A linear motor-powered active suspension actuator and its control method

Abstract

This invention belongs to the field of vehicle dynamics technology and discloses a linear motor-powered active suspension actuator and its control method. The actuator includes an upper mounting part and a lower mounting part. The upper mounting part includes an upper outer sleeve and an upper inner sleeve arranged concentrically. The lower mounting part includes a lower sleeve and a guide post, which can respectively extend into the space between the upper outer sleeve and the upper inner sleeve, and into the upper inner sleeve. Corresponding outer and inner annular electromagnets are respectively arranged on the inner surface of the upper outer sleeve and the outer surface of the upper inner sleeve. Multiple permanent magnet rings are correspondingly arranged on the lower sleeve, which can cooperate with the outer and / or inner annular electromagnets. By controlling the direction of the current in the outer and / or inner annular electromagnets, the movement of the lower mounting part within the upper mounting part can be controlled. This invention can still provide support when the outer or inner annular electromagnet fails.

Description

Technical Field

[0001] This invention relates to the field of vehicle dynamics technology, and in particular to a linear motor-powered active suspension actuator and control method. Background Technology

[0002] The vehicle's suspension is a crucial component that ensures a smooth ride and stable handling. It elastically connects the chassis and axles, effectively damping the vibrations transmitted to the vehicle body from uneven road surfaces.

[0003] A linear motor consists of a primary permanent magnet and a secondary coil. Its working principle involves applying three-phase electricity to the secondary coil. The current flowing through the secondary coil generates a magnetic field, which then controls the up-and-down movement of the primary permanent magnet, thereby driving the linear motor's outer cylinder to move up and down. This linear motor technology can be applied to automotive suspension structures. By using the displacement of the linear motor, the height of the vehicle suspension can be actively adjusted, thereby achieving different vehicle postures and ground clearance, resulting in higher passability in complex road conditions.

[0004] Linear motor actuators have been widely studied because their motion direction is the same as that of the suspension, eliminating the need for a conversion mechanism. While energy-regenerative suspensions can recover vibration energy while reducing shocks, current suspension systems still suffer from problems such as susceptibility to failure under long-term load operation. Furthermore, ordinary three-phase linear motors have the issue that if a phase loss occurs during operation, the thrust generated cannot control the active force of the suspension. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention provides a linear motor-powered active suspension actuator and control method.

[0006] To achieve the above objectives, a first aspect of the present invention provides a linear motor-powered active suspension actuator, comprising an upper mounting portion and a lower mounting portion. The upper mounting portion includes an upper outer sleeve and an upper inner sleeve arranged concentrically, with multiple sets of annular electromagnets embedded opposite to the inner surface of the upper outer sleeve and the outer surface of the upper inner sleeve. The lower mounting portion includes a lower sleeve and a guide post. In the working state, the lower sleeve extends between the upper outer sleeve and the upper inner sleeve, and the guide post extends into the upper inner sleeve. A plurality of permanent magnet rings are embedded in the lower sleeve, each permanent magnet ring corresponding to a set of annular electromagnets, and the magnetic poles of adjacent permanent magnet rings are opposite.

[0007] In some embodiments, the inner surface of the upper inner sleeve is provided with a hollow shaft, and a magnetic isolation wall is provided between the inner surface of the upper inner sleeve and the hollow shaft. Multiple stator windings are embedded in the inner surface of the hollow shaft. In the working state, the guide post extends into the hollow shaft. The guide post includes a straight shaft, a moving yoke, and multiple annular moving poles arranged sequentially from the inside to the outside. Each annular moving pole corresponds to a stator winding, and the magnetic flux directions of two adjacent annular moving poles are opposite.

[0008] In some embodiments, the upper mounting portion further includes an upper base, and the upper outer sleeve and the upper inner sleeve are concentrically disposed on the upper base.

[0009] In some embodiments, the lower mounting portion further includes a lower base, and the lower sleeve and guide post are concentrically disposed on the lower base.

