A shock absorber and its control system

Abstract

The present application belongs to the field of vehicle technology, and in particular, relates to a shock absorber and its control system. The existing shock absorber has a complex structure, high manufacturing cost, and is difficult to be widely promoted; the input speed of the generator is low, the vibration energy conversion efficiency is insufficient, and the rigidity and carrying capacity need to be improved. The present application provides a shock absorber, including a first hanging ring, a first cover, a connecting rod mechanism, a first disk, a second disk, a second cover, and a second hanging ring connected in sequence. The first disk is provided with a central axis, the central axis is connected to a speed increaser, the speed increaser is provided on the second disk, the speed increaser is connected to a linear motor, the central axis is connected to a limit assembly, a slider is provided on the second disk, a slide rail is provided on the first disk, the slider slides on the slide rail, a damper is provided between the first cover and the first disk, one end of the damper passes through the first cover, and the other end of the damper is connected to the first disk. Small size, simple structure, high power generation efficiency, large rigidity, and strong carrying capacity.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a shock absorber and a control system thereof. Background Art

[0002] The vehicle shock absorber is placed between the vehicle body and the wheels to eliminate the adverse effects of vibration shocks caused by bumpy roads on the comfort performance of the vehicle body, which can improve ride comfort. With the rapid development of social science and technology, the automobile industry is moving towards technology and intelligence, which also puts higher requirements on the active suspension system, especially in terms of energy. As one of the main components of the suspension system, the traditional shock absorber dissipates the energy generated by vibration into the air in the form of heat energy. However, recent studies have confirmed that this part of energy can be fully collected for the drive of the car, or even the control of the suspension.

[0003] The existing shock absorber has a complex structure and a relatively slow control response when used as an active suspension shock absorber; the manufacturing cost is high and it is difficult to promote it widely; the generator input speed is low, the vibration energy conversion efficiency is insufficient, and the stiffness and carrying capacity need to be improved. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] Based on the problems that the existing shock absorber has a complex structure, a relatively slow control response when used as an active suspension shock absorber, a high manufacturing cost, and is difficult to promote widely, the generator input speed is low, the vibration energy conversion efficiency is insufficient, and the stiffness and carrying capacity need to be improved, the present application provides a shock absorber and its control system.

[0006] 2. Technical solution

[0007] In order to achieve the above-mentioned objectives, the present application provides a shock absorber, comprising a first lifting ring, a first cover body, a connecting rod mechanism, a first disk body, a second disk body, a second cover body and a second lifting ring connected in sequence, a central axis is provided on the first disk body, the central axis is connected to a speed increaser, the speed increaser is provided on the second disk body, the speed increaser is connected to a linear motor, the central axis is connected to a limit assembly, a slider is provided on the second disk body, a slide rail is provided on the first disk body, the slider slides on the slide rail, a damper is provided between the first cover body and the first disk body, one end of the damper passes through the first cover body, and the other end of the damper is connected to the first disk body.

[0008] Another embodiment provided by the present application is: the second cover body is connected to one end of the cylinder body, the other end of the cylinder body is connected to the second disk body, the speed increaser is arranged in the cylinder body, and the linear motor is arranged in the cylinder body.

[0009] Another embodiment provided by the present application is: the connecting rod mechanism is divided into three groups, the damper is arranged between the connecting rod mechanisms, the connecting rod mechanism includes a first rod body, a second rod body and a third rod body connected in sequence, one end of the first rod body is fixedly connected to the first cover body, the other end of the first rod body is provided with a first spherical groove, one end of the second rod body is a first ball end, the other end of the second rod body is a second ball end, one end of the third rod body is fixedly connected to the first disk body, the other end of the third rod body is provided with a second spherical groove, the first ball end is hinged to the first spherical groove, and the second ball end is hinged to the second spherical groove.

[0010] Another implementation manner provided by the present application is: the central shaft is connected to the first disk body through a central shaft connecting sleeve, one end of the central shaft is connected to the central shaft connecting sleeve through a first one-way bearing, the first one-way bearing is arranged in the central shaft connecting sleeve, and the central shaft, the first one-way bearing and the central shaft connecting sleeve are arranged in sequence from the inside to the outside; the other end of the central shaft is connected to the second one-way bearing, the second one-way bearing is connected to the inner gear, the first disk body is connected to the outer gear ring, the central shaft, the second one-way bearing, the inner gear, the planetary gear and the outer gear ring are arranged in sequence from the inside to the outside, the inner gear, the planetary gear and the outer gear ring are meshed in sequence, and the first one-way bearing and the second one-way bearing have the same rotation direction.

