Active hydraulic suspension control device, control system and control method

Abstract

The present invention relates to an active hydraulic suspension control device, a control system and a control method. The active hydraulic suspension control device comprises: two vertical hydraulic cylinders, two hydraulic branches and a servo-driven electro-hydraulic system; the two vertical hydraulic cylinders are symmetrically arranged and are divided into an upper liquid chamber and a lower liquid chamber by the pistons in each hydraulic cylinder; each upper liquid chamber and the lower liquid chamber are connected by a first hydraulic branch and a second hydraulic branch respectively; the servo-driven electro-hydraulic system controls the liquid supply branch to supply oil to the two hydraulic branches, thereby changing the oil pressure in the hydraulic branches, pushing the pistons of the two vertical hydraulic cylinders to move in opposite directions, so that one of the piston rods of the two vertical hydraulic cylinders extends and the other shortens, driving the vehicle body to tilt accordingly; the active hydraulic suspension control device can achieve lightweight; the control system and control method provided by the present invention can improve the vehicle's curve passing ability and passenger comfort, improve the vehicle's dynamic characteristics, and increase the vehicle's curve passing speed.

Description

Technical Field

[0001] The present invention relates to the field of rail transportation technology, and in particular to an active hydraulic suspension control device, a control system, and a control method. Background Art

[0002] Currently, rail transit vehicle suspension systems and components are primarily based on traditional mechanical, rubber, or hydraulic products, which conflict with passengers' increasing demands for higher speeds, comfort, and convenience. Therefore, intelligent rail transit vehicle bogie suspension products are an inevitable trend in future development. However, the intelligent development of suspension products in the aviation and automotive sectors is far ahead of rail transit. This is especially true in my country, where the peak of rail transit has passed and the national railway network is essentially complete. Considering the high cost, maintenance expenses, and technical requirements of rebuilding high-speed railway lines, increasing vehicle speed and passenger comfort based on existing line conditions inevitably requires improving vehicle performance. Summary of the Invention

[0003] The object of the present invention is to provide an active hydraulic suspension control device, a control system and a control method.

[0004] The active hydraulic suspension control device provided by the embodiment of the present invention can realize the functional integration of the traditional components of the anti-roll torsion bar and the vertical oil pressure shock absorber, thereby reducing the installation size and improving the lightweight.

[0005] The active hydraulic suspension control system and control method thereof provided in the embodiment of the present invention, including an active hydraulic suspension control device, can improve the vehicle's ability to negotiate curves, improve passenger comfort, and improve the vehicle's dynamic characteristics. It can also increase the vehicle's curve negotiating speed (for example, increasing the original vehicle's curve negotiating speed from 200 km / h to 300 km / h), thereby providing a better active suspension technology for rail transit.

[0006] To this end, in a first aspect, an embodiment of the present invention provides an active hydraulic suspension control device, the active hydraulic suspension control device comprising: a first vertical hydraulic cylinder, a second vertical hydraulic cylinder, a first hydraulic branch, a second hydraulic branch, and a servo drive electro-hydraulic system;

[0007] The first vertical hydraulic cylinder and the second vertical hydraulic cylinder are symmetrically arranged, and the two hydraulic cylinders are respectively divided into an upper liquid chamber and a lower liquid chamber by a piston in each hydraulic cylinder; wherein the upper end of the first vertical hydraulic cylinder is connected to one side of the vehicle body, and the lower end is connected to one side of the bogie frame; the upper end of the second vertical hydraulic cylinder is connected to the other side of the vehicle body, and the lower end is connected to the other side of the bogie frame;

[0008] The first hydraulic branch circuit is connected to the upper liquid chamber of the first vertical hydraulic cylinder and the lower liquid chamber of the second vertical hydraulic cylinder; the second hydraulic branch circuit is connected to the upper liquid chamber of the second vertical hydraulic cylinder and the lower liquid chamber of the first vertical hydraulic cylinder;

[0009] The servo-driven electro-hydraulic system includes a first fluid supply branch and a second fluid supply branch; the first fluid supply branch is connected to the first hydraulic branch, and the second fluid supply branch is connected to the second hydraulic branch; the servo-driven electro-hydraulic system receives a servo-driven control signal, and controls the first fluid supply branch or the second fluid supply branch to supply oil to the corresponding hydraulic branch according to the servo-driven control signal, thereby changing the oil pressure in the first hydraulic branch or the second hydraulic branch, pushing the pistons of the two hydraulic cylinders to move in opposite directions, causing one piston rod of the two vertical hydraulic cylinders to extend and the other to shorten, driving the vehicle body to tilt accordingly.

[0010] Preferably, each hydraulic branch is further provided with an accumulator, the first hydraulic branch is provided with a first accumulator, and the second hydraulic branch is provided with a second accumulator;

[0011] The servo drive electro-hydraulic system controls the first fluid supply branch or the second fluid supply branch to supply oil to the corresponding hydraulic branch according to the servo drive control signal, thereby changing the oil pressure in the first hydraulic branch or the second hydraulic branch, pushing the pistons of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder to move in opposite directions, thereby supplying oil to the first accumulator and the second accumulator, and further changing the oil pressure in the first accumulator and the second accumulator;

[0012] The first accumulator and the second accumulator are used to provide stiffness when the vehicle body rolls.