[0010] In some embodiments, the upper base is provided with an upper lifting lug at the top, and the lower base is provided with a lower lifting lug at the bottom.

[0011] A second aspect of the present invention provides a control method for the active suspension actuator, wherein the current direction and magnitude of a plurality of outer annular electromagnets disposed on the inner surface of the upper outer sleeve and / or a plurality of inner annular electromagnets disposed on the outer surface of the upper inner sleeve are controlled.

[0012] In some embodiments, the direction and magnitude of the current in at least one of the plurality of outer ring electromagnets and / or at least one of the plurality of inner ring electromagnets are controlled.

[0013] In some embodiments, when control is executed, multiple outer ring electromagnets or multiple inner ring electromagnets are staggered with multiple permanent magnet rings, and the direction and magnitude of the current in the inner ring electromagnets or multiple inner ring electromagnets diagonally above and below the permanent magnet rings are controlled to provide an upward or downward resultant force to the permanent magnet rings.

[0014] In some embodiments, multiple outer ring electromagnets or multiple inner ring electromagnets are positioned one-to-one with multiple permanent magnet rings. First, the direction and magnitude of the current in the inner ring electromagnets or multiple inner ring electromagnets above and below the permanent magnet rings are controlled to provide an upward or downward resultant force to the permanent magnet rings, so that the multiple outer ring electromagnets or multiple inner ring electromagnets are staggered with the multiple permanent magnet rings. Then, the direction and magnitude of the current in the inner ring electromagnets or multiple inner ring electromagnets diagonally above and diagonally below the permanent magnet rings are controlled to provide an upward or downward resultant force to the permanent magnet rings.

[0015] In some embodiments, when at least one of the outer ring electromagnet and the inner ring electromagnet is controlled simultaneously, the positions of the energized inner and outer ring electromagnets must correspond to each other.

[0016] The above one or more technical solutions have the following beneficial effects:

[0017] The outer ring-shaped electromagnet engages with the outer surface magnetic poles of the permanent magnet ring, while the inner ring-shaped electromagnet engages with the inner surface magnetic poles of the permanent magnet ring. During vehicle operation, when the vehicle sensors detect changes in the road surface, energizing the inner and / or outer ring-shaped electromagnets controls the direction of the current, causing a change in the electromagnet's magnetic poles. This provides an upward or downward force to the permanent magnet ring, thereby driving the lower mounting part to move up and down within the upper mounting part. The magnitude of the upward / downward force can also be adjusted by controlling the current. If an electromagnet on one surface fails, the electromagnet on the other surface can still provide backup, fulfilling the purpose of active suspension adjustment and allowing sufficient time for vehicle repair. Attached Figure Description

[0018] The dimensions and scales in the accompanying drawings do not represent the actual dimensions and scales of the product. The drawings are for illustrative purposes only, and some non-essential elements or features have been omitted for clarity.

[0019] Figure 1 This is a schematic diagram of the overall structure of the mounting part of the linear motor-powered active suspension actuator in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the overall structure of the lower mounting part of the linear motor-powered active suspension actuator in an embodiment of the present invention;

[0021] Figure 3 This is a schematic cross-sectional view of the upper mounting section of the linear motor-powered active suspension actuator in an embodiment of the present invention;

[0022] Figure 4 This is a schematic cross-sectional view of the lower mounting section of the linear motor-powered active suspension actuator in an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram showing the cooperation between the upper and lower mounting parts of the linear motor-powered active suspension actuator in an embodiment of the present invention.

[0024] Figure 6 This refers to the magnetic flux direction of a portion of the stator windings at a certain moment in an embodiment of the present invention;

[0025] Figure 7 This refers to the direction of magnetic flux in the stator winding at the same position when the moving magnetic pole moves in an embodiment of the present invention.