[0011] Another implementation manner provided by the present application is: the speed increaser is connected to the central shaft via a speed increaser connecting sleeve, the speed increaser is fixedly connected to the second disk, and the speed increaser is fixedly connected to the linear motor.

[0012] Another implementation manner provided by the present application is that the central shaft connecting sleeve is connected to the blocking cover.

[0013] Another implementation provided by the present application is: three groups of the connecting rod mechanisms are connected in parallel.

[0014] Another implementation manner provided by the present application is: the planetary gears, bearings and planetary shafts are arranged in sequence from the outside to the inside, and the planetary shaft is fixedly connected to the second disk body.

[0015] The present application also provides a control system for the shock absorber, wherein one end of the shock absorber is connected to a sprung mass, a sprung mass acceleration sensor is provided on the sprung mass, the other end of the shock absorber is connected to an unsprung mass, a unsprung mass acceleration sensor is provided on the unsprung mass, the sprung mass acceleration sensor is connected to a controller, the unsprung mass acceleration sensor is connected to the controller, and the controller is connected to an electric energy recovery circuit.

[0016] Another implementation manner provided by the present application is: the electric energy recovery circuit includes a current sensor, a rectifier, a converter, a supercapacitor, a battery pack and a controllable constant current source circuit connected in sequence, the current sensor is connected to the controller, the converter is connected to the controller, the controllable constant current source circuit is connected to the controller, the rectifier is connected to the linear motor, and the controllable constant current source circuit is connected to the linear motor.

[0017] 3. Beneficial effects

[0018] Compared with the prior art, the shock absorber and control system provided by the present application have the following beneficial effects:

[0019] The shock absorber provided in the present application is a low-degree-of-freedom series energy-feeding shock absorber with a compound planetary gear transmission, and is an energy-feeding shock absorber that converts vibration energy generated during vehicle driving into electrical energy.

[0020] The shock absorber provided in the present application is a generally applicable automobile energy-feeding shock absorber with small size, simple structure, high power generation efficiency, high rigidity, strong bearing capacity and high motion precision.

[0021] The shock absorber provided in the present application can convert the mechanical energy generated by the vibration of the automobile suspension into electrical energy, charge the automobile battery or act on other functions of the vehicle, thereby improving the endurance of the electric vehicle and the efficiency of energy utilization; it can also adjust the damping characteristics of the suspension to improve the comfort of the vehicle.

[0022] The shock absorber provided in the present application realizes the conversion and external output of vibration energy; it can also adopt different control modes according to different road conditions to switch the suspension between active suspension, semi-active suspension and passive suspension to achieve the function of damping adapting to road conditions.

[0023] The shock absorber provided in the present application realizes the function of converting the vertical up and down movement into rotational movement through the use of a multi-link mechanism composed of a first rod body, a third rod body and a second rod body, a first cover body and a first disk body; since the one-way bearing can rotate freely in one direction and be locked in the other direction, the arrangement of one-way bearing one and one-way bearing two enables one of the center shaft connecting sleeve and the inner gear to drive the center shaft to rotate during the movement, while the other can only rotate idly, and the rotation directions of the center shaft connecting sleeve and the inner gear are always opposite, so that the speed increaser input shaft can always rotate in a single direction, thereby ensuring that the rotation direction of the linear motor remains unchanged, avoiding the energy loss caused by changing the rotation direction, and extending the service life of the motor.

[0024] The shock absorber provided in the present application adopts a sky-ground-shelve hybrid control strategy, which can convert the mechanical energy during the vibration of the vehicle suspension into electrical energy, charge the vehicle's rechargeable battery or store it for other uses, thereby improving the endurance and comfort of the electric vehicle, as well as the energy utilization efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the shock absorber structure of the present application;

[0026] Figure 2 is a schematic diagram of the cross-sectional structure of the shock absorber of the present application;

[0027] Figure 3 is a partial first structural schematic diagram of the shock absorber of the present application;

[0028] Figure 4 is a partial second structural schematic diagram of the shock absorber of the present application;

[0029] Figure 5 It is a schematic diagram of the control principle of the shock absorber of the present application as a semi-active suspension. DETAILED DESCRIPTION

[0030] Hereinafter, the specific embodiments of the present application will be described in detail with reference to the accompanying drawings. According to these detailed descriptions, those skilled in the art can clearly understand the present application and can implement the present application. Without violating the principles of the present application, the features in the various embodiments can be combined to obtain new implementations, or certain features in certain embodiments can be replaced to obtain other preferred implementations.

