Vehicle vibration suppression method and device

Abstract

The application discloses a vehicle vibration suppression method and device, and relates to the technical field of vehicle suspension. According to the vertical displacement of a wheel, the vertical displacement of a suspension, the vertical displacement of a suspension, vibration excitation and a current damping control force, the three-direction vibration speed and acceleration of a cab are determined, the influence of tires and suspensions on the cab suspension system is considered, and the three-direction vibration speed and acceleration of the cab are more accurate. Three one-way damping forces for suppressing the three-direction vibration of the cab are determined according to the three-direction vibration speed and acceleration of the cab, the optimal damping control force of the cab suspension system is determined according to the three one-way damping forces, the optimal damping control force of the cab suspension system can be adjusted according to the road condition, and the optimal damping control force is input into the cab suspension system, so that the vehicle vibration can be suppressed to the maximum extent, and the effect of suppressing the vehicle vibration is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle mounting technology, and more particularly to a method and apparatus for suppressing vehicle vibration. Background Technology

[0002] The vehicle cab suspension system is a vibration isolation system connecting the vehicle frame and the cab, used to suppress vehicle vibration. It generally consists of a mechanical structure and elastic elements. Currently, the damping force of the vehicle cab suspension system is fixed, which is not suitable for all vehicle driving environments and has poor vibration suppression effect under certain road conditions. Summary of the Invention

[0003] This invention solves the technical problem of poor vehicle vibration suppression effect of cab suspension systems in the prior art by providing a vehicle vibration suppression method and device.

[0004] On the one hand, embodiments of the present invention provide the following technical solutions:

[0005] A method for suppressing vehicle vibration includes:

[0006] Acquire the vehicle's wheel vertical displacement, suspension vertical displacement, mount vertical displacement, road vibration excitation to the wheels, and the current damping control force of the cab mount system;

[0007] The three-dimensional vibration velocity and acceleration of the cab are determined based on the vertical displacement of the wheel, the vertical displacement of the suspension, the vertical displacement of the mount, the vibration excitation, and the current damping control force.

[0008] Based on the triaxial vibration velocity and acceleration of the cab, three uniaxial damping forces are determined to suppress the triaxial vibration of the cab.

[0009] The optimal damping control force of the cab suspension system is determined based on the three unidirectional damping forces.

[0010] The optimal damping control force is input into the cab suspension system.

[0011] Preferably, determining the three-dimensional vibration velocity and acceleration of the cab based on the vibration excitation, the wheel vertical displacement, the suspension vertical displacement, the mount vertical displacement, and the current damping control force includes:

[0012] Z t =[z1z2z3z4] T Z b =[z b1 z b2 z b3 z b4 ] T Z c =[zc1 z c2 z c3 z c4 ] T Q = [q1q2q3q4] T ,F c =[F1F2F3F4] T ;

[0013] Y represents the three-dimensional vibration velocity and acceleration of the cab, z1z2z3z4 represent the vertical displacements of the four wheels, and z b1 z b2 z b3 z b4 The vertical displacements of the four suspensions are z and z, respectively. c1 z c2 z c3 z c4 q1, q2, q3, and q4 represent the vertical displacements of the four suspensions of the cab, q1, q2, q3, and q4 represent the vibration excitations of the four wheels input from the road surface, and F1, F2, F3, and F4 represent the current damping control forces of the four dampers of the cab suspension system.

[0014]

[0015]

[0016] M t =diag(m1,m2,m3,m4),M b =diag(m5,I6,I7),M c =diag(m6,I9,I) 10 );

[0017] K t =diag(k) t1 ,k t2 ,k t3 ,k t4 ),K b =diag(k) b1 ,k b2 ,k b3 ,k b4 ),K c =diag(k) c1 ,k c2 ,k c3 ,k c4 );

[0018] C b =diag(c b1 ,c b2 ,c b3 ,c b4 ),Cc =diag(c c1 ,c c2 ,c c3 ,c c4 );

[0019]

