Multifunctional circuit interconnection suspension of whole vehicle

Abstract

The invention relates to the technical field of vehicle control, in particular to a circuit interconnection suspension system which comprises an electromagnetic shock absorber, a circuit interconnection network, a controllable power source and a controller, the electromagnetic shock absorber is arranged between a vehicle body and wheels and comprises a motor, and the motor is connected with the circuit interconnection network to form a current loop. The electromagnetic damper is used for converting mechanical energy of relative vibration of the vehicle body and the wheels into electric energy and / or converting electromagnetic torque generated by the electromagnetic damper into electromagnetic force for controlling the relative vibration of the vehicle body and the wheels; the circuit internet comprises parallel circuits connected between the same poles of any two motors and cross circuits connected between the different poles of any two motors, and the parallel circuits and the cross circuits form a plurality of branches to form the circuit internet; the controller controls the operation state of the motor through the controllable power supply circuit, and control over vertical movement, pitching movement, side tilting movement and warping movement of the circuit interconnection suspension is achieved through the circuit interconnection network. The system has the advantages of being high in response speed, high in energy conversion efficiency and the like, the riding comfort of the vehicle can be improved while the operation stability of the vehicle is guaranteed, the vehicle can adapt to various different road conditions, the control cost of a vehicle interconnection module can be reduced, and the user experience is fully improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a circuit interconnection suspension system. Background Art

[0002] At present, vehicle suspension can be divided into many types, such as mechanical suspension, hydraulic suspension, air suspension and electromagnetic suspension. Certain technical means are used to connect multiple independent suspension systems into an interconnected suspension system. Among them, connecting multiple mechanical suspensions with a certain mechanical structure can form a mechanical interconnected suspension; connecting multiple hydraulic suspensions with the help of hydraulic pipelines forms a hydraulic interconnected suspension; similarly, connecting multiple air suspensions with air pipelines can form an air interconnected suspension; connecting multiple electromagnetic suspensions can form a circuit interconnected suspension, and the circuit interconnected suspension is a new suspension system composed of circuit elements and circuit network technology combined with electromagnetic shock absorbers. It uses electromagnetic shock absorbers to replace traditional hydraulic cylinders, and replaces traditional hydraulic pipelines with circuit interconnection networks to achieve connection between electromagnetic shock absorbers. Compared with other interconnected suspension systems, the circuit interconnected suspension has significant advantages and broad application prospects.

[0003] Currently, interconnected suspension systems are mostly implemented using traditional technologies such as mechanical and hydraulic pipelines. However, mechanical and hydraulic components are expensive and have relatively poor controllability. The connection process of multiple hydraulic or mechanical components is complicated, resulting in high energy consumption and costs. Summary of the invention

[0004] In order to solve the technical problems that the existing interconnected suspension system adopts traditional technologies such as mechanical and hydraulic pipelines, which are high in cost, complicated in connection process and poor in controllability, the purpose of the present invention is to provide a vehicle multifunctional circuit interconnected suspension. The technical scheme adopted is as follows: the system includes an electromagnetic shock absorber, a circuit interconnection network, a controllable power supply and a controller.

[0005] The electromagnetic shock absorber is arranged between the vehicle body and the wheel, and comprises a motor, wherein the motor is connected to the circuit interconnection network to form a current loop, and is used to convert the mechanical energy of the relative vibration between the vehicle body and the wheel into electrical energy, and / or convert the electromagnetic torque generated by the electromagnetic shock absorber into an electromagnetic force for controlling the relative vibration between the vehicle body and the wheel;

[0006] The circuit interconnection network includes parallel circuits connected between the same poles of any two motors, and / or cross circuits between different poles, wherein each parallel circuit and each cross circuit constitutes a plurality of branches, thereby forming a circuit interconnection network;

[0007] The controller controls the running state of the motor through the controllable power supply circuit, and further realizes the control of the vertical movement, pitch movement, roll movement and warping movement of the circuit interconnected suspension through the circuit interconnection network.