[0031] See also Figures 1 to 5 The present application provides a shock absorber, comprising a first lifting ring, a first cover body 2, a connecting rod mechanism, a first disk body 6, a second disk body 21, a second cover body 24 and a second lifting ring connected in sequence, a central axis 18 is arranged on the first disk body 6, the central axis 18 is connected to a speed increaser 22, the speed increaser 22 is arranged on the second disk body 21, the speed increaser 22 is connected to a linear motor 23, the central axis 18 is connected to a limit assembly, a slider 8 is arranged on the second disk body 21, a slide rail is arranged on the first disk body 6, the slider 8 slides on the slide rail, a damper 11 is arranged between the first cover body 2 and the first disk body 6, one end of the damper 11 passes through the first cover body 2, and the other end of the damper 11 is connected to the first disk body 6.

[0032] It is fixed between the vehicle frame and the axle by the first and second lifting rings; the second disk 21 drives the speed increaser 22 and the linear motor 23 responsible for energy conversion to slide vertically on the slide rail and compress or stretch the connecting rod mechanism, and the connecting rod mechanism converts the movement into the rotation of the first disk 6. The first disk 6 directly drives the central shaft 18 to move in one direction under the limit of the limit assembly. The central shaft 18 drives the linear motor 23 to rotate unidirectionally and continuously generate electricity through the speed increaser 22. The damper 11 is used to mitigate the impact of the road surface. The upper lifting ring 1 of the damper 11 is coaxially fixed to the vehicle frame with the two lifting rings of the first cover 2, and the lower lifting ring 12 of the damper 11 is connected to the first disk 6 by a pin.

[0033] The three slide rails and the slider 8 are fixed to the three side surfaces of the first cover body 2 by bolts. The second disk body 21 is a disk with a reducing skirt. The second disk body is fixed to the three sliders 8 by three extension plates on the sides. The cylinder body 9 is fixed to the skirt of the second disk body 21 by bolts. The second cover body 24 is a disk with a lifting ring. The second cover body 24 is fixed to the inner wall of the cylinder body 9 by bolts. The lifting ring on the second cover body is used to connect the axle, and there is also a circular hole for arranging the wiring harness.

[0034] Furthermore, the second cover 24 is connected to one end of the cylinder 9 , the other end of the cylinder 9 is connected to the second disk 21 , the speed increaser 22 is disposed in the cylinder 9 , and the linear motor 23 is disposed in the cylinder 9 .

[0035] During the driving of the car, the suspension vibrates up and down due to bumps in the road. Because the use state of the present application is that the upper ring 1 of the damper 11 is coaxially connected to the first cover ring with the pin shaft of the car body, the ring of the second cover of the cylinder 9 is connected to the axle pin shaft, and the cylinder 9 is fixed on the second plate 21. The second plate 21 is connected with the slider 8 to realize that the up and down movement of the cylinder 9 relative to the first cover 2 during the vibration of the suspension is first converted into the sliding of the second plate 21 on the slide rail, thereby limiting the movement direction of the entire damper 11, facilitating the installation of the damper 11 and the design and layout of the energy conversion part; and then through the fixation of the speed increaser 22 and the second plate 21, the connection and fixation between the speed increaser 22, the speed increaser connecting sleeve 20, the center shaft 18 and the first plate 6, the vibration of the suspension is converted into the vertical up and down movement of the first cover 2 relative to the first plate 6, as well as rotation.