[0013] Further preferably, the upper ends of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder are fixedly connected to the vehicle body via a bolster;

[0014] The first accumulator and the second accumulator are disposed on a bolster.

[0015] Preferably, each hydraulic branch is further provided with a pressure sensor, the first hydraulic branch is provided with a first pressure sensor, and the second hydraulic branch is provided with a second pressure sensor;

[0016] The first pressure sensor and the second pressure sensor are used to monitor the oil pressure of the first hydraulic branch and the second hydraulic branch respectively.

[0017] Preferably, upper oil inlets are provided on the side walls of the upper liquid chambers of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder, namely, the first upper oil inlet and the second upper oil inlet; lower oil inlets are provided on the side walls of the lower liquid chambers of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder, namely, the first lower oil inlet and the second lower oil inlet;

[0018] A first damping valve and a second damping valve are respectively provided on the outer branches of the first upper oil inlet and the second upper oil inlet, and a third damping valve and a fourth damping valve are respectively provided on the outer branches of the first lower oil inlet and the second lower oil inlet;

[0019] The first hydraulic branch is connected to the first upper oil inlet and the second lower oil inlet respectively through the first damping valve and the fourth damping valve, thereby accessing the upper liquid chamber of the first vertical hydraulic cylinder and the lower liquid chamber of the second vertical hydraulic cylinder; the second hydraulic branch is connected to the second upper oil inlet and the first lower oil inlet respectively through the second damping valve and the third damping valve, thereby accessing the lower liquid chamber of the first vertical hydraulic cylinder and the upper liquid chamber of the second vertical hydraulic cylinder;

[0020] The line resistances of the first hydraulic branch circuit and the second hydraulic branch circuit, and the first damping valve, the second damping valve, the third damping valve, and the fourth damping valve provide damping to the active hydraulic suspension control device.

[0021] Preferably, the first vertical hydraulic cylinder is integrated with a first displacement sensor, which is used to monitor the linear displacement of the first vertical hydraulic cylinder in the vertical direction; the second vertical hydraulic cylinder is integrated with a second displacement sensor, which is used to monitor the linear displacement of the second vertical hydraulic cylinder in the vertical direction.

[0022] Preferably, the servo drive electro-hydraulic system comprises: a servo drive, an electric cylinder and a transverse hydraulic cylinder;

[0023] The servo driver receives a servo drive control signal, and controls the motor of the electric cylinder to rotate according to the servo drive control signal, driving the piston of the transverse hydraulic cylinder connected to the electric cylinder to perform linear displacement in the horizontal direction. The transverse hydraulic cylinder supplies oil to the first liquid supply branch or the second liquid supply branch, and the first liquid supply branch or the second liquid supply branch supplies oil to the corresponding hydraulic branch, thereby changing the oil pressure in the first hydraulic branch or the second hydraulic branch, pushing the pistons of the two hydraulic cylinders to move in opposite directions, so that one of the piston rods of the two vertical hydraulic cylinders extends and the other shortens, driving the vehicle body to tilt accordingly.

[0024] Preferably, the servo drive electro-hydraulic system comprises: a servo drive and an electro-hydraulic actuator (EHA);

[0025] The electro-hydraulic actuator comprises: an electro-hydraulic unit, a servo valve and a hydraulic cylinder;

[0026] The servo driver receives a servo drive control signal and sends it to the electro-hydraulic unit. The electro-hydraulic unit processes the servo drive control signal to generate an action instruction and sends it to the servo valve. The servo valve controls the hydraulic actuator cylinder connected to the servo valve to supply oil to the first liquid supply branch or the second liquid supply branch according to the action instruction. The first liquid supply branch or the second liquid supply branch supplies oil to the corresponding hydraulic branch, thereby changing the oil pressure in the first hydraulic branch or the second hydraulic branch, pushing the pistons of the two hydraulic cylinders to move in opposite directions, so that one of the piston rods of the two vertical hydraulic cylinders extends and the other shortens, driving the vehicle body to tilt accordingly.

[0027] In the second aspect, an embodiment of the present invention provides an active hydraulic suspension control system, which includes: a main control subsystem and multiple actuator subsystems; each actuator subsystem includes a group of active hydraulic suspension control devices described in the first aspect above; the main control subsystem and an actuator subsystem are installed at the front of the lead car of the train, and an actuator subsystem is installed at the rear of the lead car. Except for the lead car, an actuator subsystem is installed at the front and rear of each of the remaining car bodies; the main control subsystem includes: a vehicle speed sensor, a gyroscope, and a tilt controller (ATCU).

[0028] In a third aspect, an embodiment of the present invention provides a control method for the active hydraulic suspension control system according to the second aspect, the control method comprising:

[0029] The main control subsystem collects train speed data through the vehicle speed sensor, and the gyroscope collects vehicle body yaw angular velocity and frame deflection angular velocity. The tilt controller determines whether active tilt control is required and the tilt direction based on the processed train speed, vehicle body yaw angular velocity, and frame deflection angular velocity.

