Engine active suspension hybrid control method, device, equipment and storage medium

Abstract

This application provides a hybrid control method, device, equipment, and storage medium for active engine suspension. The method includes: when the vehicle engine is idling, collecting vibration signals from the chassis as feedback signals, calculating feedback control output variables to control the actuator to generate secondary excitation forces to counteract the primary excitation forces generated by the engine, thereby controlling the chassis vibration; during vehicle operation, switching the feedback control from the idling stage to using the engine vibration signals as input for feedforward control, calculating feedforward control output variables to control the actuator to generate secondary excitation forces to counteract the primary excitation forces, thereby controlling the chassis vibration. This design is simple, requires very few operating resources, is easy to engineer and cost-effective, and has been successfully tested on a test vehicle, demonstrating control performance superior to European products.

Description

Technical Field

[0001] This application relates to the field of automotive engine mount vibration control, and in particular to a hybrid control method, device, equipment, and storage medium for active engine mounts. Background Technology

[0002] The main problem that active suspension systems for automobile engines solve is the vibration transmitted from the engine to the chassis. The vibration state varies greatly under different operating conditions, especially at idle. Furthermore, inherent factors such as connection modes and crankshaft modes make the engine excitation vibration model very complex. As a result, many control methods cannot achieve vibration reduction across the entire speed range.

[0003] In related technologies, the active vibration reduction control methods and devices for automobiles mainly introduce a speed-based active suspension control method, which is universal but cannot effectively identify and suppress the modes of idling, engine and vehicle body. The present invention can use the most easily implemented PID control to weaken the influence of special factors such as idling and mode, and has better control effect at high frequency (high speed).

[0004] According to relevant research papers on key technologies for active vibration control of automotive powertrains, commonly used adaptive control strategies and algorithms, such as x-LMS and H∞ optimal control, are introduced. These aim to achieve vibration suppression control through mathematical optimization. However, they require certain controller resources and do not effectively identify and suppress the modes of idling, engine, and vehicle body. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a hybrid control method, apparatus, device, and storage medium for active engine suspension.

[0006] This application provides a hybrid active suspension control method for an engine, including:

[0007] During the idling phase of the automobile engine, the vibration signal of the chassis is collected as a feedback signal. Based on the feedback signal, the output variable of the feedback control is calculated to control the actuator to generate a secondary excitation force to counteract the primary excitation force generated by the engine, thereby controlling the vibration of the chassis.

[0008] During vehicle operation, the feedback control during engine idling is switched to use engine vibration signal as the input for feedforward control. The feedforward control output variable is calculated to control the actuator to generate secondary excitation force to counteract the primary excitation force, thereby controlling the vibration of the vehicle frame.

[0009] In some embodiments, the hybrid control method further includes:

[0010] Set the feedforward control coefficient k1 and the feedback control coefficient k2. By adjusting the coefficients k1 and k2, the switching from feedback control to feedforward control is completed, so that the transition from feedback control to feedforward control is smooth. When k1 = 0 and k2 = 1, it is feedback control; when k2 = 0 and k1 = 1, it is feedforward control.

[0011] In some embodiments, the hybrid control method further includes:

[0012] During the engine and vehicle body modal phases, the feedback control and the feedforward control are used together to complete engine vibration control.

[0013] In some embodiments, the vibration signal of the vehicle frame is the vibration acceleration of the vehicle frame; the vibration signal of the engine is the vibration acceleration of the engine.

[0014] In some embodiments, the vibration acceleration of the vehicle frame is acquired using an acceleration sensor.

[0015] In some embodiments, the transition conditions between the vehicle engine idling phase and the engine and vehicle body modal phase include:

[0016] The idle speed stage of the automobile engine is: engine speed is 600-1000 rpm, and engine excitation frequency is 20-33 Hz.

[0017] The activation

[0018] This application provides an engine active suspension hybrid control device, including:

[0019] The system includes an arithmetic unit, a feedforward control coefficient module, a feedback control coefficient module, an actuator, and an acceleration sensor.

[0020] The arithmetic unit calculates the feedback control output variable based on the vibration acceleration of the chassis collected by the accelerometer, and calculates the feedforward control output variable based on the engine vibration acceleration. The feedback control output variable and the feedforward control output variable are respectively fed into the feedback control coefficient module and the feedforward control coefficient module, and are superimposed to calculate the hybrid control output variable, which controls the actuator to generate a secondary excitation force to counteract the primary excitation force generated by the engine, thereby controlling the vibration of the chassis.