[0008] Preferably, the parallel circuit and the cross circuit are variable damping circuits, variable stiffness circuits, variable capacitance circuits, and any parallel combination circuits of variable damping circuits, variable stiffness circuits and variable capacitance circuits; the variable damping circuit is an adjustable resistor, the variable stiffness circuit is an adjustable resistor and an inductor connected in series, and the variable capacitance circuit is an adjustable resistor and a capacitor connected in series.

[0009] Preferably, the controllable power supply circuit is connected in series in the power supply circuit of the motor, and includes a power supply and four MOS tubes forming an H-bridge circuit.

[0010] Preferably, the controller controls the circuit interconnected suspension to be in an active mode and / or a semi-active mode by controlling the conduction and cutoff of four MOS tubes. In the active mode, the motor is an electric motor, which outputs active force to the outside to control the vibration of the vehicle body; in the semi-active mode, the motor is a generator, which controls the resistance of the variable damping circuit in each branch of the interconnected circuit network to control the output force and torque of the circuit interconnected suspension to control the vibration of the vehicle body.

[0011] Preferably, the motors in front of the vehicle body are numbered 1 and 2, and the motors in the rear of the vehicle body are numbered 3 and 4, and the motors 1 and 3, 2 and 4 are respectively arranged on the same side; the parallel circuits are Y1, Y2, and Y3, and the cross circuits are Y4, Y5, and Y6, and Y1 is a parallel circuit between 1 and 3 and between 2 and 4; Y2 is a parallel circuit between 1 and 2 and between 3 and 4; Y3 is a parallel circuit between 1 and 4 and between 2 and 3; Y4 is a cross circuit between 1 and 3 and between 2 and 4; Y5 is a cross circuit between 1 and 2 and between 3 and 4; and Y6 is a cross circuit between 1 and 4 and between 2 and 3;

[0012] The Y1 is used to control the pitching and warping motions of the circuit interconnection suspension;

[0013] The Y2 is used to control the roll motion and warping motion of the circuit interconnected suspension;

[0014] The Y3 is used to control the pitching and rolling movements of the circuit interconnected suspension;

[0015] The Y4 is used to control the vertical movement and roll movement of the circuit interconnection suspension;

[0016] The Y5 is used to control the vertical movement and pitch movement of the circuit interconnection suspension;

[0017] The Y6 is used to control the vertical movement and warping movement of the circuit interconnection suspension.

[0018] Preferably, the parallel circuit Y3 and the cross circuit Y6 are arranged and combined to form a four-port interconnected network, and the force control circuit generated by the motors of the electromagnetic shock absorbers 1 and 4, and the motors 2 and 3 in the parallel circuit Y3 interconnects the pitch motion and roll motion of the suspension, and the force control circuit generated in the cross circuit Y6 interconnects the vertical motion and warping motion of the suspension.

[0019] Preferably, the parallel circuits Y1, Y2 and the cross circuit Y6 are arranged and combined to form a four-port interconnected network, the force control circuit generated by the motors of the electromagnetic shock absorbers 1 and 3, and the motors of 2 and 4 in the parallel circuit Y1 interconnects the roll motion and warping motion of the suspension, the force control circuit generated by the motors of the electromagnetic shock absorbers 1 and 2, and the motors of 3 and 4 in the parallel circuit Y2 interconnects the pitch motion and warping motion of the suspension, and the force control circuit generated by the motors of the electromagnetic shock absorbers 1 and 4, and the motors of 2 and 3 in the cross circuit Y6 interconnects the vertical motion and warping motion of the suspension.

[0020] The present invention has the following beneficial effects:

[0021] 1. The circuit interconnected suspension system uses electromagnetics as actuators to replace the hydraulic cylinders in the traditional hydraulic interconnected suspension. From the perspective of quality, the weight of the entire system is reduced by removing the hydraulic cylinders. In terms of volume, the electromagnetic shock absorber is small in size, easy to integrate, low in cost and easy to maintain. In addition, the electromagnetic shock absorber can achieve more precise control, and the system performance is more stable and controllable.