[0030] When it is determined that active tilt control is required, the tilt controller calculates the required tilt angle of the vehicle body according to the processed vehicle body yaw angular velocity and frame yaw angular velocity, and calculates the data transmission delay according to the train length and train running speed;

[0031] The tilt controller sends the required tilt angle of the vehicle body to the servo drive electro-hydraulic system of the corresponding actuator subsystem according to the data transmission delay;

[0032] The servo drive electro-hydraulic system determines the actuation stroke and actuation speed of the actuator subsystem according to the required tilting angle of the vehicle body, and generates a tilting action control instruction to control the corresponding actuator subsystem to control the active tilting of the vehicle body according to the actuation stroke and actuation speed.

[0033] The active hydraulic suspension control device provided in an embodiment of the present invention replaces the conventional oil-pressure shock absorber and anti-roll torsion bar with a vertical hydraulic cylinder, reducing the size of the mounting assembly and achieving a lightweight rail vehicle body. It also occupies less space on the bogie and requires minimal structural changes to the bogie. Furthermore, the present invention provides damping for the active hydraulic suspension control device by arranging hydraulic lines and damping valves on the vertical hydraulic cylinders on both sides of the bogie, and provides roll stiffness for the active hydraulic suspension control device by providing an accumulator in the hydraulic line. The active hydraulic suspension control device of the present invention can provide the torque required for vehicle body tilting and is suitable for bogies with a two-point body support, a small span between two air springs, and a high roll stiffness. It exhibits low tilting resistance and low active load on the actuator.

[0034] The active hydraulic suspension control system and control method thereof provided by the embodiment of the present invention, which include the above-mentioned active hydraulic suspension control device, can improve the vehicle's ability to negotiate curves, improve passenger comfort, and improve the vehicle's dynamic characteristics, and can increase the vehicle's speed in negotiating curves. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A structural schematic diagram of the active hydraulic suspension control device provided in Example 1 of the present invention.

[0036] Figure 2 Another structural schematic diagram of the active hydraulic suspension control device provided in Example 2 of the present invention.

[0037] Figure 3 This is a block diagram of the active hydraulic suspension control system provided in Example 3 of the present invention.

[0038] Figure 4 This is a structural schematic diagram of the active hydraulic suspension control system provided in Example 3 of the present invention installed on a vehicle body.

[0039] Figure 5 This is a flow chart of the control method of the active hydraulic suspension control system provided in Example 4 of the present invention.

[0040] Figure 6 This is a schematic diagram of the control method of the active hydraulic suspension control system provided in Example 4 of the present invention. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions, and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only some, not all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0042] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments.

[0043] An embodiment of the present invention provides an active hydraulic suspension control device that replaces the existing hydraulic shock absorber and anti-roll torsion bar with a vertical hydraulic cylinder, achieving a lightweight rail vehicle body while occupying less space on the bogie and requiring minimal structural changes. The active hydraulic suspension control device is damped by arranging hydraulic lines and damping valves for the vertical hydraulic cylinder, and stiffness for rolling motion is provided by accumulators in the hydraulic lines. The active hydraulic suspension control device provides the torque required for vehicle body tilting and is suitable for bogies with two-point vehicle body support, a small span between two air springs, and high roll stiffness. It exhibits low tilting resistance and low active load on the actuator.

[0044] The active hydraulic suspension control device of the present invention is based on the above-mentioned design principles, and can be implemented in more than one manner. This invention provides two specific embodiments, Example 1 and Example 2, to illustrate two specific implementations of the active hydraulic suspension control device. However, it should be understood that all specific implementations based on the above-mentioned design principles are within the scope of protection of this invention.

[0045] Example 1

[0046] Figure 1 This is a structural schematic diagram of the active hydraulic suspension control device provided in this embodiment 1 installed on a vehicle body.

[0047] like Figure 1 As shown, the active hydraulic suspension control device of the present invention includes: a first vertical hydraulic cylinder 111, a second vertical hydraulic cylinder 112, a first hydraulic branch 113, a second hydraulic branch 114 and a servo drive electro-hydraulic system; the servo drive electro-hydraulic system of this embodiment includes: a servo driver 115, an electric cylinder 116 and a transverse hydraulic cylinder 117, a first fluid supply branch 118 and a second fluid supply branch 119.

[0048] The first vertical hydraulic cylinder 111 and the second vertical hydraulic cylinder 112 are symmetrically arranged, and the two hydraulic cylinders are divided into an upper liquid chamber and a lower liquid chamber by the piston in each hydraulic cylinder. The upper end of the first vertical hydraulic cylinder 111 is connected to one side of the car body, and the lower end is connected to one side of the bogie frame; the upper end of the second vertical hydraulic cylinder 112 is connected to the other side of the car body, and the lower end is connected to the other side of the bogie frame. The upper ends of the first vertical hydraulic cylinder 111 and the second vertical hydraulic cylinder 112 are fixedly connected to the car body via a bolster.

[0049] The first hydraulic branch 113 connects the upper liquid chamber of the first vertical hydraulic cylinder 111 and the lower liquid chamber of the second vertical hydraulic cylinder 112 ; the second hydraulic branch 114 connects the upper liquid chamber of the second vertical hydraulic cylinder 112 and the lower liquid chamber of the first vertical hydraulic cylinder 111 .

[0050] The first fluid supply branch 118 is in communication with the first hydraulic branch 113 , and the second fluid supply branch 119 is in communication with the second hydraulic branch 114 .