[0021] In some embodiments, the computing unit includes: a feedback controller and a feedforward controller;

[0022] The feedback controller calculates the feedback control output variable based on the vibration acceleration of the vehicle frame collected by the acceleration sensor;

[0023] The feedforward controller calculates the feedforward control output variable based on the engine vibration acceleration.

[0024] This application provides an engine active suspension hybrid control device, including a memory and a processor. The memory stores a computer program, which, when executed by the processor, performs any of the above-described engine active suspension hybrid control methods.

[0025] This application provides a storage medium storing a computer program that can be executed by one or more processors and can be used to implement the engine active suspension hybrid control method described in any of the above claims.

[0026] The engine active suspension hybrid control method, device, equipment, and storage medium provided in this application have the following beneficial effects:

[0027] This design is simple, requires very few operating resources, is easy to engineer and cost-controlled, and has been successfully tested on a test vehicle, with control performance superior to European products. Attached Figure Description

[0028] The present application will be described in more detail below based on embodiments and with reference to the accompanying drawings.

[0029] Figure 1 A schematic diagram of an engine active suspension hybrid control device provided in an embodiment of this application;

[0030] Figure 2 Equivalent block diagram of feedforward control provided for embodiments of this application;

[0031] Figure 3 Equivalent block diagram of feedback control provided in the embodiments of this application;

[0032] Figure 4 This is a schematic diagram of an engine active suspension hybrid control device provided in an embodiment of this application.

[0033] In the accompanying drawings, the same parts are referred to by the same reference numerals, and the drawings are not drawn to scale. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0036] If the application documents contain similar descriptions such as "first, second, third", the following explanation shall be added: In the following description, the terms "first, second, third" are used only to distinguish similar objects and do not represent a specific order of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0038] Before introducing the engine active suspension hybrid control method provided in the embodiments of this application, a brief introduction is given on the problems existing in the related technology:

[0039] The main problem that active suspension systems for automobile engines solve is the vibration transmitted from the engine to the chassis. The vibration state varies greatly under different operating conditions, especially at idle. Furthermore, inherent factors such as connection modes and crankshaft modes make the engine excitation vibration model very complex. As a result, many control methods cannot achieve vibration reduction across the entire speed range.

[0040] The present invention relates to an active vibration damping control method and device for automobiles, mainly introducing a speed-based active suspension control method, which is universal but cannot effectively identify and suppress the modes of idling, engine and vehicle body. The present invention can use the most easily implemented PID control to weaken the influence of special factors such as idling and mode, and has better control effect at high frequency (high speed).

[0041] This research focuses on key technologies for active vibration control in automotive powertrains. It introduces commonly used adaptive control strategies and algorithms, such as x-LMS and H∞ optimal control, aiming to achieve vibration suppression control through mathematical optimization. However, these methods require significant controller resources and lack effective identification and suppression of idling speed, engine, and vehicle body modes. This invention, on the other hand, utilizes the most easily implemented PID control to mitigate the impact of specific factors such as idling speed and modal vibration, requiring very few resources, making it easy to engineer and control. Furthermore, it exhibits better control performance at high frequencies (high speeds).

[0042] To address the problems existing in related technologies, this application provides an engine active suspension hybrid control method. This method is applied to an engine active suspension hybrid control device, which can be an electronic device, such as a computer or mobile terminal. The functions implemented by the engine active suspension hybrid control method provided in this application can be achieved by the processor of the electronic device calling program code, wherein the program code can be stored in a computer storage medium.

[0043] Example 1

[0044] This application provides an active suspension hybrid control method for an engine, such as... Figure 1 As shown, it includes:

[0045] When the car engine is idling, such as Figure 3 As shown, only the vibration generated by the engine is transmitted to the chassis. Under this condition, the engine vibration is mainly low-frequency. The engine speed is typically 600–1000 rpm during idling. For a four-cylinder engine, the excitation frequency is 20–33 Hz. The controller and actuator performance fully meet the control requirements. A feedback control strategy can satisfy the requirements for engine vibration control during idling. The specific control method includes: collecting the chassis vibration signal as a feedback signal to determine whether to increase or decrease the actuation force output of the electromagnetic actuator; calculating the feedback control output variable to control the electromagnetic actuator to generate a secondary excitation force (characterized by the vibration acceleration generated by the electromagnetic actuator) to counteract the primary excitation force generated by the engine, thus controlling the chassis vibration; the chassis vibration signal is the chassis vibration acceleration.