[0036] Furthermore, the connecting rod mechanism is divided into three groups, and the damper 11 is arranged between the connecting rod mechanisms. The connecting rod mechanism includes a first rod body 3, a second rod body 10 and a third rod body 5 which are connected in sequence. One end of the first rod body 3 is fixedly connected to the first cover body 2, and the other end of the first rod body 3 is provided with a first spherical groove, one end of the second rod body 10 is a first ball end, and the other end of the second rod body 10 is a second ball end, one end of the third rod body 5 is fixedly connected to the first disk body 6, and the other end of the third rod body 5 is provided with a second spherical groove, the first ball end is hinged to the first spherical groove, and the second ball end is hinged to the second spherical groove.

[0037] Further, the center shaft 18 is connected to the first disk body 6 through the center shaft connecting sleeve 13, one end of the center shaft 18 is connected to the center shaft connecting sleeve 13 through the first one-way bearing 25, the first one-way bearing 25 is arranged in the center shaft connecting sleeve 13, and the center shaft 18, the first one-way bearing 25 and the center shaft connecting sleeve 13 are arranged in sequence from the inside to the outside; the other end of the center shaft 18 is connected to the second one-way bearing 27, the second one-way bearing 27 is connected to the inner gear 16, the first disk body 6 is connected to the outer ring gear 7, the center shaft 18, the second one-way bearing 27, the inner gear 16, the planetary gear 17 and the outer ring gear 7 are arranged in sequence from the inside to the outside, the inner gear 16, the planetary gear 17 and the outer ring gear 7 are meshed in sequence, and the first one-way bearing 25 and the second one-way bearing 27 have the same rotation direction.

[0038] The transmission part has three first rod bodies 3 respectively fixed in the three oblong holes of the first cover body 2 and locked by bolts on the side of the first cover body 2, three third rod bodies 5 of the same shape are respectively fixed in the three oblong holes of the first disk body 6 and locked by bolts on the side of the first disk body 6, and the two ball ends of the three second rod bodies are respectively embedded in the spherical grooves formed by the first rod body, the third rod body and the bottom rod cover 4 to form a hinge, and these 9 rods together constitute a 3-way parallel connecting rod mechanism; the central shaft connecting sleeve 13 and the outer gear ring 7 are fixed together coaxially with the first disk body 6 by bolts, and there is a first one-way bearing 25 in the central shaft connecting sleeve, and the outer ring and the inner ring of the first one-way bearing 25 are respectively fixed to the central shaft connecting sleeve 13 and the central shaft 18 by flat keys to achieve synchronization Rotation, a baffle 14 is fixed by bolts under the center shaft connecting sleeve 13 to prevent the one-way bearing from falling off; the lower half of the center shaft 18 is also fixed and rotated synchronously with the inner ring of the second one-way bearing 27 through a flat key, and the outer ring of the second one-way bearing 27 is fixed and rotated synchronously with the inner gear 16 through a flat key. There are three evenly distributed planetary gear shafts 19 with threads at the lower ends between the outer ring gear 7 and the inner gear 16. The three planetary gear shafts 19 are respectively fixed in the three threaded holes of the second disk body 21. The three planetary shafts 19 are sequentially sleeved with bearings 26 and planetary gears 17 from the inside to the outside, and there is a planetary gear baffle 14 fixed by bolts on the top of the planetary gear shaft; the flange of the center shaft 18 and the flange of the speed increaser connecting sleeve 20 are bolted to keep synchronous rotation.

[0039] Furthermore, the speed increaser 22 is connected to the central shaft 18 via a speed increaser connecting sleeve 13 , the speed increaser 22 is fixedly connected to the second disk 24 , and the speed increaser 22 is fixedly connected to the linear motor 23 .

[0040] The input shaft of the speed increaser 22 in the energy conversion part is fixed with the speed increaser connecting sleeve 20 by a flat key to achieve synchronization, and is fixed to the second disk body 21 by bolts through the flange of the speed increaser 21, and the lower part of the speed increaser 22 is fixed to the linear motor 23 by bolts.

[0041] Furthermore, the planetary gear 17 , the bearing 26 and the planetary shaft 19 are arranged in sequence from the outside to the inside, and the planetary shaft 19 is fixedly connected to the second disk body 24 .

