquid return trunk, and a filter is connected in series on the liquid inlet trunk.

[0057] The step-by-step coordinated control system for adjusting the height of the vehicle chassis suspension according to the embodiment of the present invention provides a support structure for effectively controlling the vehicle chassis suspension, utilizes an oil-gas spring to form a basis for smooth adjustment of the support height, and provides a signal control mechanism for changing the flow rate of the liquid working medium to achieve high reliability and safety in the suspension height adjustment process.

[0058] The step-by-step coordinated control strategy for adjusting the height of the vehicle chassis suspension according to an embodiment of the present invention includes:

[0059] Establish an iterative process for raising the height of the vehicle chassis suspension according to the lifting instructions;

[0060] Maintain vehicle chassis suspension height when desired height is reached during height adjustment iterations.

[0061] The step-by-step coordinated control strategy for adjusting the height of the vehicle chassis suspension according to an embodiment of the present invention is as follows: Figure 2 As shown. Figure 2 middle,

[0062] The iterative process includes:

[0063] Determine the target height value of the elevation according to the lifting instruction;

[0064] The current heights of the right front, left front, right rear and left rear elastic support points of the chassis are obtained through the height sensor;

[0065] According to the current height of the elastic support point, an ascending adjustment sequence of each elastic support point is formed;

[0066] In the ascending adjustment sequence, the lowest elastic support point is controlled to rise by a basic step length;

[0067] When all elastic support points have not reached the target height, an increase iteration is performed.

[0068] The iterative process of reducing includes:

[0069] Determine the target value of the lowered height according to the lifting and lowering instruction;

[0070] The current heights of the right front, left front, right rear and left rear elastic support points of the chassis are obtained through the height sensor;

[0071] According to the current height of the elastic support point, the descending adjustment order of each elastic support point is formed;

[0072] In the descending adjustment sequence, the highest elastic support point is controlled to be lowered by one basic step length;

[0073] When all support points do not reach the target height, a lowering iteration is performed.

[0074] The step-by-step coordinated control strategy for adjusting the height of the vehicle chassis suspension of the embodiment of the present invention forms a control priority and an automatic feedback control process according to the height difference of the support points during the chassis height adjustment process, which can ensure that the frame is evenly stressed during the height adjustment process, prevent the chassis from tilting, and ensure the height adjustment safety. Further, the distribution coordinated adjustment of the positions of the support points is formed to ensure the comfort of the height adjustment process.

[0075] In one embodiment of the present invention, the iterative process of increasing the height further includes:

[0076] According to the number of iterations, the adjustment duration of a basic step is reduced according to a preset arithmetic progression ratio.

[0077] The step-by-step coordinated control strategy for adjusting the height of the vehicle chassis suspension according to the embodiment of the present invention improves the height adjustment rate while ensuring the comfort of the height adjustment process.

[0078] A step-by-step coordinated control system for adjusting the height of a vehicle chassis suspension according to an embodiment of the present invention includes:

[0079] A memory, used to store program codes corresponding to the processing process in the step-by-step coordinated control strategy for adjusting the height of the vehicle chassis suspension of the above embodiment;

[0080] The suspension controller is used to execute the program code corresponding to the processing process in the step-by-step coordinated control strategy for adjusting the height of the vehicle chassis suspension in the above embodiment.

[0081] The suspension controller may adopt a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, a SoC (system on a chip) system board or a PLC (Programmable Logic Controller) minimum system including I / O.

[0082] A step-by-step coordinated control system for adjusting the height of a vehicle chassis suspension according to an embodiment of the present invention is as follows Figure 3 As shown. Figure 3 In this embodiment, the present invention comprises:

[0083] A control establishment device, used for establishing an iterative process of raising the height of the vehicle chassis suspension according to the lifting command;

[0084] A state holding device is used to maintain the vehicle chassis suspension height when the desired height is reached during the height adjustment iteration process.

[0085] like Figure 3 As shown, in one embodiment of the present invention, the control establishment device includes:

[0086] A lifting instruction recognition module is used to determine a lifting height target value according to the lifting instruction;

[0087] The first signal acquisition module is used to obtain the current heights of the right front, left front, right rear and left rear elastic support points of the chassis through a height sensor;

[0088] An ascending order establishment module is used to form an ascending order adjustment sequence of each elastic support point according to the current height of the elastic support point;

[0089] An elevation adjustment module, used to control the lowest elastic support point to be elevated by a basic step length in an ascending adjustment sequence;

[0090] The first iterative control module is used to perform elevation iteration when all elastic support points have not reached the target height value.