[0022] 2. Parallel circuits and cross circuits form multiple branches to form a circuit interconnection network. Each branch can use different circuit structures to enable the electrically interconnected suspension to exhibit different mechanical characteristics. Through different connection methods, the motor can be controlled to output electromagnetic forces in different directions. In the circuit interconnection suspension system, multiple controllable circuit elements in the interconnected circuit network can be controlled separately at the same time to redistribute the recovered vibration energy, thereby achieving decoupling control of the vibration in each degree of freedom direction of the vehicle body. The output of each motor can also be independently controlled to achieve precise control of the vibration of the vehicle body. In addition, the present invention has the advantages of fast response speed and high energy conversion efficiency. While ensuring the operational stability of the vehicle, it can also improve the ride comfort of the vehicle, enable the vehicle to adapt to a variety of different road conditions, and reduce the control cost of the vehicle interconnection module, fully improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the overall structure of a circuit interconnection suspension system provided by an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the structure of an electromagnetic vibration absorber of a circuit interconnected suspension system provided by an embodiment of the present invention;

[0026] Figure 2 middle:

[0027] 1. Upper joint; 2. Motor protection shell; 3. Motor; 4. Coupling; 5. Screw nut; 6. Screw; 7. Screw housing; 8. Lower joint;

[0028] Figure 3 A schematic diagram of the principle of a parallel circuit of a circuit interconnection suspension system provided by an embodiment of the present invention, wherein (a) is a schematic diagram of a circuit in which the motors on both sides rotate in the same direction, and (b) is a schematic diagram of a circuit in which the motors on both sides rotate in opposite directions;

[0029] Figure 4 A schematic diagram of the principle of a crossover circuit of a circuit interconnection suspension system provided by an embodiment of the present invention, wherein (a) is a schematic diagram of a circuit in which the motors on both sides rotate in the same direction, and (b) is a schematic diagram of a circuit in which the motors on both sides rotate in opposite directions;

[0030] Figure 5 A circuit diagram of a circuit component of a circuit interconnection suspension system provided by an embodiment of the present invention, wherein (a) is a circuit diagram of variable damping, (b) is a circuit diagram of variable stiffness, and (c) is a circuit diagram of variable inertia;

[0031] Figure 6 A schematic diagram of a circuit combination of variable damping, variable stiffness, and variable inertia of a circuit interconnected suspension system provided by an embodiment of the present invention, wherein (a) is a variable damping circuit and a variable stiffness circuit connected in parallel, (b) is a variable damping circuit and a variable inertia circuit connected in parallel, and (c) is a variable damping circuit, a variable stiffness circuit, and a variable inertia circuit connected in parallel;

[0032] Figure 7 A circuit diagram of a controllable power supply of a circuit interconnection suspension system provided by one embodiment of the present invention;

[0033] Figure 8 A circuit diagram of an active mode and a semi-active mode integrated circuit of a circuit interconnection suspension system provided by an embodiment of the present invention;

[0034] Fig. 9 A schematic diagram of a circuit interconnection network of a circuit interconnection suspension system provided by an embodiment of the present invention;

[0035] Fig.10 A schematic diagram of the principle analysis of parallel installation of two electromagnetic vibration absorbers of a circuit interconnection suspension system provided by one embodiment of the present invention;

[0036] Fig.11 A schematic diagram of the principle of realizing decoupling control of branch impedance of a circuit interconnection suspension system provided by one embodiment of the present invention;

[0037] Fig.12 A schematic circuit diagram of an interconnected circuit network of a circuit interconnected suspension system provided by one embodiment of the present invention, wherein (a) is a parallel circuit Y1, (b) is a parallel circuit Y2, (c) is a parallel circuit Y3, (d) is a cross circuit Y4, (e) is a cross circuit Y5, and (f) is a cross circuit Y6;

[0038] Fig.13 A circuit diagram of a four-port interconnection network of a circuit interconnection suspension system provided by an embodiment of the present invention Figure 1 ;

[0039] Fig.14 A circuit diagram of a four-port interconnection network of a circuit interconnection suspension system provided by an embodiment of the present invention Figure 2 ;

[0040] Fig.15 A circuit diagram of a four-port interconnection network of a circuit interconnection suspension system provided by an embodiment of the present invention Figure 3 . DETAILED DESCRIPTION

[0041] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation, structure, features and effects of a circuit interconnection suspension system proposed according to the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0042] Unless defined otherwise, 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 belongs.