[0026] In the figure, 1. Upper mounting part, 11. Upper base, 12. Upper inner sleeve, 13. Upper outer sleeve, 121. Hollow shaft, 122. Stator winding, 123. Magnetic isolation wall, 124. Inner layer winding wall, 135. Outer layer winding wall, 14. Circular groove, 15. Inner layer annular electromagnet, 16. Outer layer annular electromagnet, 17. First insertion space, 18. Second insertion space, 19. Permanent magnet ring; 2. Lower mounting part, 21. Lower base, 22. Lower sleeve, 23. Guide post, 231. Straight shaft, 232. Mover yoke, 233. Mover pole. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, 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 invention pertains.

[0029] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0030] In this invention, terms such as "upper," "lower," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are merely relational terms determined for the convenience of describing the structural relationship of the various components or elements of this invention, and do not specifically refer to any component or element in this invention, and should not be construed as limiting this invention.

[0031] In this invention, terms such as "connection" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of the above terms in this invention based on the specific circumstances, and they should not be construed as limitations on this invention.

[0032] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0033] [Overall Structure]

[0034] One or more embodiments of the present invention provide a linear motor-powered active suspension actuator, such as... Figures 1-5As shown, it includes: an upper mounting part 1 and a lower mounting part 2. The upper mounting part 1 includes an upper outer sleeve 13 and an upper inner sleeve 12 arranged concentrically. Multiple sets of annular electromagnets (i.e., outer annular electromagnet 16 and inner annular electromagnet 15) are embedded opposite to each other on the inner surface of the upper outer sleeve 13 and the outer surface of the upper inner sleeve 12. The inner surface of the upper inner sleeve 12 is provided with a hollow shaft 121, and a magnetic isolation wall 123 is provided between the inner surface of the upper inner sleeve 12 and the hollow shaft 121. Multiple stator windings 122 are embedded in the inner surface of the hollow shaft 121.

[0035] The lower mounting part 2 includes a lower sleeve 22 and a guide post 23. In the working state, the lower sleeve 22 extends between the upper outer sleeve 13 and the upper inner sleeve 12, and the guide post 23 extends into the hollow shaft 121. The lower sleeve 22 is embedded with a plurality of permanent magnet rings 19, each of which corresponds to a group of annular electromagnets, and the magnetic poles of adjacent permanent magnet rings are opposite. The guide post 23 includes a straight shaft 231, a moving yoke 232 and a plurality of annular moving poles 233 arranged sequentially from the inside to the outside. Each annular moving pole 233 corresponds to a stator winding 122, and the magnetic flux directions of two adjacent annular moving poles 233 are opposite.

[0036] The aforementioned plurality of annular electromagnets, permanent magnet rings, and annular moving poles are all arranged parallel to the axial direction of the upper / lower mounting portion. Furthermore, the magnetic pole direction of each annular electromagnet, permanent magnet ring, and annular moving pole is perpendicular to the axial direction.

[0037] The electromagnets on the inner surface of the outer sleeve 13 and the outer surface of the inner sleeve 12 can be redundant. If the electromagnet on one surface fails, the electromagnet on the other surface can still provide protection, thus achieving the purpose of active suspension adjustment and allowing sufficient time for vehicle maintenance. Specifically, the outer annular electromagnet engages with the outer surface magnetic poles of the permanent magnet ring, and the inner annular electromagnet engages with the inner surface magnetic poles of the permanent magnet ring. During vehicle operation, when the vehicle sensors detect changes in the road surface, the direction of the current is controlled by energizing the inner annular electromagnet and / or the outer annular electromagnet, thereby changing the magnetic poles of the electromagnets. This provides an upward or downward force to the permanent magnet ring, which in turn drives the lower mounting part to move up and down within the upper mounting part. By controlling the magnitude of the current, the magnitude of the upward / downward force can also be adjusted.

[0038] As a specific implementation, the inner wall of the upper outer sleeve 13 is designated as the outer layer hierarchical coil wall 135, which has multiple annular grooves, and an outer layer annular electromagnet 16 is disposed within each annular groove. The outer wall of the upper inner sleeve 12 is designated as the inner layer hierarchical coil wall 124, which has multiple annular grooves, and an inner layer annular electromagnet 15 is disposed within each annular groove.