[0051] Each hydraulic branch circuit is also equipped with an accumulator to provide rigidity during lateral movement of the vehicle body. Specifically, the first hydraulic branch circuit 113 is equipped with a first accumulator 120, and the second hydraulic branch circuit 114 is equipped with a second accumulator 121. The first accumulator 120 and the second accumulator 121 are installed on the bolster.

[0052] Each hydraulic branch is further provided with a pressure sensor. The first hydraulic branch 113 is provided with a first pressure sensor 122 for monitoring the oil pressure of the first hydraulic branch 113 ; the second hydraulic branch 114 is provided with a second pressure sensor 123 for monitoring the oil pressure of the second hydraulic branch 114 .

[0053] The upper liquid chamber and the lower liquid chamber of each vertical hydraulic cylinder are respectively provided with an oil inlet, and each oil inlet is externally connected to a damping valve; specifically, the side walls of the upper liquid chambers of the first vertical hydraulic cylinder 111 and the second vertical hydraulic cylinder 112 are both provided with upper oil inlets, which are the first upper oil inlet 124 and the second upper oil inlet 125 respectively; the side walls of the lower liquid chambers of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder are both provided with lower oil inlets, which are the first lower oil inlet 126 and the second lower oil inlet 127 respectively.

[0054] A first damping valve 128 and a second damping valve 129 are respectively provided on the outer branches of the first upper oil inlet 124 and the second upper oil inlet 125 , and a third damping valve 130 and a fourth damping valve 131 are respectively provided on the outer branches of the first lower oil inlet 126 and the second lower oil inlet 127 .

[0055] The first hydraulic branch 113 is connected to the first upper oil inlet 124 and the second lower oil inlet 127 through the first damping valve 128 and the fourth damping valve 131, respectively, thereby accessing the upper fluid chamber of the first vertical hydraulic cylinder and the lower fluid chamber of the second vertical hydraulic cylinder. The second hydraulic branch 114 is connected to the second upper oil inlet 124 and the first lower oil inlet 126 through the second damping valve 129 and the third damping valve 130, respectively, thereby accessing the lower fluid chamber of the first vertical hydraulic cylinder 111 and the upper fluid chamber of the second vertical hydraulic cylinder 112.

[0056] The line resistances of the first hydraulic branch 113 and the second hydraulic branch 114 , and the first damping valve 128 , the second damping valve 129 , the third damping valve 130 , and the fourth damping valve 131 provide damping to the active hydraulic suspension control device.

[0057] The first vertical hydraulic cylinder 111 is integrated with a first displacement sensor 132 for monitoring the linear displacement of the first vertical hydraulic cylinder 111 in the vertical direction; the second vertical hydraulic cylinder 112 is integrated with a second displacement sensor 133 for monitoring the linear displacement of the second vertical hydraulic cylinder 112 in the vertical direction.

[0058] The working process of the active hydraulic suspension control device of this embodiment 1 is as follows:

[0059] The servo driver 115 receives the servo drive control signal, and controls the motor rotation of the electric cylinder 116 according to the servo drive control signal to drive the piston of the transverse hydraulic cylinder 117 connected to the electric cylinder 116 to perform linear displacement in the horizontal direction. The transverse hydraulic cylinder 117 supplies oil to or returns oil to the first liquid supply branch 118 or the second liquid supply branch 119, and supplies oil to and discharges oil from the corresponding first accumulator 120 and the second accumulator 121, thereby changing the oil pressure in the two accumulators, thereby changing the oil pressure in the first hydraulic branch 113 and the second hydraulic branch 114, pushing the pistons of the two hydraulic cylinders to move in opposite directions, causing one piston rod of the two vertical hydraulic cylinders to extend and the other to shorten, driving the vehicle body to tilt accordingly.

[0060] Example 2

[0061] This embodiment 2 provides another active hydraulic suspension control device, which differs from embodiment 1 in the composition of the servo drive electro-hydraulic system.

[0062] Figure 2 This is a schematic structural diagram of another active hydraulic suspension control device provided in Example 2 installed on a vehicle body.

[0063] like Figure 2As shown, the active hydraulic suspension control device of the present invention includes: a first vertical hydraulic cylinder 201, a second vertical hydraulic cylinder 202, a first hydraulic branch 203, a second hydraulic branch 204, and a servo drive electro-hydraulic system. The servo drive electro-hydraulic system of this embodiment includes: a servo driver 205 and an electro-hydraulic actuator (EHA), wherein the electro-hydraulic actuator includes: an electro-hydraulic unit 206, a servo valve 207, a hydraulic cylinder 208, a first hydraulic supply branch 209, and a second hydraulic supply branch 210.

[0064] The first vertical hydraulic cylinder 201 and the second vertical hydraulic cylinder 202 are symmetrically arranged, and the two hydraulic cylinders are divided into an upper liquid chamber and a lower liquid chamber by the piston in each hydraulic cylinder. The upper end of the first vertical hydraulic cylinder 201 is connected to one side of the car body, and the lower end is connected to one side of the bogie frame; the upper end of the second vertical hydraulic cylinder 202 is connected to the other side of the car body, and the lower end is connected to the other side of the bogie frame. The upper ends of the first vertical hydraulic cylinder 201 and the second vertical hydraulic cylinder 202 are fixedly connected to the car body via a bolster.