[0020] O ij Let E be a matrix consisting of all zeros in row i and column j. x Let A be an identity matrix of order x. m Let B be the m-th row of matrix A. n Let m1, m2, m3, m4 be the mass of the four wheels, m5, m6, m7 be the frame mass, m8 be the moment of inertia of the frame along the x-axis, m9 be the moment of inertia of the frame along the z-axis, and m1, m2, m3, m4 be the mass of the four wheels, m5, m6, m7 be the frame mass, m8 be the moment of inertia of the frame along the z-axis, and m9 be the moment of inertia of the frame along the z-axis, respectively. 10 These represent the cab mass, the cab's moment of inertia along the x-axis, and the cab's moment of inertia along the z-axis, respectively, k. t1 ,k t2 ,k t3 ,k t4 The stiffness of the four wheels, k b1 ,k b2 ,k b3 ,k b4 These represent the stiffness of the four suspensions, k c1 ,k c2 ,k c3 ,k c4 The stiffness of the four suspensions is c. b1 ,c b2 ,c b3 ,c b4 The damping of the four suspensions is c. c1 ,c c2 ,c c3 ,c c4 The damping of the four suspensions is x b1 ,x b2 ,x b3 ,x b4 These are the x-axis coordinates of the four suspension points of the chassis, zz b1 ,zz b2 ,zz b3 ,zz b4 These are the z-axis coordinates and x-axis coordinates of the four suspension points of the chassis, respectively. c1 ,x c2 ,x c3 ,x c4 These are the x-axis coordinates of the four suspension points of the cab, zz c1 ,zz c2 ,zz c3 ,zz c4These are the z-axis coordinates and x-axis coordinates of the four suspension points of the cab, respectively. c ,zz c These are the x-axis and z-axis coordinates of the center of mass of the cab, respectively.

[0021] Preferably, the step of determining the three uniaxial damping forces for suppressing the three-dimensional vibration of the cab based on the three-dimensional vibration velocity and acceleration of the cab includes:

[0022] The three-dimensional vibration velocities and accelerations of the cab are imported into a PID algorithm to obtain the three unidirectional damping forces.

[0023] Preferably, before determining the three uniaxial damping forces for suppressing the three-dimensional vibration of the cab based on the cab's three-dimensional vibration velocity and acceleration, the method further includes:

[0024] The correction amounts for the proportional coefficient, integral coefficient, and derivative coefficient in the PID algorithm are calculated according to the preset fuzzy control rules, and the proportional coefficient, integral coefficient, and derivative coefficient are corrected according to the correction amounts.

[0025] Preferably, determining the optimal damping control force of the cab suspension system based on the three unidirectional damping forces includes:

[0026] F i '=a i F y +b i F x +c i F z (i = 1, 2, 3, 4);

[0027] F i 'a' represents the optimal damping control force of the i-th damper in the cab suspension system. i b i c i F represents the weighting coefficients corresponding to the i-th damper. x F y F z These are the unidirectional damping forces that suppress vertical vibration, roll vibration, and pitch vibration of the cab, respectively.

[0028] On the other hand, embodiments of the present invention also provide the following technical solutions:

[0029] A vehicle vibration suppression device, comprising:

[0030] The vehicle vibration-related data acquisition module is used to acquire the vehicle's wheel vertical displacement, suspension vertical displacement, mount vertical displacement, road vibration excitation of the wheels, and the current damping control force of the cab mount system.

[0031] The vibration velocity and acceleration determination module is used to determine the three-dimensional vibration velocity and acceleration of the cab based on the vertical displacement of the wheel, the vertical displacement of the suspension, the vertical displacement of the mount, the vibration excitation, and the current damping control force.

[0032] The unidirectional damping force determination module is used to determine three unidirectional damping forces to suppress the triaxial vibration of the cab based on the triaxial vibration velocity and acceleration of the cab.

[0033] The optimal damping control force determination module is used to determine the optimal damping control force of the cab suspension system based on the three unidirectional damping forces.

[0034] An optimal damping control force input module is used to input the optimal damping control force into the cab suspension system.

[0035] Preferably, the unidirectional damping force determination module is further used for:

[0036] The three-dimensional vibration velocities and accelerations of the cab are imported into a PID algorithm to obtain the three unidirectional damping forces.

[0037] Preferably, the vehicle vibration suppression device further includes:

[0038] The fuzzy control module is used to calculate the correction amount of the proportional coefficient, integral coefficient and derivative coefficient in the PID algorithm according to the preset fuzzy control rules, and correct the proportional coefficient, integral coefficient and derivative coefficient according to the correction amount.