[0039] The hollow shaft 121 is a stator core hollow shaft. The inner wall of the stator core hollow shaft 121 is provided with a plurality of annular grooves 14. The stator windings 122 are embedded in the annular grooves 14, and the plane of each stator winding 122 is perpendicular to the axis of the stator core hollow shaft. The magnetic isolation wall 123 is disposed between the stator core hollow shaft 121 and the inner layer coil wall 124.

[0040] In the guide post 23, the moving magnetic yoke 233 is sleeved on the straight shaft 231, the moving magnetic poles 233 are uniformly sleeved on the moving magnetic yoke 232, and the magnetic flux directions of two adjacent moving magnetic poles 233 are opposite, namely away from the axis and towards the axis.

[0041] The hollow part of the stator core hollow shaft serves as the first insertion space, and the upper inner sleeve and the upper outer sleeve form the second insertion space; the guide post extends into the first insertion space and moves, and the lower sleeve extends into the second insertion space and moves.

[0042] The upper mounting portion further includes an upper base 11, on which the upper outer sleeve 13 and the upper inner sleeve 12 are concentrically disposed. The lower mounting portion further includes a lower base 21, on which the lower sleeve 22 and the guide post 23 are concentrically disposed.

[0043] The upper base 11 is provided with an upper lifting lug at the top for connecting to the sprung mass of the vehicle, and the lower base 21 is provided with a lower lifting lug at the bottom for connecting to the unsprung mass of the vehicle.

[0044]

Control Methods

[0045] Both the outer and inner ring electromagnets are connected to a controller configured to control the current direction and magnitude of the outer and / or inner ring electromagnets, and the current directions of adjacent ring electromagnets within either the outer or inner ring electromagnet are opposite. Figure 5 It is understandable that, since the magnetic poles of adjacent permanent magnet rings are opposite, by applying different current directions to adjacent electromagnets in the outer ring electromagnet and / or inner ring electromagnet, one adjacent electromagnet can generate an attractive force and the other generates a repulsive force, thereby the upper mounting part provides an upward or downward force to the lower mounting part.

[0046] In one specific implementation, at the initial position, some of the outer and inner ring electromagnets are staggered with a corresponding number of permanent magnet rings; that is, each permanent magnet ring is located at the interval between two adjacent ring electromagnets in the outer or inner ring electromagnets. At this time, for a particular permanent magnet ring, the electromagnets diagonally above (on the right side of the figure) located in the outer and / or inner ring electromagnets provide an attractive force, while the electromagnets diagonally below (on the left side of the figure) provide a repulsive force. This provides an upward thrust for the permanent magnet ring. By performing the above control on the electromagnets around each permanent magnet ring, an upward thrust can be achieved on the entire lower mounting section. Those skilled in the art will understand that to make the lower mounting section move downwards, the opposite control can be executed, which will not be elaborated here.

[0047] As another specific implementation, if the initial positions are not staggered, that is, some annular electromagnets correspond one-to-one with multiple permanent magnet rings, then for one of the permanent magnets, the electromagnet above it (right side of the diagram) provides an attractive force, and the electromagnet below it (left side of the diagram) provides a repulsive force. Since the repulsive force is less than the attractive force, it provides an upward thrust. This process continues, resulting in an initial displacement of the lower mounting part, causing the permanent magnet rings and annular electromagnets to stagger their positions. Based on this, subsequent control is performed using the control method from the previous real-time approach.

[0048] Specifically, each outer ring electromagnet and each inner ring electromagnet are connected to a controller in parallel. The controller is configured to control the direction and magnitude of the current in at least one of the outer ring electromagnets and / or at least one of the inner ring electromagnets. That is, each inner ring electromagnet and each outer ring electromagnet can be controlled independently; both inner and outer ring electromagnets can be energized simultaneously, only one of them can be energized, or a portion of the inner and / or outer ring electromagnets can be energized.