[0065] The first hydraulic branch 203 connects the upper liquid chamber of the first vertical hydraulic cylinder 201 and the lower liquid chamber of the second vertical hydraulic cylinder 202 ; the second hydraulic branch 204 connects the upper liquid chamber of the second vertical hydraulic cylinder 202 and the lower liquid chamber of the first vertical hydraulic cylinder 201 .

[0066] The first fluid supply branch 209 is in communication with the first hydraulic branch 203 , and the second fluid supply branch 210 is in communication with the second hydraulic branch 204 .

[0067] Each hydraulic branch circuit is also equipped with an accumulator to provide rigidity during vehicle roll. Specifically, the first hydraulic branch circuit 203 is equipped with a first accumulator 211, and the second hydraulic branch circuit 204 is equipped with a second accumulator 212. The first accumulator 211 and the second accumulator 212 are installed on the bolster.

[0068] Each hydraulic branch is further provided with a pressure sensor. The first hydraulic branch 203 is provided with a first pressure sensor 213 for monitoring the oil pressure of the first hydraulic branch 203 ; the second hydraulic branch 204 is provided with a second pressure sensor 214 for monitoring the oil pressure of the second hydraulic branch 204 .

[0069] The upper liquid chamber and the lower liquid chamber of each vertical hydraulic cylinder are respectively provided with an oil inlet, and each oil inlet is externally connected to a damping valve; specifically, the side walls of the upper liquid chambers of the first vertical hydraulic cylinder 201 and the second vertical hydraulic cylinder 202 are both provided with upper oil inlets, which are the first upper oil inlet 215 and the second upper oil inlet 216 respectively; the side walls of the lower liquid chambers of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder are both provided with lower oil inlets, which are the first lower oil inlet 217 and the second lower oil inlet 218 respectively.

[0070] A first damping valve 219 and a second damping valve 220 are respectively provided on the outer branches of the first upper oil inlet 215 and the second upper oil inlet 216 , and a third damping valve 221 and a fourth damping valve 222 are respectively provided on the outer branches of the first lower oil inlet 217 and the second lower oil inlet 218 .

[0071] The first hydraulic branch 203 is connected to the first upper oil inlet 215 and the second lower oil inlet 218 through the first damping valve 219 and the fourth damping valve 222, respectively, thereby accessing the upper fluid chamber of the first vertical hydraulic cylinder and the lower fluid chamber of the second vertical hydraulic cylinder. The second hydraulic branch 204 is connected to the second upper oil inlet 216 and the first lower oil inlet 217 through the second damping valve 220 and the third damping valve 221, respectively, thereby accessing the lower fluid chamber of the first vertical hydraulic cylinder 201 and the upper fluid chamber of the second vertical hydraulic cylinder 202.

[0072] The line resistances of the first hydraulic branch 203 and the second hydraulic branch 204 , as well as the first damping valve 219 , the second damping valve 220 , the third damping valve 217 and the fourth damping valve 218 provide damping to the active hydraulic suspension control device.

[0073] The first vertical hydraulic cylinder 201 is integrated with a first displacement sensor 223 for monitoring the linear displacement of the first vertical hydraulic cylinder 201 in the vertical direction; the second vertical hydraulic cylinder 202 is integrated with a second displacement sensor 224 for monitoring the linear displacement of the second vertical hydraulic cylinder 202 in the vertical direction.

[0074] The working process of the active hydraulic suspension control device of this embodiment 2 is described as follows:

[0075] The servo driver 201 receives the servo drive control signal and sends it to the electro-hydraulic unit 206 and the servo valve 207. The electro-hydraulic unit 206 and the servo valve 207 control the hydraulic actuator 208 connected to the electro-hydraulic unit 206 and the servo valve 207 according to the action instruction to supply oil or return oil to the first liquid supply branch 209 or the second liquid supply branch 210, thereby supplying oil and draining oil to the first accumulator 211 and the second accumulator 212, thereby changing the oil pressure in the two accumulators, thereby changing the oil pressure in the first hydraulic branch 203 or the second hydraulic branch 204, pushing the pistons of the first vertical hydraulic cylinder 201 and the second vertical hydraulic cylinder 202 to move in opposite directions, so that one of the piston rods of the two vertical hydraulic cylinders extends and the other shortens, driving the vehicle body to tilt accordingly.

[0076] An embodiment of the present invention also provides an active hydraulic suspension control system and a control method thereof including the above-mentioned active hydraulic suspension control device. The control system and the control method thereof can improve the vehicle's ability to pass through curves, improve passenger comfort, and improve the vehicle's dynamic characteristics, and can increase the vehicle's speed in passing through curves.

[0077] The present invention provides specific embodiments 3 and 4 to illustrate the specific implementation of the active hydraulic suspension control system and control method, but it should be understood that the specific implementation methods under the above design ideas should all be within the scope of protection of the present invention.

[0078] Example 3

[0079] The embodiment of the present invention provides an active hydraulic suspension control system including the active hydraulic suspension control device of the above embodiment 1 or embodiment 2, such as Figure 3 As shown in the block diagram, the active hydraulic suspension control system specifically includes: a main control subsystem and multiple actuator subsystems.

[0080] Each actuator subsystem includes a set of active hydraulic suspension control devices according to the first or second embodiment.