[0039] On the other hand, embodiments of the present invention also provide the following technical solutions:

[0040] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements any of the above-described vehicle vibration suppression methods.

[0041] On the other hand, embodiments of the present invention also provide the following technical solutions:

[0042] A computer-readable storage medium storing a computer program that, when executed by a processor, implements any of the above-described vehicle vibration suppression methods.

[0043] One or more technical solutions provided by this invention have at least the following technical effects or advantages:

[0044] This invention determines the three-dimensional vibration velocity and acceleration of the cab based on the vertical displacement of the wheels, the vertical displacement of the suspension, the vertical displacement of the mount, the vibration excitation, and the current damping control force. It takes into account the influence of the tires and suspension on the cab mounting system, resulting in more accurate three-dimensional vibration velocity and acceleration. Based on the three-dimensional vibration velocity and acceleration, three unidirectional damping forces are determined to suppress the three-dimensional vibration of the cab. The optimal damping control force of the cab mounting system is then determined based on these three unidirectional damping forces. This optimal damping control force can be adjusted according to road conditions. Inputting the optimal damping control force into the cab mounting system can suppress vehicle vibration to the greatest extent, thus improving the effectiveness of vehicle vibration suppression. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a flowchart of the vehicle vibration suppression method in an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of a ten-degree-of-freedom vehicle model in an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the vertical, tilt, and pitch vibration analysis of the cab in an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of the vehicle vibration suppression device in an embodiment of the present invention. Detailed Implementation

[0050] The embodiments of the present invention provide a vehicle vibration suppression method and device, thereby solving the technical problem of poor vehicle vibration suppression effect of the cab suspension system in the prior art.

[0051] To better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] like Figure 1 As shown, the vehicle vibration suppression method of this embodiment includes:

[0053] Step S1: Obtain the vehicle's wheel vertical displacement, suspension vertical displacement, mount vertical displacement, road vibration excitation of the wheels, and the current damping control force of the cab mount system.

[0054] Step S2: Determine the three-dimensional vibration velocity and acceleration of the cab based on the vertical displacement of the wheel, the vertical displacement of the suspension, the vertical displacement of the mount, the vibration excitation, and the current damping control force.

[0055] Step S3: Determine the three unidirectional damping forces to suppress the three-dimensional vibration of the cab based on the three-dimensional vibration velocity and acceleration of the cab.

[0056] Step S4: Determine the optimal damping control force of the cab suspension system based on the three unidirectional damping forces;

[0057] Step S5: Input the optimal damping control force into the cab suspension system.

[0058] The ten-DOF vehicle model in this embodiment is as follows: Figure 2 As shown.

[0059] Let i = 1, 2, 3, 4.

[0060] In this embodiment, the vehicle's suspension satisfies the following dynamic equations:

[0061] Where, m i Let z be the mass of the i-th wheel. i Let q be the vertical displacement of the i-th wheel. i To input the vibration excitation of the i-th wheel into the road surface, k ti Let z be the stiffness of the i-th wheel. bi Let k be the vertical displacement of the i-th suspension. bi Let c be the stiffness of the i-th suspension. bi Let be the damping of the i-th suspension.

[0062] The dynamic equations of the suspension, expressed in matrix form, are as follows:

[0063] Among them, M t =diag(m1,m2,m3,m4); Z t =[z1 z2 z3 z4] T ;K t =diag(k) t1 ,k t2 ,k t3 ,k t4 ); Q = [q1 q2 q3 q4] T ;K b =diag(k) b1 ,k b2 ,k b3 ,k b4 ); x bi Let zz be the x-axis coordinate of the i-th suspension point of the chassis.bi Z is the z-axis coordinate of the i-th suspension point of the chassis; b =[z b1 z b2 z b3 z b4 ] T C b =diag(c b1 ,c b2 ,c b3 ,c b4 ).