[0046] In some embodiments, the vibration acceleration of the vehicle frame is acquired using an acceleration sensor; during vehicle operation, such as Figure 2 As shown, as vehicle speed increases, the engine vibration frequency changes from low frequency to mid-to-high frequency, causing the feedback control strategy to exhibit untimely response. Therefore, it is necessary to adjust the control strategy to a feedforward control strategy. At high speeds, a more accurate engine excitation vibration model can be obtained. Using only the feedforward control strategy can meet the control requirements at high speeds and reduce the control delay caused by iterative convergence and system response in feedback control. The specific control method includes: switching the feedback control at idle speed to a system that uses the engine vibration signal as the input to calculate the feedforward control output variable to control the electromagnetic actuator to generate a secondary excitation force to counteract the primary excitation force, thereby controlling the vibration of the vehicle frame. The engine vibration signal is the engine vibration acceleration.

[0047] In some embodiments, the hybrid control method further includes:

[0048] To achieve a smooth transition from feedback control to feedforward control, feedforward control coefficient k1 and feedback control coefficient k2 are set, and the switching from feedback control to feedforward control is completed by adjusting coefficients k1 and k2.

[0049] like Figure 1 As shown, taking switch control as an example: when k1 = 0 and k2 = 1, it is feedback control; when k2 = 0 and k1 = 1, it is feedforward control. If we let k1 + k2 = 1, we can obtain more control methods.

[0050] Based on actual testing, considering the computational complexity (too complex requires higher MCU resources), it is reasonable to take k1 and k2 as linear functions of frequency (rotation speed).

[0051] In some embodiments, the hybrid control method further includes:

[0052] In the engine and body modal stage, the low-order modes of the body and frame are mainly concentrated in the low-frequency range of 20Hz to 40Hz, corresponding to the speed of the four-cylinder engine of 600rpm to 1200rpm. Due to the superposition of the engine excitation frequency and the body and frame modes, it is difficult to obtain an accurate identification model. Feedforward control needs to be introduced, and feedback control and feedforward control are used together to complete the engine vibration control.

[0053] The transition conditions between the idling phase and the engine and vehicle body modal phase include:

[0054] The idle speed stage is characterized by a speed of 600–1000 rpm and an engine excitation frequency of 20–33 Hz.

[0055] Engine and vehicle body modal stage: speed 600-1200 rpm, engine excitation frequency 20-40 Hz.

[0056] In some embodiments, the impact of special factors such as idling speed and modal characteristics can be mitigated by using the most easily implemented PID control, which consumes very few resources, is easy to engineer and control, and has better control performance at high frequencies (high speeds).

[0057] This application provides a hybrid control method for active engine mounting, which solves the problem of the influence of idling speed, engine and vehicle body modes on control through segmented adjustment and strategy optimization. It also solves the problems of slow response to high-frequency vibration in feedback control schemes and inability to adaptively adjust vibration in feedforward control schemes. It can perfectly realize engine vibration control from idling speed to high speed, effectively reduce the influence of engine and vehicle body modes on vibration reduction effect, and improve the control effect under idling conditions.

[0058] This design is simple, requires very few operating resources, is easy to engineer and cost-controlled, and has been successfully tested on a test vehicle, with control performance superior to European products.

[0059] Example 2

[0060] Based on the foregoing embodiments, this application provides an engine active suspension hybrid control device, comprising:

[0061] The system includes a computing unit, a feedforward control coefficient module, a feedback control coefficient module, an actuator, and an acceleration sensor; the actuator is an electromagnetic actuator.

[0062] The arithmetic unit calculates the feedback control output variable based on the vibration acceleration of the chassis collected by the accelerometer, and calculates the feedforward control output variable based on the engine vibration acceleration. The feedback control output variable and the feedforward control output variable are respectively fed into the feedback control coefficient module and the feedforward control coefficient module, and are superimposed to calculate the hybrid control output variable, which controls the actuator to generate a secondary excitation force to counteract the primary excitation force generated by the engine, thereby controlling the vibration of the chassis.

[0063] In some embodiments, such as Figure 2 and Figure 3 As shown, the computing unit includes: a feedback controller and a feedforward controller;

[0064] The feedback controller calculates the feedback control output variable based on the vibration acceleration of the vehicle frame collected by the acceleration sensor;

[0065] The feedforward controller calculates the feedforward control output variable based on the engine vibration acceleration.

[0066] It should be noted that, in the embodiments of this application, if the above-described engine active suspension hybrid control method is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0067] Accordingly, this application provides a storage medium storing a computer program thereon, characterized in that the computer program, when executed by a processor, implements the steps in the engine active suspension hybrid control method provided in the above embodiments.