[0081] A main control subsystem and an actuator subsystem are installed at the front of the lead car of the train, and an actuator subsystem is installed at the rear of the lead car. Except for the lead car, an actuator subsystem is installed at the front and rear of the body of each of the remaining cars until the Nth car.

[0082] Among them, the main control subsystem includes: vehicle speed sensor, gyroscope, and tilt controller (ATCU).

[0083] Specifically, the vehicle speed sensor is used to collect the train running speed; the gyroscope is used to collect the vehicle body yaw angular velocity and the frame deflection angular velocity; the tilt controller is used to receive the train running speed, the vehicle body yaw angular velocity and the frame deflection angular velocity and process them.

[0084] Figure 4 The active hydraulic suspension control system provided in this embodiment is installed on the vehicle body as a schematic diagram, wherein the servo drive electro-hydraulic system of the active hydraulic suspension control device of the actuator subsystem adopts the solution of Example 1, and the servo drive electro-hydraulic system includes a servo driver, an electric cylinder and a transverse hydraulic cylinder.

[0085] pass Figure 4 It can be seen that the vehicle speed sensor, gyroscope and tilt controller of the main control subsystem are installed at the front of the train head car, among which the gyroscope is a dual-axis gyroscope installed on the bogie; the front and rear of the head car are installed with active hydraulic suspension control devices, and except for the head car, each of the remaining car bodies is equipped with a set of active hydraulic suspension control devices at the front and rear. The components of the active hydraulic suspension control device, the connection relationship between the components and the functions of the components can be found in the specific description of Example 1, which will not be repeated here.

[0086] Example 4

[0087] The active hydraulic suspension control system provided in Example 3 of the present invention is controlled by the following control method: Figure 5 As shown, it mainly includes the following steps:

[0088] Step 110: The train speed is collected by the vehicle speed sensor of the main control subsystem, and the vehicle body yaw angular velocity and the frame yaw angular velocity are collected by the gyroscope. The tilt controller determines whether active tilt control is required and the tilt direction based on the processed train speed, vehicle body yaw angular velocity, and frame yaw angular velocity.

[0089] Specifically, the vehicle speed sensor in the main control subsystem collects the train running speed and sends it to the tilt controller, and the dual-axis gyroscope collects the vehicle body yaw angular velocity and frame deflection angular velocity and sends them to the tilt controller; the tilt controller determines whether the current vehicle enters a curve and calculates the under-superelevation based on the received signals of the train running speed, vehicle body yaw angular velocity and frame deflection angular velocity. The tilt controller calculates the action parameters of the electric cylinders on each bogie and sends instructions to the servo driver through the system's internal network to determine whether it is necessary to control the active hydraulic suspension control device for active tilt control and the tilt direction.

[0090] Step 120: When it is determined that active tilt control is required, the tilt controller calculates the required tilt angle of the vehicle body based on the processed vehicle body yaw angular velocity and frame deflection angular velocity, and calculates the data transmission delay based on the train length and train running speed.

[0091] In step 130 , the tilt controller sends the required tilt angle of the vehicle body to the servo drive electro-hydraulic system of the corresponding actuator subsystem according to the data transmission delay.

[0092] In step 140, the servo drive electro-hydraulic system determines the actuation stroke and actuation speed of the actuator subsystem according to the required tilting angle of the vehicle body, and generates a tilting motion control instruction to control the corresponding actuator subsystem to control the active tilting of the vehicle body according to the actuation stroke and actuation speed.

[0093] Specifically, the tilt controller of the lead vehicle transmits the action parameters to the servo driver of the active hydraulic suspension control unit of the same vehicle, and simultaneously transmits them to the servo driver of the active hydraulic suspension control unit of the middle vehicle via Ethernet. The servo driver controls the electric cylinder to execute the action parameters, driving the lateral hydraulic cylinder to supply oil to the active hydraulic suspension control unit. Simultaneously, the servo driver provides real-time feedback on the execution status of the electric cylinder to the tilt controller. Furthermore, the servo driver transmits displacement and pressure detection information of the vertical hydraulic cylinder of the active hydraulic suspension control unit to the tilt controller via Ethernet to determine the system's operating status. If a system fault occurs, the servo driver quickly executes the corresponding fault measurement according to the preset instructions to ensure the vehicle's continued safe operation. At the same time, the fault status information is transmitted to the tilt controller via the network.

[0094] Figure 6 Schematic diagram of the tilt control strategy principle of the control method of the active hydraulic suspension control system.

[0095] pass Figure 6 As can be seen, the tilt controller receives vehicle speed and yaw angle signals from the velocity sensor and gyroscope. The gyroscope signal is filtered to obtain the vehicle yaw velocity. Differentiating the yaw velocity yields the yaw acceleration, which is integrated to determine the inclination angle caused by the outer rail superelevation. This information can be used to calculate the curve radius and track superelevation, thereby determining the required additional tilt angle β. The vehicle speed signal is then transmitted to each vehicle's servo driver with a delay. The servo driver controls the electric cylinder to operate, and the displacement sensor feeds back the height difference h' signal to the vertical hydraulic cylinder, implementing closed-loop control to achieve the vehicle's tilting motion.