[0042] The first cover body 2 and the first plate body 6 move toward each other:

[0043] When the first cover 2 and the first disk 6 move toward each other, since the first disk 6 is fixed, the first disk 6 will rotate counterclockwise under the action of the multi-link mechanism, and the central shaft connecting sleeve 13 and the outer gear ring 7 connected to the first disk 6 will rotate synchronously in the counterclockwise direction, but through the transmission of the planetary gear 17, the inner gear 16 will turn into a clockwise rotation, the first one-way bearing 25 is self-locking, and the second one-way bearing 27 is free to rotate. The central shaft connecting sleeve 13 drives the central shaft 18 to rotate counterclockwise, and the speed increaser 22 connecting sleeve follows the central shaft 18 to rotate counterclockwise, while driving the speed increaser 22 input shaft to rotate, thereby driving the linear motor 23 input shaft to rotate to complete the power output. During this process, the second rod 10 tends to be horizontal.

[0044] The reverse movement process of the first cover body 2 and the first plate body 6:

[0045] When the first cover 2 and the first disk 6 move in the opposite direction, since the first disk 6 is fixed, the first disk 6 will rotate clockwise under the action of the multi-link mechanism, and the central shaft connecting sleeve 13 and the outer gear ring 7 connected to the first disk 6 will rotate synchronously in the clockwise direction, but through the transmission of the planetary gear 17, the inner gear 16 will turn into counterclockwise rotation, the first one-way bearing 25 will rotate freely, the second one-way bearing 27 will be self-locking, and the inner gear 16 will drive the central shaft 18 to rotate counterclockwise, and the speed increaser connecting sleeve 13 will follow the central shaft 18 to rotate counterclockwise, while driving the speed increaser 22 input shaft to rotate, thereby driving the linear motor 23 input shaft to rotate to complete the power output. During this process, the second rod 20 tends to be vertical.

[0046] This process repeats itself, while the tilting direction of the double connecting rod remains unchanged, and the linear motor 23 always rotates in the same direction, continuously outputting electricity.

[0047] The present application also provides a control system for the shock absorber, wherein one end of the shock absorber is connected to a sprung mass 30, on which a sprung mass acceleration sensor 28 is disposed, and the other end of the shock absorber is connected to an unsprung mass 31, on which a unsprung mass acceleration sensor 29 is disposed, and the sprung mass acceleration sensor 28 is connected to a controller 32, and the unsprung mass acceleration sensor 29 is connected to the controller 32, and the controller 32 is connected to an electric energy recovery circuit. The control system can also realize the conversion of three vibration reduction modes: active, semi-active, and passive, so as to obtain the best comfort and maximum energy recovery. The shock absorber has the advantages of good shock absorption performance, high power generation efficiency, simple structure, large rigidity, strong load-bearing capacity, and high motion accuracy.

[0048] Furthermore, the electric energy recovery circuit includes a current sensor 33, a rectifier 34, a converter 35, a supercapacitor 36, a battery pack 37 and a controllable constant current source circuit 38 connected in sequence, the current sensor 33 is connected to the controller 32, the converter 35 is connected to the controller 32, the controllable constant current source circuit 38 is connected to the controller 32, the rectifier 34 is connected to the linear motor 23, and the controllable constant current source circuit 38 is connected to the linear motor 23.

[0049] The input end of the controller 32 is connected to a sprung mass acceleration sensor 28 for monitoring the acceleration of the sprung mass 30, an unsprung mass acceleration sensor 29 for monitoring the acceleration of the unsprung mass 31, and a current sensor 33 for monitoring the current in the rectifier 34. The output end of the controller 32 is used to control a DC-DC converter 35 and a controllable constant source circuit 38 respectively. The starting point of the electric energy recovery circuit begins from the linear motor 23, which is rectified by the rectifier 34 and transformed by the DC-DC converter 35 to temporarily store the electric energy in the supercapacitor 36. The output end of the supercapacitor is connected to a battery pack 37, and the battery pack 38 supplies power to the controllable constant source circuit.

[0050] The application of the linear motor 23 can not only generate electricity, but also generate a certain damping force to adjust the comfort of the suspension. The control principle is as follows: the sprung mass acceleration sensor 28 and the unsprung mass acceleration sensor 29 collect the acceleration of the sprung mass and the unsprung mass during the suspension vibration process and transmit the information to the controller for processing to obtain the speed of the sprung mass 30. and the speed of the unsprung mass 31 ; The controller determines the working mode of the suspension based on these two parameters. When , the suspension is active suspension, and the linear motor 23 needs additional electric energy to maintain a certain damping; when When the damping force provided by the linear motor 23 Can meet the damping force required for ideal sky-ground-shelf hybrid control , at this time the suspension is in semi-active mode, does not require additional energy, and can also output some electrical energy; when and When, or when , and the damping force provided by the linear motor 23 Cannot meet the damping force required by the ideal sky-ground-shelf hybrid control strategy At this time, the suspension is in passive mode and does not require additional energy, while still outputting some electrical energy.