[0043] The specific scheme of a vehicle multifunctional circuit interconnection suspension provided by the present invention is described in detail below with reference to the accompanying drawings.

[0044] Example 1, please combine Figure 1-Figure 4 The system includes an electromagnetic vibration absorber, a circuit interconnection network, a controllable power supply and a controller.

[0045] An electromagnetic shock absorber is arranged between the vehicle body and the wheel, and includes a motor, which is connected to an interconnection network of circuits to form a current loop, and is used to convert mechanical energy of relative vibration between the vehicle body and the wheel into electrical energy, and / or convert electromagnetic torque generated by the electromagnetic shock absorber into electromagnetic force for controlling the relative vibration between the vehicle body and the wheel;

[0046] The circuit interconnection network includes parallel circuits connected between the same poles of any two motors, and / or cross circuits between different poles, each parallel circuit and each cross circuit forming a plurality of branches, thereby forming a circuit interconnection network;

[0047] The controller controls the operating state of the motor through a controllable power supply circuit, and further realizes the control of the vertical movement, pitch movement, roll movement and warping movement of the circuit interconnected suspension through a circuit interconnection network.

[0048] To explain better, the circuit interconnection network is composed of circuits and controllable circuit components, and has multiple ports. The parameters of the control circuit components can change the circuit characteristics of each port. The interconnected suspension connects multiple shock absorbers of the vehicle through mechanical, hydraulic, oil and gas pipelines to decouple the vibration of the vertical, pitch or roll freedom of the vehicle body, realize the separate configuration of the mechanical characteristics of each vibration freedom degree of the vehicle, and solve the contradiction between vehicle smoothness and handling stability.

[0049] The electromagnetic vibration absorber of this embodiment also includes an upper joint 1, a motor protection shell 2, a coupling 4, a screw nut 5, a screw 6, a screw housing 7 and a lower joint 8. The motor 3 is connected to the screw 6 through the coupling 4, the screw nut 5 is fixedly connected to the lower joint 8 through the screw housing 7, and the motor protection shell 2 is sleeved on the motor 3 and fixedly connected to the upper joint 1.

[0050] When the upper and lower joints of the electromagnetic shock absorber move back and forth linearly relative to each other, the ball screw 6 drags the coil on the rotor of the motor 3 to rotate back and forth in the magnetic field, converting the mechanical energy of the relative vibration of the vehicle body and the wheel into electrical energy; at the same time, the coil on the rotor of the motor 3 will generate an electromagnetic torque when carrying an electric current, and the electromagnetic torque is converted into an electromagnetic force for controlling the mutual vibration of the vehicle body and the wheel through the action of the coupling 4 and the screw 6. This setting can improve the driving stability and driving comfort of the vehicle; the motors 3 of the four electromagnetic shock absorbers of the whole vehicle are connected to the circuit interconnection network to form a current loop, and the controller generates a control signal to change the current in the circuit interconnection network to achieve vibration control of the vehicle body and the wheel, ensuring that the vehicle can maintain good driving performance under various road conditions; the circuit interconnection suspension system uses electromagnetics as actuators to replace the hydraulic cylinders in the traditional hydraulic interconnection suspension. From the perspective of quality, the weight of the entire system is reduced by removing the hydraulic cylinders; and in terms of volume, the electromagnetic shock absorber is small in size, easy to integrate, low in cost, and easy to maintain; in addition, the electromagnetic shock absorber can achieve more precise control, and the system performance is more stable and better controllable.

[0051] The parallel circuit connects the nominal positive poles of the DC motors of the two electromagnetic shock absorbers to the positive poles, and the negative poles to the negative poles. When the DC motors on both sides rotate in the same direction, the motors on both sides generate voltages in the same direction, and the currents i1 and i2 in the circuit are zero. The two electromagnetic shock absorbers do not output electromagnetic force, that is, voltages in the same direction will not generate power for current to flow, indicating that the circuit is in a static state and does not play any damping role. When the motors on both sides rotate in opposite directions, the motors on both sides generate reverse voltages, and the currents i1 and i2 in the circuit are related to the impedance z1. The electromagnetic shock absorbers on both sides output electromagnetic forces in opposite directions, that is, the reverse voltage causes the current in the circuit to start flowing, and the magnitude of the current is related to the resistance, and the electromagnetic forces in opposite directions act on the vehicle body to achieve the effect of vibration reduction.