[0096] The calculation method involved in the tilt controller is:

[0097] The line curvature is calculated by the train running speed and the vehicle body yaw angular velocity. The specific calculation formula is:

[0098]

[0099] Wherein, φ' is the vehicle body yaw angular velocity, unit is m / s2; φ" is the vehicle body yaw angular acceleration, unit is m / s 2 ; v is the vehicle speed, unit is m / s; d is the vehicle distance, unit is m;

[0100] The required additional tilt angle β is the car body yaw rate measured by the gyroscope to deflect the bogie, and the track cant is calculated by integration. The unbalanced acceleration is calculated by the curve radius and the track cant:

[0101]

[0102]

[0103] Where a' is the unbalanced centrifugal acceleration, unit is m / s 2 ; R is the curve radius, unit is m (the curve radius is calculated by the line curvature ); α is the inclination angle caused by the superelevation of the outer rail; g is the acceleration due to gravity, unit is m / s 2 ; h is the outer rail superelevation, unit: mm; S is the lateral span of the left and right wheel contact points, unit: mm.

[0104] Embodiments of the present invention provide an active hydraulic suspension control device, a control system, and a control method.

[0105] The active hydraulic suspension control device provided in an embodiment of the present invention replaces the oil-pressure shock absorber and anti-roll torsion bar of the prior art with vertical hydraulic cylinders, reducing the size of the mounting assembly, achieving a lightweight rail vehicle body, and occupying little space on the bogie, requiring minimal structural changes to the bogie. Furthermore, the present invention provides damping for the active hydraulic suspension control device by arranging hydraulic lines for the vertical hydraulic cylinders on both sides of the bogie and damping valves on the hydraulic lines. Accumulators are provided in the hydraulic lines to provide stiffness for the active hydraulic suspension control device during rolling motion. The active hydraulic suspension control device of the present invention can provide the torque required for vehicle body tilting and is suitable for bogies with two-point vehicle body support, a small span between two air springs, and high roll stiffness. It exhibits low tilting resistance and low active load on the actuator.

[0106] The active hydraulic suspension control system and control method thereof provided by the embodiment of the present invention, which include the above-mentioned active hydraulic suspension control device, can improve the vehicle's ability to negotiate curves, improve passenger comfort, and improve the vehicle's dynamic characteristics, and can increase the vehicle's speed in negotiating curves.

[0107] Professionals should also be further aware that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0108] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0109] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An active hydraulic suspension control device, characterized in that: The active hydraulic suspension control device includes: a first vertical hydraulic cylinder, a second vertical hydraulic cylinder, a first hydraulic branch, a second hydraulic branch and a servo drive electro-hydraulic system; The first vertical hydraulic cylinder and the second vertical hydraulic cylinder are symmetrically arranged, and are respectively divided into an upper liquid chamber and a lower liquid chamber by a piston in each hydraulic cylinder; wherein the upper end of the first vertical hydraulic cylinder is connected to one side of the vehicle body, and the lower end is connected to one side of the bogie frame; the upper end of the second vertical hydraulic cylinder is connected to the other side of the vehicle body, and the lower end is connected to the other side of the bogie frame; The first hydraulic branch circuit is connected to the upper liquid chamber of the first vertical hydraulic cylinder and the lower liquid chamber of the second vertical hydraulic cylinder; the second hydraulic branch circuit is connected to the upper liquid chamber of the second vertical hydraulic cylinder and the lower liquid chamber of the first vertical hydraulic cylinder; The servo drive electro-hydraulic system includes a first fluid supply branch and a second fluid supply branch; the first fluid supply branch is in communication with the first hydraulic branch, and the second fluid supply branch is in communication with the second hydraulic branch; the servo drive electro-hydraulic system receives a servo drive control signal and controls the first fluid supply branch or the second fluid supply branch to supply oil to the corresponding hydraulic branch according to the servo drive control signal, thereby changing the oil pressure in the first hydraulic branch or the second hydraulic branch, pushing the pistons of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder to move in opposite directions, causing one piston rod of the first vertical hydraulic cylinder and the other piston rod of the second vertical hydraulic cylinder to extend and the other piston rod of the second vertical hydraulic cylinder to shorten, thereby driving the vehicle body to tilt accordingly; The servo drive electro-hydraulic system includes: a servo drive, an electric cylinder and a transverse hydraulic cylinder; The servo driver receives a servo drive control signal, and controls the motor of the electric cylinder to rotate according to the servo drive control signal, driving the piston of the transverse hydraulic cylinder connected to the electric cylinder to perform linear displacement in the horizontal direction. The transverse hydraulic cylinder supplies oil to the first liquid supply branch or the second liquid supply branch, and the first liquid supply branch or the second liquid supply branch supplies oil to the corresponding hydraulic branch, thereby changing the oil pressure in the first hydraulic branch or the second hydraulic branch, pushing the pistons of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder to move in opposite directions, so that one of the piston rods of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder extends and the other shortens, driving the vehicle body to tilt accordingly.