[0051] Example

[0052] The whole set of energy feedback shock absorber includes integral support, motion conversion mechanism and energy conversion part; the whole shock absorber is fixed in the car through the lifting rings and axle pins of the first cover body 2 and the second cover body 24; the energy conversion part fixed at the lower part of the second plate body 21 and the motion conversion part above are vertically moved up and down in the space surrounded by three guide rails through the action of the slide rail and the slider 8; the bottom rods in the motion conversion mechanism are matched with the hole seat and fixed with bolts, only the second rod body 10 is hinged, and it can never reach the vertical and horizontal limits during operation; the central shaft connecting sleeve 13 and the inner gear 16 are connected and fixed to the central shaft through a one-way bearing and a flat key; the planetary gear shaft 19 is fixed in the corresponding threaded hole of the second plate body through its own thread rotation; in order to prevent the situation of disconnection during movement, each planetary gear shaft, the top of the central shaft and the bottom of the inner gear 16 are provided with a blocking function component and fixed with bolts; the speed increaser 22 of the energy conversion mechanism and the linear motor 23 are fixed in series on the second plate body by bolts and hidden in the cylinder 9.

[0053] The process of the first cover body 2 and the first plate body 6 moving toward each other: in actual use, it is the suspension compression stroke;

[0054] In this case, since the first disk body 6 is fixed, the second disk body 21 will drive the energy conversion mechanism to move upward along the slide rail to compress the space of the motion conversion mechanism, so that the connecting rod is twisted and deformed to drive the first disk body 6 to rotate counterclockwise, and the central shaft connecting sleeve 13 and the outer gear ring 7 connected to the first disk body 6 rotate synchronously in the counterclockwise direction, but through the transmission of the planetary gear 17, the inner gear 16 will turn into a clockwise rotation, the first one-way bearing 25 is self-locking, and the second one-way bearing 27 rotates freely. The central shaft connecting sleeve 13 drives the central shaft 18 to rotate counterclockwise, and the speed increaser connecting sleeve 20 follows the central shaft 18 to rotate counterclockwise, while driving the speed increaser 22 input shaft to rotate, thereby driving the linear motor 23 input shaft to rotate to complete the power output. During this process, the second rod tends to be horizontal.

[0055] The reverse movement process of the first cover body 2 and the first plate body 6: in actual use, it is the suspension extension stroke;

[0056] In this case, since the first disk body 6 is fixed, the second disk body 21 will drive the energy conversion mechanism to move downward along the slide rail to stretch the space of the motion conversion mechanism to make it larger, so that the connecting rod will twist and deform to drive the first disk body 6 to rotate clockwise, and the central shaft connecting sleeve 13 and the outer gear ring 7 connected to the first disk body 6 will rotate synchronously in the clockwise direction, but through the transmission of the planetary gear 17, the inner gear 16 will turn into counterclockwise rotation, the first one-way bearing 25 will rotate freely, and the second one-way bearing 27 will be self-locking, and the inner gear 16 will drive the central shaft 18 to rotate counterclockwise, and the speed increaser connecting sleeve 20 will follow the central shaft 18 to rotate counterclockwise, while driving the speed increaser 22 input shaft to rotate, thereby driving the linear motor 23 input shaft to rotate to complete the power output. In this process, the second rod tends to be vertical.

[0057] This goes back and forth, while the double link tilting direction remains unchanged, and the linear motor 23 always rotates in the same direction, continuously outputting electricity. In this process, the linear motor 23 will not only generate a certain amount of electrical energy as the suspension vibrates, but also a certain amount of electromagnetic damping force to adjust the comfort of the suspension. Its working process is as follows:

[0058] Step 1 The sprung mass acceleration sensor and the unsprung mass acceleration sensor collect the acceleration of the sprung mass 30 and the acceleration of the unsprung mass 31 during the suspension vibration process and transmit the information to the controller 32 for processing to obtain the speed of the sprung mass and the speed of the unsprung mass ;

[0059] Step 2 The controller calculates the absolute speed of the sprung mass 30 and the relative speed between the sprung mass 30 and the unsprung mass 31 Identify the vehicle's motion state and determine the suspension's working condition:

[0060] a) when At this time, the suspension is active suspension and requires additional energy to achieve the ideal damping force to ensure comfort.