[0052] The cross circuit connects the nominal positive pole and negative pole of the DC motors of the two electromagnetic shock absorbers, and the negative pole and positive pole. When the DC motors on both sides rotate in the same direction, the motors on both sides generate voltages in the same direction, the currents i1 and i2 in the circuit are related to the impedance z2, and the electromagnetic shock absorbers on both sides output electromagnetic forces in the same direction; when the motors on both sides rotate in opposite directions, the motors on both sides generate reverse voltages, the currents i1 and i2 in the circuit are zero, and the electromagnetic shock absorbers on both sides do not output electromagnetic forces.

[0053] In summary, the parallel circuit controls the electromagnetic forces of the electromagnetic shock absorbers on both sides to output in opposite directions, so as to achieve the effect of isolating vibration; the cross circuit controls the electromagnetic forces of the electromagnetic shock absorbers on both sides to output in the same direction. In actual situations, the output forces of the two electromagnetic shock absorbers can always be decomposed into a pair of forces in opposite directions and a pair of forces in the same direction, which can be controlled by parallel and cross circuits respectively; each parallel damping circuit and each cross damping circuit constitute multiple branches to form a circuit interconnection network, which can simplify the vibration control of each vibration freedom degree of the vehicle. The controller controls the running state of the motor through the controllable power supply circuit, thereby realizing the switching of the circuit interconnection suspension between the active mode and the semi-active mode. .

[0054] Combination Figure 5-Figure 7 The parallel circuit and the cross circuit are variable damping circuit, variable stiffness circuit, variable inertia capacitance circuit, and any parallel combination circuit of variable damping circuit, variable stiffness circuit and variable inertia capacitance circuit; the variable damping circuit is an adjustable resistor, the variable stiffness circuit is an adjustable resistor and an inductor in series, and the variable inertia capacitance circuit is an adjustable resistor and a capacitor in series; this setting enables the variable damping effect, variable stiffness effect and variable inertia capacitance effect of the circuit to be achieved by adjusting the resistance value, thereby making the circuit performance more flexible and diversified, expanding the application range of the circuit, and improving the adjustability and controllability of the circuit.

[0055] It should be noted that the variable damping circuit is mainly used to adjust the damping force of the circuit interconnection suspension. By changing the resistance value in the circuit, the damping performance of the circuit interconnection suspension is adjusted; the variable stiffness circuit is mainly responsible for adjusting the stiffness coefficient of the circuit interconnection suspension. By changing the resistance value of the resistor in series with the inductor in the circuit, the stiffness of the circuit interconnection suspension can be adjusted in real time; the variable inertia capacitance circuit can adjust the inertia capacitance characteristics of the circuit interconnection suspension by changing the capacitance value in the circuit. The principles of variable damping, variable stiffness and variable inertia capacitance are:

[0056] The impedances of basic circuit components and mechanical components are shown in Table 1, where j is the imaginary unit and ω represents the frequency.

[0057]

[0058] Table 1 Impedance of circuit components and mechanical elements

[0059] When circuit elements with impedances A and B are connected in series, the total impedance Z is:

[0060] Z=A+B

[0061] When the resistor R is connected in series with the inductor L, the total impedance is:

[0062] Z=R+jωL

[0063] When the resistor R is connected in series with the capacitor C, the total impedance is:

[0064]

[0065] The real part of the total impedance represents the equivalent resistance, and the imaginary part represents the equivalent inductance or capacitance.