2. The active hydraulic suspension control device according to claim 1, characterized in that: Each hydraulic branch is further provided with an accumulator, the first hydraulic branch is provided with a first accumulator, and the second hydraulic branch is provided with a second accumulator; The servo drive electro-hydraulic system controls the first fluid supply branch or the second fluid supply branch to supply oil to the corresponding hydraulic branch according to the servo drive control signal, thereby changing the oil pressure in the first hydraulic branch or the second hydraulic branch, pushing the pistons of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder to move in opposite directions, thereby supplying oil to the first accumulator and the second accumulator, and further changing the oil pressure in the first accumulator and the second accumulator; The first accumulator and the second accumulator are used to provide stiffness when the vehicle body rolls.

3. The active hydraulic suspension control device according to claim 2, characterized in that: The upper ends of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder are fixedly connected to the vehicle body via a bolster. The first accumulator and the second accumulator are disposed on a bolster.

4. The active hydraulic suspension control device according to claim 1, characterized in that: Each hydraulic branch is further provided with a pressure sensor, the first hydraulic branch is provided with a first pressure sensor, and the second hydraulic branch is provided with a second pressure sensor; The first pressure sensor and the second pressure sensor are used to monitor the oil pressure of the first hydraulic branch and the second hydraulic branch respectively.

5. The active hydraulic suspension control device according to claim 1, characterized in that: Upper oil inlets are provided on the side walls of the upper liquid chambers of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder, namely, a first upper oil inlet and a second upper oil inlet; lower oil inlets are provided on the side walls of the lower liquid chambers of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder, namely, a first lower oil inlet and a second lower oil inlet; A first damping valve and a second damping valve are respectively provided on the outer branches of the first upper oil inlet and the second upper oil inlet, and a third damping valve and a fourth damping valve are respectively provided on the outer branches of the first lower oil inlet and the second lower oil inlet; The first hydraulic branch is connected to the first upper oil inlet and the second lower oil inlet respectively through the first damping valve and the fourth damping valve, thereby accessing the upper liquid chamber of the first vertical hydraulic cylinder and the lower liquid chamber of the second vertical hydraulic cylinder; the second hydraulic branch is connected to the second upper oil inlet and the first lower oil inlet respectively through the second damping valve and the third damping valve, thereby accessing the lower liquid chamber of the first vertical hydraulic cylinder and the upper liquid chamber of the second vertical hydraulic cylinder; The line resistances of the first hydraulic branch circuit and the second hydraulic branch circuit, and the first damping valve, the second damping valve, the third damping valve, and the fourth damping valve provide damping to the active hydraulic suspension control device.

6. The active hydraulic suspension control device according to claim 1, characterized in that: The first vertical hydraulic cylinder is integrated with a first displacement sensor, which is used to monitor the linear displacement of the first vertical hydraulic cylinder in the vertical direction; the second vertical hydraulic cylinder is integrated with a second displacement sensor, which is used to monitor the linear displacement of the second vertical hydraulic cylinder in the vertical direction.

7. The active hydraulic suspension control device according to claim 1, characterized in that: The servo drive electro-hydraulic system is replaced to include: a servo drive and an electro-hydraulic actuator; The electro-hydraulic actuator comprises: an electro-hydraulic unit, a servo valve and a hydraulic cylinder; The servo driver receives a servo drive control signal and sends it to the electro-hydraulic unit. The electro-hydraulic unit processes the servo drive control signal to generate an action instruction and sends it to the servo valve. The servo valve controls the hydraulic actuator connected to the servo valve to supply oil to the first liquid supply branch or the second liquid supply branch according to the action instruction. The first liquid supply branch or the second liquid supply branch supplies oil to the corresponding hydraulic branch, thereby changing the oil pressure in the first hydraulic branch or the second hydraulic branch, pushing the pistons of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder to move in opposite directions, so that one of the piston rods of the first vertical hydraulic cylinder and the second vertical hydraulic cylinder extends and the other shortens, driving the vehicle body to tilt accordingly.

8. An active hydraulic suspension control system, characterized in that: The active hydraulic suspension control system includes: a main control subsystem and multiple actuator subsystems; each actuator subsystem includes a group of active hydraulic suspension control devices described in any one of claims 1 to 7; the main control subsystem and an actuator subsystem are installed at the front of the lead car of the train, and an actuator subsystem is installed at the rear of the lead car. Except for the lead car, each of the remaining car bodies has an actuator subsystem installed at the front and rear; the main control subsystem includes: a vehicle speed sensor, a gyroscope, and a tilt controller ATCU.

9. A control method based on the active hydraulic suspension control system according to claim 8, characterized in that: The control method includes: The main control subsystem collects train speed data through the vehicle speed sensor, and the gyroscope collects vehicle body yaw angular velocity and frame deflection angular velocity. The tilt controller determines whether active tilt control is required and the tilt direction based on the processed train speed, vehicle body yaw angular velocity, and frame deflection angular velocity. When it is determined that active tilt control is required, the tilt controller calculates the required tilt angle of the vehicle body according to the processed vehicle body yaw angular velocity and frame yaw angular velocity, and calculates the data transmission delay according to the train length and train running speed; The tilt controller sends the required tilt angle of the vehicle body to the servo drive electro-hydraulic system of the corresponding actuator subsystem according to the data transmission delay; The servo drive electro-hydraulic system determines the actuation stroke and actuation speed of the actuator subsystem according to the required tilting angle of the vehicle body, and generates a tilting action control instruction to control the corresponding actuator subsystem to control the active tilting of the vehicle body according to the actuation stroke and actuation speed.

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