[0064] In this embodiment, the vehicle frame satisfies the following dynamic equations:

[0065]

[0066]

[0067]

[0068] Where m5 is the mass of the chassis, z5 is the vertical displacement of the chassis, and z ci Let k be the vertical displacement of the i-th suspension. ci Let F be the stiffness of the i-th suspension. i Let Ii be the current damping control force of the i-th damper in the cab suspension system, I6 be the moment of inertia of the frame along the x-axis, z6 be the rotational displacement of the frame along the x-axis, and z0 be the displacement of the frame along the x-axis. ci Let be the z-axis coordinate of the i-th suspension point in the cab, zz c Let I7 be the z-axis coordinate of the cab's center of mass, I7 be the moment of inertia of the chassis along the x-axis, and z7 be the rotational displacement of the chassis along the z-axis. ci Let x be the x-axis coordinate of the i-th suspension point in the cab. c Let x be the x-axis coordinate of the center of mass of the cab.

[0069] The dynamic equations of the chassis, expressed in matrix form, are as follows:

[0070] Among them, M b =diag(m5,I6,I7); K c =diag(k) c1 ,k c2 ,k c3 ,k c4 ); Z c =[z c1 z c2 z c3 z c4 ] T Cc =diag(c c1 ,c c2 ,c c3 ,c c4 ), c ci F is the damping of the i-th suspension; c =[F1 F2 F3 F4] T .

[0071] In this embodiment, the driver's cab satisfies the following dynamic equations:

[0072]

[0073]

[0074]

[0075] Where m6 is the mass of the cab, z8 is the vertical displacement of the cab, I9 is ​​the moment of inertia of the cab along the x-axis, and z9 is the rotational displacement of the cab along the x-axis. 10 Let z be the moment of inertia of the cab along the z-axis. 10 Let be the rotational displacement of the cab along the z-axis.

[0076] The dynamic equations of the driver's cab, expressed in matrix form, are as follows: Among them, M c =diag(m6,I9,I) 10 ).

[0077] In this embodiment, the i-th wheel, the i-th suspension, the i-th suspension point, the i-th mount, the i-th damper, and the i-th mount point correspond to each other.

[0078] Take the state variables from the three matrix state expressions above. and input volume The original dynamic equations are replaced with state equations and output equations:

[0079]

[0080] Where: Y represents the three-dimensional vibration velocity and acceleration of the cab, including the vibration velocity and acceleration of the cab in the vertical, lateral, and pitch directions. Thus, step S2 specifically includes:

[0081]

[0082]

[0083] O ij Let E be a matrix consisting of all zeros in row i and column j.x Let A be an identity matrix of order x. m Let B be the m-th row of matrix A. n This is the nth row of matrix B.

[0084] In this embodiment, at a certain moment, the vertical displacement of the four wheels, the vertical displacement of the four suspensions, the vertical displacement of the four mounts, the vibration excitation of the four wheels from the road surface, and the damping control force of the four dampers can be input to... The calculation yields the vibration velocities and accelerations of the cab in the vertical, lateral, and pitch directions. These vibration velocities and accelerations represent the severity of the cab's vibration, and the specific approach to suppressing vehicle vibration is to reduce the three-dimensional vibration velocities and accelerations of the cab.

[0085] In this embodiment, step S3 specifically includes: inputting the three-dimensional vibration velocities and accelerations of the cab into a PID algorithm to obtain three unidirectional damping forces. The three unidirectional damping forces include a unidirectional damping force to suppress vertical vibration of the cab, a unidirectional damping force to suppress roll vibration of the cab, and a unidirectional damping force to suppress pitch vibration of the cab. This embodiment will input the vertical vibration velocity and acceleration of the cab into a PID algorithm to obtain the unidirectional damping force to suppress vertical vibration of the cab; input the roll vibration velocity and acceleration of the cab into a PID algorithm to obtain the unidirectional damping force to suppress roll vibration of the cab; and input the pitch vibration velocity and acceleration of the cab into a PID algorithm to obtain the unidirectional damping force to suppress pitch vibration of the cab.

[0086] Taking the determination of the unidirectional damping force to suppress the unidirectional vibration of the cab based on the unidirectional vibration velocity and acceleration of the cab as an example, the formula for the PID algorithm is as follows: The deviation between the current unidirectional vibration velocity and acceleration of the cab and the given value can be used as e(t) and imported into the PID algorithm. The output u(t) is the unidirectional damping force that suppresses the unidirectional vibration of the cab.