[0049] Both the interaction between the inner ring electromagnet and the inner wall magnetic poles of the permanent magnet ring, or the interaction between the outer ring electromagnet and the outer wall magnetic poles of the permanent magnet ring, can achieve the purpose of active suspension adjustment. If either the inner or outer ring electromagnet fails, the other can serve as a last resort, allowing sufficient time for vehicle repair.

[0050] Of course, they can also be used together. The inner ring electromagnet and the outer ring electromagnet can interact with the inner and outer magnetic poles of the permanent magnet ring at the same time, and exert force on the permanent magnet ring at the same time, which can achieve actuator control more quickly.

[0051] Furthermore, each inner and outer ring electromagnet can be controlled independently. The circuit switching of individual inner and outer ring electromagnets can be controlled, and the direction and magnitude of the current can be adjusted to change the magnetic field direction and strength of the inner and outer ring electromagnets. This controls the direction and magnitude of the force exerted by the inner and outer ring electromagnets on the permanent magnet ring, achieving precise actuator control. Simultaneously, since some inner and outer ring electromagnets are not energized, energy is saved. Specifically, when the vehicle senses road surface undulations, the required displacement of the lower mounting section relative to the upper mounting section is determined based on the undulation data. The magnitude of the force required for this displacement is then calculated, and the number of ring electromagnets and permanent magnets needed to activate the suspension for extension and retraction is estimated. It is important to emphasize that when simultaneously controlling portions of the outer and inner ring electromagnets, the energized inner and outer ring electromagnets must be in the same position. Simultaneous control of the inner and outer electromagnets to provide upward or downward forces ensures stability during vertical movement. The purpose is to prevent tilting or contact friction between the hollow shaft or the inner and outer arms.

[0052] Energy feeding of linear motors

[0053] It is understood that the lower sleeve of the lower mounting part and the upper inner sleeve and upper outer sleeve of the upper mounting part constitute a linear actuator; the guide post of the lower mounting part and the upper inner sleeve of the upper mounting part constitute a linear generator.

[0054] When relative displacement occurs between the upper and lower mounting parts, the guide post will move within the first insertion space. Assuming the magnetic lines of force of the moving pole N on the guide post pass through the hollow shaft of the stator core and then return from the adjacent moving pole S to the moving yoke, forming a loop, when the moving pole moves a certain distance, and the moving pole continuously moves through the stator windings, the direction of the magnetic flux through the stator winding coils will reverse, inducing an alternating current potential in the stator winding coils. Figure 6 and Figure 7 As shown, the coils of adjacent stator windings are connected end-to-end, leaving one end lead out to form an AC linear generator. By adjusting the length and spacing of the toroidal mover poles, a single-phase AC linear generator or a three-phase AC linear generator can be obtained. As an example, assuming the figure shows a single-phase AC linear generator, to convert it into a three-phase AC linear generator, the length of the toroidal mover poles needs to be increased to approximately 2 tooth widths plus 2 slot widths, and the pole spacing should be 3 tooth widths plus 3 slot widths.

[0055] The scope of protection of this invention is defined only by the claims. Thanks to the teachings of this invention, those skilled in the art will readily recognize that alternative structures to the structures disclosed herein can be used as feasible alternative implementations, and that the implementations disclosed herein can be combined to produce new implementations, which also fall within the scope of the appended claims.