[0061] Based on the sky-ground-shed hybrid control strategy, the above conditions can be transformed into:

[0062] , and

[0063] represents the ideal damping force based on the sky-ground-shelf hybrid control strategy, represents the weighting coefficient based on the sky-ground-shelf hybrid control strategy, Represents the damping coefficient of the ground shelf.

[0064] In this working mode, the controller 32 controls the controllable constant source circuit 38 to supply power to the linear motor 23, and the power of the controllable constant source circuit 38 comes from the battery pack 37. According to the ground-ceiling hybrid control strategy, the ideal current required by the linear motor 23 is The size is:

[0065]

[0066] Where k is the thrust coefficient of the linear motor.

[0067] At the same time, the controller 32 also receives a current signal from the current sensor 33, which is the winding current of the linear motor 23. The controller compares the actual current With ideal current The difference between the two is a controllable constant source circuit 38, which sends a control command to control the current of the linear motor 23 to , so that the linear motor 23 can provide sufficient damping force , , this active control mode consumes energy.

[0068] b) When When the damping force provided by the linear motor is Can meet the damping force required for ideal sky-ground-shelf hybrid control , at this time, the suspension is in semi-active mode, does not require additional energy, and can also output some electrical energy.

[0069] Based on the sky-ground-shed hybrid control strategy, the above conditions can be transformed into the following two situations:

[0070] ① , and

[0071] ② , and

[0072] in represents the ceiling damping coefficient based on the ceiling-ground ceiling hybrid control strategy, Represents the equivalent damping coefficient of the linear motor.

[0073] The ideal damping force at this time or The controller 32 calculates the ideal current required by the linear motor 23 according to the ideal damping force. , and then through the winding current of the linear motor 23 The controller 32 sends a command to the DC-DC converter 35, and the actual current in the winding of the linear motor 23 is adjusted by the intelligent switch in the DC-DC converter 35. The ideal current calculated by the tracking controller 32 changes, thereby achieving ideal damping to attenuate vibration. At the same time, the winding current in the linear motor 23 After rectification by the rectifier 34 and voltage transformation by the DC-DC converter 35, the electric energy is finally stored in the super capacitor 36. When the super capacitor 36 reaches the set voltage, the electric energy is charged to the battery pack 37, completing the energy feeding function of the suspension in the semi-active mode.

[0074] c) When and When, or when , and the damping force provided by the linear motor 23 Cannot meet the damping force required by the ideal sky-ground-shelf hybrid control strategy At this time, the suspension is in passive mode and does not require additional energy, while still outputting some electrical energy.

[0075] Based on the sky-ground-shed hybrid control strategy, the above conditions can be transformed into the following three situations:

[0076] ① and

[0077] ② , and

[0078] ③ , and

[0079] In this case, the controller 32 will not control the winding current of the linear motor 23. exerts influence, the damping force provided by the linear motor Also by its own winding current Decide, At the same time, as the linear motor 23 rotates, the winding current After rectification by the rectifier 34 and voltage transformation by the DC-DC converter 35, the electric energy is finally stored in the super capacitor 36. When the super capacitor 36 reaches the set voltage, the electric energy is charged to the battery pack 37, completing the energy feeding function of the suspension in the passive mode.

[0080] The above structure and control can achieve the maximum power generation and optimal vibration reduction effect of the shock absorber, meeting the performance requirements of the energy feedback suspension system.

[0081] Although the present application is described above with reference to specific embodiments, it should be understood by those skilled in the art that many modifications may be made to the configurations and details disclosed in the present application within the principles and scope disclosed in the present application. The scope of protection of the present application is determined by the appended claims, and the claims are intended to cover all modifications included in the equivalent literal meaning or scope of the technical features in the claims.