[0087] In step S4, the unidirectional damping force vibration analysis for suppressing vertical vibration, roll vibration, and pitch vibration of the cab is as follows: Figure 3 As shown, F x F y F z These are unidirectional damping forces used to suppress vertical vibration, roll vibration, and pitch vibration of the cab, respectively. Step S4 specifically includes: F i '=a i F y +b i F x +c i F z ;F i 'a' represents the optimal damping control force for the i-th damper in the cab suspension system.i b i c i These are the weighting coefficients corresponding to the i-th damper.

[0088] Let F yxz =[F y F x F z ] T Then F c = [F1′ F2′ F3′ F4′] T Represented as F c '=T f F yxz ,

[0089] Step S5 inputs the optimal damping control force of each damper in the cab suspension system into the corresponding damper, which can suppress vehicle vibration to the greatest extent.

[0090] As described above, this embodiment determines the three-dimensional vibration velocity and acceleration of the cab based on the vertical displacement of the wheels, the vertical displacement of the suspension, the vertical displacement of the mount, the vibration excitation, and the current damping control force. It takes into account the influence of the tires and suspension on the cab mount system, resulting in more accurate three-dimensional vibration velocity and acceleration. Based on the three-dimensional vibration velocity and acceleration, three unidirectional damping forces are determined to suppress the three-dimensional vibration of the cab. The optimal damping control force of the cab mount system is then determined based on these three unidirectional damping forces. This optimal damping control force can be adjusted according to road conditions. Inputting the optimal damping control force into the cab mount system can suppress vehicle vibration to the greatest extent, thus improving the effectiveness of vibration suppression.

[0091] In this embodiment, the proportional coefficient k in the PID algorithm can be set as follows: p Integral coefficient k i Differential coefficient k d While this method is fixed, it is not conducive to reducing control deviation and enhancing system stability. Therefore, in this embodiment, the vehicle vibration suppression method preferably includes the following step before step S3:

[0092] The correction amounts of the proportional coefficient, integral coefficient, and derivative coefficient in the PID algorithm are calculated according to the preset fuzzy control rules, and the proportional coefficient, integral coefficient, and derivative coefficient are corrected according to the correction amounts.

[0093] Specifically, the proportional coefficient, integral coefficient, and differential coefficient adjusted according to the correction amount can be expressed by the following formula:

[0094] Δk p Δk is the correction amount for the proportionality coefficient. iΔk is the correction factor for the integral coefficients. d This is the correction amount for the differential coefficients.

[0095] The fuzzy subset of fuzzy control is represented by the variables {NB, NM, NS, O, PS, PM, PB}, and the fuzzy control rules are determined as follows:

[0096] R n If (e is A) j )and(ec is B j )

[0097] then(K p is C j (K) i is D j (K) d is E j )

[0098] Among them, A j B j C j D j E j These are error e, error change rate ec, and k, respectively. p k i k d The fuzzy set is defined as j = 1, 2, 3, ... . The fuzzy control rules are determined by expert experience and practical considerations. When e is large, regardless of the magnitude of ec, a larger counterforce should be output to make e tend to decrease; when e is small but ec is large, a larger force should be output to constrain ec; if ec is small, a smaller force but opposite in direction to ec should be output to stabilize e near its smaller value. Following this principle, control rules for three outputs are designed, with a specific preset Δk. p Δk i Δk d The fuzzy control rules are shown in Table 1.

[0099] Table 1

[0100]

[0101] Membership function is determined by μ A (x) represents the membership degree of the input variable x, and z is the defuzzified output. Defuzzification uses the centroid method, as shown in the following formula:

[0102] a and b are the parameters of the membership function;

[0103] like Figure 4 As shown, this embodiment also provides a vehicle vibration suppression device, including:

[0104] The vehicle vibration-related data acquisition module is used to acquire the vehicle's wheel vertical displacement, suspension vertical displacement, mount vertical displacement, road vibration excitation of the wheels, and the current damping control force of the cab mount system.

[0105] The vibration velocity and acceleration determination module is used to determine the three-dimensional vibration velocity and acceleration of the cab based on the vertical displacement of the wheels, the vertical displacement of the suspension, the vertical displacement of the suspension mount, the vibration excitation, and the current damping control force.