Claims

1. A linear motor-powered active suspension actuator, characterized in that, The device includes an upper mounting part (1) and a lower mounting part (2). The upper mounting part (1) includes an upper outer sleeve (13) and an upper inner sleeve (12) arranged concentrically. Multiple sets of annular electromagnets are embedded in the inner surface of the upper outer sleeve (13) and the outer surface of the upper inner sleeve (12). The lower mounting part (2) includes a lower sleeve (22) and a guide post (23). In the working state, the lower sleeve (22) extends between the upper outer sleeve (13) and the upper inner sleeve (12), and the guide post (23) extends into the upper inner sleeve (12). Multiple permanent magnet rings (19) are embedded in the lower sleeve (22). Each permanent magnet ring (19) corresponds to a set of annular electromagnets, and adjacent permanent magnet rings (19) are embedded in the lower sleeve (22). The permanent magnet ring (19) has opposite magnetic poles; the inner surface of the upper inner sleeve (12) is provided with a hollow shaft (121), and a magnetic isolation wall (123) is provided between the inner surface of the upper inner sleeve (12) and the hollow shaft (121). Multiple stator windings (122) are embedded in the inner surface of the hollow shaft (121); in the working state, the guide post (23) extends into the hollow shaft (121); wherein, the guide post (23) includes a straight shaft (231), a moving yoke (232) and multiple annular moving magnetic poles (233) arranged sequentially from the inside to the outside. Each annular moving magnetic pole (233) corresponds to a stator winding (122), and the magnetic flux directions of two adjacent annular moving magnetic poles (233) are opposite.

2. The linear motor-powered active suspension actuator as described in claim 1, characterized in that, The upper mounting part also includes an upper base (11), and the upper outer sleeve (13) and the upper inner sleeve (12) are concentrically arranged on the upper base (11).

3. The linear motor-powered active suspension actuator as described in claim 2, characterized in that, The lower mounting part also includes a lower base (21), and the lower sleeve (22) and guide post (23) are concentrically arranged on the lower base (21).

4. The linear motor-powered active suspension actuator as described in claim 3, characterized in that, The upper base (11) is provided with an upper lifting lug at the top, and the lower base (21) is provided with a lower lifting lug at the bottom.

5. A control method for a linear motor-powered active suspension actuator as described in any one of claims 1-4, characterized in that, The direction and magnitude of the current of the multiple outer ring electromagnets (16) located on the inner surface of the upper outer sleeve (13) and / or the multiple inner ring electromagnets (15) located on the outer surface of the upper inner sleeve (12) are controlled.

6. The control method for the linear motor-fed active suspension actuator as described in claim 5, characterized in that, The direction and magnitude of the current in at least one of the plurality of outer ring electromagnets (16) and / or at least one of the plurality of inner ring electromagnets (15) are controlled.

7. The control method for the linear motor-powered active suspension actuator as described in claim 5 or 6, characterized in that, When control is executed, multiple outer ring electromagnets (16) or multiple inner ring electromagnets (15) are staggered with multiple permanent magnet rings (19) to control the direction and magnitude of the current of the outer ring electromagnets (16) or multiple inner ring electromagnets (15) diagonally above and below the permanent magnet ring (19), thereby providing the permanent magnet ring (19) with an upward or downward resultant force.

8. The control method for the linear motor-fed active suspension actuator as described in claim 7, characterized in that, Multiple outer ring electromagnets (16) or multiple inner ring electromagnets (15) are positioned one-to-one with multiple permanent magnet rings (19). First, the direction and magnitude of the current of the outer ring electromagnets (16) or multiple inner ring electromagnets (15) above and below the permanent magnet rings (19) are controlled to provide an upward or downward resultant force to the permanent magnet rings (19), so that the multiple outer ring electromagnets (16) or multiple inner ring electromagnets (15) are staggered with the multiple permanent magnet rings (19). Then, the direction and magnitude of the current of the outer ring electromagnets (16) or multiple inner ring electromagnets (15) diagonally above and diagonally below the permanent magnet rings (19) are controlled to provide an upward or downward resultant force to the permanent magnet rings (19).

9. The control method for the linear motor-powered active suspension actuator as described in claim 5, characterized in that, When at least one of the outer ring electromagnet (16) and the inner ring electromagnet (15) is controlled at the same time, the positions of the energized inner and outer ring electromagnets must correspond to each other.

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