Claims

1. A shock absorber, characterized in that: The invention comprises a first lifting ring, a first cover, a connecting rod mechanism, a first plate, a second plate, a second cover and a second lifting ring which are connected in sequence, a central axis is arranged on the first plate, the central axis is connected with a speed increaser, the speed increaser is arranged on the second plate, the speed increaser is connected with a linear motor, the central axis is connected with a limit assembly, a slider is arranged on the second plate, a slide rail is arranged on the first plate, the slider slides on the slide rail, a damper is arranged between the first cover and the first plate, one end of the damper passes through the first cover, and the other end of the damper is connected with the first plate; The connecting rod mechanism is composed of three groups, and the damper is arranged between the connecting rod mechanisms. The connecting rod mechanism includes a first rod body, a second rod body and a third rod body connected in sequence, one end of the first rod body is fixedly connected to the first cover body, the other end of the first rod body is provided with a first spherical groove, one end of the second rod body is a first ball end, the other end of the second rod body is a second ball end, one end of the third rod body is fixedly connected to the first plate body, the other end of the third rod body is provided with a second spherical groove, the first ball end is hinged to the first spherical groove, and the second ball end is hinged to the second spherical groove; The central shaft is connected to the first disk body through a central shaft connecting sleeve, one end of the central shaft is connected to the central shaft connecting sleeve through a first one-way bearing, the first one-way bearing is arranged in the central shaft connecting sleeve, and the central shaft, the first one-way bearing and the central shaft connecting sleeve are arranged in sequence from the inside to the outside; the other end of the central shaft is connected to the second one-way bearing, the second one-way bearing is connected to the inner gear, the first disk body is connected to the outer gear ring, the central shaft, the second one-way bearing, the inner gear, the planetary gear and the outer gear ring are arranged in sequence from the inside to the outside, the inner gear, the planetary gear and the outer gear ring are meshed in sequence, and the first one-way bearing and the second one-way bearing have the same rotation direction; The speed increaser is connected to the central shaft through a speed increaser connecting sleeve, the speed increaser is fixedly connected to the second disk, and the speed increaser is fixedly connected to the linear motor; When the first cover body and the first disk body move toward each other, the central shaft connecting sleeve and the outer gear ring connected to the first disk body rotate synchronously in the counterclockwise direction, the first one-way bearing is self-locking, and the second one-way bearing rotates freely. The central shaft connecting sleeve drives the central shaft to rotate counterclockwise, driving the linear motor input shaft to rotate to complete the power output; When the first cover body and the first disk body move in opposite directions, the central shaft connecting sleeve and the outer gear ring connected to the first disk body rotate synchronously in the clockwise direction, the first one-way bearing rotates freely, the second one-way bearing is self-locking, and the central shaft is driven by the inner gear to rotate counterclockwise, driving the linear motor input shaft to rotate to complete the power output.

2. The shock absorber according to claim 1, characterized in that: The second cover is connected to one end of the cylinder, the other end of the cylinder is connected to the second disk, the speed increaser is arranged in the cylinder, and the linear motor is arranged in the cylinder.

3. The shock absorber according to claim 1, characterized in that: The central shaft connecting sleeve is connected to the blocking cover.

4. The vibration absorber according to claim 1, characterized in that: The three groups of connecting rod mechanisms are connected in parallel.

5. The vibration absorber according to claim 1, characterized in that: The planetary gears, bearings and planetary shafts are arranged in sequence from outside to inside, and the planetary shaft is fixedly connected to the second disk body.

6. A control system for a shock absorber according to any one of claims 1 to 5, characterized in that: One end of the shock absorber is connected to the sprung mass, and a sprung mass acceleration sensor is arranged on the sprung mass. The other end of the shock absorber is connected to the unsprung mass, and a unsprung mass acceleration sensor is arranged on the unsprung mass. The sprung mass acceleration sensor is connected to a controller, and the unsprung mass acceleration sensor is connected to the controller, and the controller is connected to an electric energy recovery circuit.

7. The control system according to claim 6, characterized in that: The electric energy recovery circuit includes a current sensor, a rectifier, a converter, a supercapacitor, a battery pack and a controllable constant current source circuit connected in sequence, the current sensor is connected to the controller, the converter is connected to the controller, the controllable constant current source circuit is connected to the controller, the rectifier is connected to the linear motor, and the controllable constant current source circuit is connected to the linear motor.

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