[0106] The unidirectional damping force determination module is used to determine three unidirectional damping forces to suppress the triaxial vibration of the cab based on the triaxial vibration velocity and acceleration of the cab.

[0107] The optimal damping control force determination module is used to determine the optimal damping control force of the cab suspension system based on three unidirectional damping forces.

[0108] The optimal damping control force input module is used to input the optimal damping control force into the cab suspension system.

[0109] Furthermore, the unidirectional damping force determination module is also used for:

[0110] The three-dimensional vibration velocities and accelerations of the cab are imported into the PID algorithm to obtain three unidirectional damping forces.

[0111] Furthermore, the vehicle vibration suppression device also includes a fuzzy control module, which is used to calculate the correction amount of the proportional coefficient, integral coefficient and derivative coefficient in the PID algorithm according to the preset fuzzy control rules, and correct the proportional coefficient, integral coefficient and derivative coefficient according to the correction amount.

[0112] Based on the same inventive concept as the vehicle vibration suppression method described above, this embodiment also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of any of the methods described above for vehicle vibration suppression.

[0113] The bus architecture (represented by a bus) can include any number of interconnected buses and bridges, linking various circuits including one or more processors (represented by a processor) and memory (represented by memory). The bus can also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface between the bus and receivers and transmitters. Receivers and transmitters can be the same element, a transceiver, providing a unit for communicating with various other devices over a transmission medium. The processor is responsible for managing the bus and general processing, while memory can be used to store data used by the processor during operation.

[0114] Since the electronic device described in this embodiment is the electronic device used to implement the vehicle vibration suppression method in this embodiment of the invention, those skilled in the art can understand the specific implementation and various variations of the electronic device based on the vehicle vibration suppression method described in this embodiment of the invention. Therefore, how the electronic device implements the method in this embodiment of the invention will not be described in detail here. Any electronic device used by those skilled in the art to implement the vehicle vibration suppression method in this embodiment of the invention falls within the scope of protection of this invention.

[0115] Based on the same inventive concept as the above-described vehicle vibration suppression method, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the above-described vehicle vibration suppression methods.

[0116] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0117] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0118] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0119] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0120] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0121] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for suppressing vehicle vibration, characterized in that, include: Acquire the vehicle's wheel vertical displacement, suspension vertical displacement, mount vertical displacement, road vibration excitation to the wheels, and the current damping control force of the cab mount system; The three-dimensional vibration velocity and acceleration of the cab are determined based on the vertical displacement of the wheel, the vertical displacement of the suspension, the vertical displacement of the mount, the vibration excitation, and the current damping control force. Based on the triaxial vibration velocity and acceleration of the cab, three uniaxial damping forces are determined to suppress the triaxial vibration of the cab. The optimal damping control force of the cab suspension system is determined based on the three unidirectional damping forces. The optimal damping control force is input into the cab suspension system; The determination of the three-dimensional vibration velocity and acceleration of the cab based on the vertical displacement of the wheel, the vertical displacement of the suspension, the vertical displacement of the mount, the vibration excitation, and the current damping control force includes: ； The three-dimensional vibration velocities and accelerations of the driver's cab are given. The vertical displacements of the four wheels are respectively. These represent the vertical displacements of the four suspensions, respectively. These refer to the vertical displacements of the four suspension mounts on the driver's cab. The vibration excitations of the four wheels are respectively input to the road surface. These are the current damping control forces of the four dampers of the cab suspension system, respectively. ； Let i be a matrix with all zeros in row i and column j. Let x be the identity matrix of order x. For matrix The m-th line, For matrix The nth line, The masses of the four wheels are respectively. These are the frame mass, the moment of inertia of the frame along the x-axis, and the moment of inertia of the frame along the z-axis, respectively. These are the cab mass, the cab's moment of inertia along the x-axis, and the cab's moment of inertia along the z-axis, respectively. The stiffness of each of the four wheels is [specifically,] These are the stiffnesses of the four suspensions, These are the stiffnesses of the four suspensions. These are the damping values ​​for the four suspensions. These are four suspension dampers, These are the x-axis coordinates of the four suspension points of the chassis. These are the z-axis coordinates of the four suspension points of the chassis. These are the x-axis coordinates of the four suspension points of the cab. These are the z-axis coordinates of the four suspension points of the cab. , These are the x-axis and z-axis coordinates of the center of mass of the cab, respectively.