[0091] like Figure 3 As shown, in one embodiment of the present invention, the control establishment device further includes:

[0092] A lowering instruction recognition module is used to determine a lowering height target value according to the lifting instruction;

[0093] The second signal acquisition module is used to obtain the current heights of the right front, left front, right rear and left rear elastic support points of the chassis through the height sensor;

[0094] A descending order establishment module is used to form a descending order adjustment sequence of each elastic support point according to the current height of the elastic support point;

[0095] A lowering adjustment module, used to control the highest elastic support point to be lowered by a basic step length in a descending adjustment sequence;

[0096] The second iterative control module is used to perform a lowering iteration when all supporting points have not reached the target height value.

[0097] like Figure 3 As shown, in one embodiment of the present invention, the control establishment device further includes:

[0098] The adjustment time optimization device is used to reduce the adjustment time of a basic step according to a preset arithmetic progression ratio according to the number of iterations.

[0099] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A step-by-step coordinated control strategy for adjusting the height of a vehicle chassis suspension, characterized in that: include: Establish an iterative process for raising the height of the vehicle chassis suspension according to the lifting instructions; Maintain vehicle chassis suspension height when desired height is reached during height adjustment iterations; The iterative process of increasing the height includes the following iterative process: Determine the target height value of the elevation according to the lifting instruction; The current heights of the right front, left front, right rear and left rear elastic support points of the chassis are obtained through the height sensor; According to the current height of the elastic support point, an ascending adjustment sequence of each elastic support point is formed; In the ascending adjustment sequence, the lowest elastic support point is controlled to rise by a basic step length; When all elastic support points fail to reach the target height, an increase iteration is performed; The iterative process of increasing includes the iterative process of decreasing: Determine the target value of the lowered height according to the lifting and lowering instruction; The current heights of the right front, left front, right rear and left rear elastic support points of the chassis are obtained through the height sensor; According to the current height of the elastic support point, the descending adjustment order of each elastic support point is formed; In the descending adjustment sequence, the highest elastic support point is controlled to be lowered by one basic step length; When all support points fail to reach the target height, iterate downward; The iterative process of increasing the height includes: According to the number of iterations, the adjustment duration of a basic step height change is reduced according to a preset arithmetic progression ratio.

2. A step-by-step coordinated control system for adjusting the height of a vehicle chassis suspension, characterized in that: include: A memory for storing program codes corresponding to the processing process in the step-by-step coordinated control strategy for adjusting the height of the vehicle chassis suspension as claimed in claim 1; The suspension controller is used to execute the program code.

3. A step-by-step coordinated control system for adjusting the height of a vehicle chassis suspension, characterized in that: include: A control establishment device, used for establishing an iterative process of raising the height of the vehicle chassis suspension according to the lifting command; A state holding device for maintaining the vehicle chassis suspension height when a desired height is reached during the height adjustment iteration process; The control establishment device comprises: A lifting instruction recognition module is used to determine a lifting height target value according to the lifting instruction; The first signal acquisition module is used to obtain the current heights of the right front, left front, right rear and left rear elastic support points of the chassis through a height sensor; An ascending order establishment module is used to form an ascending order adjustment sequence of each elastic support point according to the current height of the elastic support point; An elevation adjustment module, used for controlling the lowest elastic support point to be elevated by a basic step length in an ascending adjustment sequence; A first iteration control module, used for performing elevation iteration when all elastic support points have not reached the target height value; The control establishment device comprises: A lowering instruction recognition module is used to determine a lowering height target value according to the lifting instruction; The second signal acquisition module is used to obtain the current heights of the right front, left front, right rear and left rear elastic support points of the chassis through the height sensor; A descending order establishment module is used to form a descending order adjustment sequence of each elastic support point according to the current height of the elastic support point; A lowering adjustment module, used to control the highest elastic support point to be lowered by a basic step length in a descending adjustment sequence; The second iteration control module is used to perform a lowering iteration when all support points fail to reach the target height value; The control establishment device comprises: The adjustment time optimization device is used to reduce the adjustment time of a basic step height change according to a preset arithmetic progression ratio based on the number of iterations.

4. A step-by-step coordinated control system for adjusting the height of a vehicle chassis suspension, used in the step-by-step coordinated control strategy as claimed in claim 1, characterized in that: include: A suspension controller is used to receive lifting instructions to form an on-off switching control signal sequence of a switching solenoid valve in a liquid working medium passage, and the on-off switching control signal sequence forms a height adjustment iterative process; The adjustable support unit is used to form a suspension support structure of a vehicle chassis, and the support height is controlled to be adjusted according to the on-off switching control signal sequence.

Images