[0066] The voltage e generated at both ends of the motor of the electromagnetic shock absorber is:

[0067]

[0068] The transmission ratio of the ball screw is r g , the torque constant of the motor is k e , The relative movement speed of the two ends of the electromagnetic shock absorber. The relationship between the motor output force F and the current i:

[0069] F=-ir g k i

[0070] The output force of the motor is:

[0071]

[0072] When the circuit connected to the motor is a resistor R and an inductor L in series, the equivalent damping c and equivalent stiffness k of the electromagnetic shock absorber are:

[0073]

[0074] When the circuit connected to the motor is a resistor R and an inductor L in series, the equivalent damping c and equivalent inertia b of the electromagnetic shock absorber are:

[0075]

[0076] When the circuit connected to the motor is a resistor R, the equivalent damping c of the electromagnetic shock absorber is:

[0077]

[0078] Adjusting the value of the resistor R can change the equivalent damping, stiffness and inertia of the electromagnetic shock absorber, thus realizing the functions of variable damping, variable stiffness and variable inertia.

[0079] Any parallel combination of the variable damping circuit, the variable stiffness circuit and the variable inertia circuit is any two circuits connected in parallel with each other, and any three circuits connected in parallel. By controlling the resistance value of the resistor in the circuit, the electromagnetic shock absorber can easily exhibit mechanical characteristics of variable damping, variable equivalent stiffness and variable equivalent inertia. The convenience and responsiveness of adjusting the mechanical characteristics of the suspension by controlling the circuit elements are unmatched by mechanical or hydraulic suspension.

[0080] The controllable power supply circuit of this embodiment is connected in series in the power supply circuit of the motor, including a power supply and four MOS tubes forming an H-bridge circuit, that is, controlling the rotation direction and speed of the motor. The MOS tube controls the flow direction of the current. According to the instructions of the controller, the four MOS tubes are controlled to be turned on or off, the steering direction of the electromagnetic shock absorber is adjusted, and the direction of the output force in the system is controlled to meet the driving requirements of the vehicle.

[0081] Specifically, the four MOS tubes are defined as S1, S2, S3 and S4. When the circuit-interconnected suspension is in semi-active mode, that is, when the electromagnetic shock absorber converts the mechanical energy of the relative vibration of the vehicle body and the wheel into electrical energy and simultaneously generates an electromagnetic force that hinders the relative vibration of the vehicle body and the wheel, S1 and S2 or S3 and S4 are turned on; when the circuit-interconnected suspension is in active mode, that is, by controlling the active torque output by the motor in the electromagnetic shock absorber to control the relative movement of the vehicle body and the wheel, S1 and S3 or S2 and S4 are turned on.

[0082] By controlling the resistance value of the resistor in the circuit interconnection network, the performance of the electromagnetic shock absorber can be adjusted relatively easily, so that it can exhibit dynamically changing damping effects, equivalent stiffness and equivalent inertia characteristics. This setting enables the electromagnetic shock absorber to flexibly adjust its own mechanical properties according to different driving conditions and working environments, and better adapt to the dynamic needs of the vehicle; the convenience and responsiveness of adjusting the circuit interconnection suspension system through circuit elements are unattainable by traditional mechanical or hydraulic suspension systems. The electromagnetic shock absorber can respond to the vibration and dynamic changes of the vehicle within milliseconds through circuit control, and adjust its working state in real time to maintain the stability and comfort of the vehicle.

[0083] refer to Figure 7 and Figure 8 In this embodiment, the controller controls the circuit interconnection suspension to be in active mode and / or semi-active mode by controlling the conduction and cutoff of four MOS tubes. In the active mode, the motor is an electric motor, which outputs active force to the outside to control the relative vibration of the vehicle body and wheels; in the semi-active mode, the motor is a generator, and the output force and torque of the circuit interconnection suspension are controlled by controlling the resistance of the variable damping circuit in each branch of the interconnection circuit network to control the vibration of the vehicle body. In the active mode, the motor in each electromagnetic shock absorber is controlled to output active torque to control the movement of the vehicle body; in the semi-active mode, the electromagnetic shock absorber converts the mechanical energy of the relative vibration of the vehicle body and wheels into electrical energy, and the power supply does not supply power to the motor. At this time, the motor in the electromagnetic shock absorber is equivalent to a generator. By controlling the resistance of the variable resistor in each branch of the interconnection circuit network, the output force of each electromagnetic shock absorber can be controlled to control the vibration of the vehicle body.

[0084] Combine as follows Fig.10 and Fig.11 , specifically explain the design principles of interconnection circuits.