2. The vehicle vibration suppression method as described in claim 1, characterized in that, The determination of the three uniaxial damping forces for suppressing the three-dimensional vibration of the cab based on the three-dimensional vibration velocity and acceleration includes: The three-dimensional vibration velocities and accelerations of the cab are imported into a PID algorithm to obtain the three unidirectional damping forces.

3. The vehicle vibration suppression method as described in claim 2, characterized in that, Before determining the three uniaxial damping forces for suppressing the three-dimensional vibration of the cab based on the three-dimensional vibration velocity and acceleration of the cab, the method further includes: The correction amounts for the proportional coefficient, integral coefficient, and derivative coefficient in the PID algorithm are calculated according to the preset fuzzy control rules, and the proportional coefficient, integral coefficient, and derivative coefficient are corrected according to the correction amounts.

4. The vehicle vibration suppression method as described in claim 1, characterized in that, Determining the optimal damping control force of the cab suspension system based on the three unidirectional damping forces includes: ； The optimal damping control force is the damping force of the i-th damper in the cab suspension system. , , These are the weighting coefficients corresponding to the i-th damper. , , These are the unidirectional damping forces that suppress vertical vibration, roll vibration, and pitch vibration of the cab, respectively.

5. A vehicle vibration suppression device, characterized in that, include: The vehicle vibration-related data acquisition module is used to acquire the vehicle's wheel vertical displacement, suspension vertical displacement, mount vertical displacement, road vibration excitation of the wheels, and the current damping control force of the cab mount system. The vibration velocity and acceleration determination module is used to determine the three-dimensional vibration velocity and acceleration of the cab based on the vertical displacement of the wheel, the vertical displacement of the suspension, the vertical displacement of the mount, the vibration excitation, and the current damping control force. The vibration velocity and acceleration determination module is also used for ； The three-dimensional vibration velocities and accelerations of the driver's cab are given. The vertical displacements of the four wheels are respectively. These represent the vertical displacements of the four suspensions, respectively. These refer to the vertical displacements of the four suspension mounts on the driver's cab. The vibration excitations of the four wheels are respectively input to the road surface. These are the current damping control forces of the four dampers of the cab suspension system, respectively. ； Let i be a matrix with all zeros in row i and column j. Let x be the identity matrix of order x. For matrix The m-th line, For matrix The nth line, The masses of the four wheels are respectively. These are the frame mass, the moment of inertia of the frame along the x-axis, and the moment of inertia of the frame along the z-axis, respectively. These are the cab mass, the cab's moment of inertia along the x-axis, and the cab's moment of inertia along the z-axis, respectively. The stiffness of each of the four wheels is [specifically,] These are the stiffnesses of the four suspensions, These are the stiffnesses of the four suspensions. These are the damping values ​​for the four suspensions. These are four suspension dampers, These are the x-axis coordinates of the four suspension points of the chassis. These are the z-axis coordinates of the four suspension points of the chassis. These are the x-axis coordinates of the four suspension points of the cab. These are the z-axis coordinates of the four suspension points of the cab. , These are the x-axis and z-axis coordinates of the cab's center of mass, respectively. The unidirectional damping force determination module is used to determine three unidirectional damping forces to suppress the triaxial vibration of the cab based on the triaxial vibration velocity and acceleration of the cab. The optimal damping control force determination module is used to determine the optimal damping control force of the cab suspension system based on the three unidirectional damping forces. An optimal damping control force input module is used to input the optimal damping control force into the cab suspension system.

6. The vehicle vibration suppression device as described in claim 5, characterized in that, The unidirectional damping force determination module is also used for: The three-dimensional vibration velocities and accelerations of the cab are imported into a PID algorithm to obtain the three unidirectional damping forces.

7. The vehicle vibration suppression device as described in claim 6, characterized in that, Also includes: The fuzzy control module is used to calculate the correction amount of the proportional coefficient, integral coefficient and derivative coefficient in the PID algorithm according to the preset fuzzy control rules, and correct the proportional coefficient, integral coefficient and derivative coefficient according to the correction amount.

8. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the vehicle vibration suppression method according to any one of claims 1-4.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the vehicle vibration suppression method according to any one of claims 1-4.

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