[0068] Example 3

[0069] This application provides an engine active suspension hybrid control device, including a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor is configured to execute a program of the engine active suspension hybrid control method stored in the memory, so as to implement the steps in the engine active suspension hybrid control method described in Embodiment 1 provided above.

[0070] like Figure 4 As shown, in one implementation, the engine active suspension hybrid control device 100 includes a processor 101, at least one communication bus 102, a user interface 103, at least one external communication interface 104, and a memory 105. The communication bus 102 is configured to enable communication between these components. The user interface 103 may include a display screen, and the external communication interface 104 may include standard wired and wireless interfaces. The processor 101 is configured to execute a program of the engine active suspension hybrid control method stored in the memory to implement the steps of the engine active suspension hybrid control method provided in the above embodiment.

[0071] The descriptions of the display device and storage medium embodiments above are similar to those of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the computer device and storage medium embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0072] Example 4

[0073] This application provides a storage medium storing a computer program that can be executed by one or more processors and can be used to implement the engine active suspension hybrid control method as described in Embodiment 1.

[0074] The descriptions of the display device and storage medium embodiments above are similar to those of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the computer device and storage medium embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0075] It should be noted that the descriptions of the storage medium and device embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0076] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0077] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0078] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0079] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0080] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0081] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0082] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a controller to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0083] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A hybrid control method for active engine suspension, characterized in that, include: During the idling phase of the automobile engine, the vibration signal of the chassis is collected as a feedback signal. Based on the feedback signal, the output variable of the feedback control is calculated to control the actuator to generate a secondary excitation force to counteract the primary excitation force generated by the engine, thereby controlling the vibration of the chassis. During vehicle operation, the feedback control during engine idling is switched to use engine vibration signal as the input of feedforward control. The feedforward control output variable is calculated to control the actuator to generate secondary excitation force to counteract primary excitation force and perform vibration control on the vehicle frame. Set the feedforward control coefficient k1 and the feedback control coefficient k2. By adjusting the coefficients k1 and k2, the switching from feedback control to feedforward control is completed, so that the transition from feedback control to feedforward control is smooth. When k1 = 0 and k2 = 1, it is feedback control; when k2 = 0 and k1 = 1, it is feedforward control. Here, k1 and k2 are both linear functions of frequency. During the engine and vehicle body modal phases, the feedback control and the feedforward control are used together to complete engine vibration control.

2. The method according to claim 1, characterized in that, The vibration signal of the chassis is the vibration acceleration of the chassis; the vibration signal of the engine is the vibration acceleration of the engine.

3. The method according to claim 2, characterized in that, The vibration acceleration of the vehicle frame is collected using an accelerometer.

4. The method according to claim 1, characterized in that, The transition conditions between the vehicle engine idling stage and the engine and vehicle body modal stage include: The idle speed stage of the automobile engine is: engine speed is 600-1000 rpm, and engine excitation frequency is 20-33 Hz. The engine and vehicle body modal stage: engine speed is 600-1200 rpm, engine excitation frequency is 20-40 Hz.

5. An engine active suspension hybrid control device, characterized in that, include: The system includes an arithmetic unit, a feedforward control coefficient module, a feedback control coefficient module, an actuator, and an acceleration sensor. The computing unit calculates the feedback control output variable based on the vibration acceleration of the vehicle frame collected by the acceleration sensor using any one of the engine active suspension hybrid control methods in claims 1 to 4. The computing unit also calculates the feedforward control output variable based on the engine vibration acceleration. The feedback control output variable and the feedforward control output variable are respectively fed into the feedback control coefficient module and the feedforward control coefficient module, and are superimposed to calculate the hybrid control output variable. This variable is used to control the actuator to generate a secondary excitation force to counteract the primary excitation force generated by the engine, thereby controlling the vibration of the vehicle frame.

6. The apparatus according to claim 5, characterized in that, The computing unit includes: a feedback controller and a feedforward controller; The feedback controller calculates the feedback control output variable based on the vibration acceleration of the vehicle frame collected by the acceleration sensor; The feedforward controller calculates the feedforward control output variable based on the engine vibration acceleration.

7. An engine active suspension hybrid control device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, performs the engine active suspension hybrid control method as described in any one of claims 1 to 4.

8. A storage medium, characterized in that, The computer program stored in the storage medium can be executed by one or more processors and can be used to implement the engine active suspension hybrid control method as described in any one of claims 1 to 4.

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