[0085] Based on the situation of interconnecting two electromagnetic shock absorbers to form an electromagnetic suspension, the motors in the two electromagnetic shock absorbers are two voltage sources, and their induced voltage is e l and e r , the internal impedance is z m , the current flowing inside is i l and i r , at this time the interconnection circuit can be regarded as a two-port circuit network, and the corresponding expression is:

[0086] e l -z m i l =z 11 i l +z 12 i r

[0087] e r -z m i r =z 21 i l +z 22 i r

[0088] where z 11 and z 22 is the driving impedance of the two-port circuit network; z 12 and z 21 is the transmission impedance; when the two-port circuit network is symmetrical, z 11 =z 22 ; When there is no independent power supply inside the two-port circuit network, z 12 =z 21 That is, the two parameters in the circuit are controlled separately to realize the separate control of the vibration of the two degrees of freedom, and then the decoupling control of the two degrees of freedom of the vehicle is realized. Therefore, when there is no independent power supply in the circuit interconnection network and it is symmetrical, it can be z 11 and z 12 Two parameters are represented.

[0089] refer to Fig.10 Based on the situation that two electromagnetic shock absorbers are installed in parallel, the control of two degrees of freedom motion is realized, where the output forces of the two electromagnetic shock absorbers are F l and F r , l represents half of the distance between the points of action of the two electromagnetic shock absorbers, then the two output forces of the two electromagnetic shock absorbers constitute a total force F and a torque T:

[0090] F=F l +F r

[0091] T=(-F l +Fr )

[0092] At this time, the expansion and contraction of the electromagnetic shock absorbers on the left and right sides satisfy the relationship:

[0093] z sl =z s -lθ s

[0094] z sr =z s +lθ s

[0095] Motor output force:

[0096] F l =-i l r g k i

[0097] F r =-i r r g k i

[0098] Among them, k i Represents the torque constant of the motor, r g represents the transmission ratio of the mechanism that can convert the motor output torque into output force; based on the conversion relationship of the above relationship, the total force F, torque T and driving impedance z are obtained respectively 11 、z 12 The relational expression is:

[0099]

[0100]

[0101] refer to Fig.11 , interconnecting two electromagnetic shock absorbers to form an electromagnetic suspension to control the movement of two degrees of freedom. The interconnected circuit network consists of two controllable branch circuits, which can control different branches to control different movements. At this time, the impedances of the two branches are z1 and z2 respectively. Through the different connection relationships of the parallel circuit and the cross 8 circuit, the driving impedance z 11 and z 12 The relationship is:

[0102]

[0103]

[0104] Then, through relationship conversion, the relationship between the total force F and the torque T, the branch impedance z1, z2, and the expansion and contraction of the different electromagnetic shock absorbers on both sides is obtained as follows:

[0105]

[0106]

[0107] At this time, by controlling z2, F can be controlled, thereby controlling z s , controlling z1 can control T and thus θ s , thereby realizing decoupling control of the vehicle.

[0108] Combination Figure 3-Figure 4 and Fig.12 Specifically, the motors in front of the vehicle body are numbered 1 and 2, the motors in the rear of the vehicle body are numbered 3 and 4, and the motors 1 and 3, 2 and 4 are respectively arranged on the same side; the parallel circuits are Y1, Y2, and Y3, and the cross circuits are Y4, Y5, and Y6, Y1 is a parallel circuit between 1 and 3 and between 2 and 4; Y2 is a parallel circuit between 1 and 2 and between 3 and 4; Y3 is a parallel circuit between 1 and 4 and between 2 and 3; Y4 is a cross circuit between 1 and 3 and between 2 and 4; Y5 is a cross circuit between 1 and 2 and between 3 and 4; Y6 is a cross circuit between 1 and 4 and between 2 and 3;

[0109] Y1 is used to control the pitching and warping motions of the interconnected circuit suspension; that is, Y1 will cause electromagnetic shock absorbers 1 and 3 to generate a pair of forces of equal magnitude and opposite directions, and electromagnetic shock absorbers 2 and 4 to generate a pair of forces of equal magnitude and opposite directions; when the two pairs of forces are of equal magnitude and direction, that is, the output forces of electromagnetic shock absorbers 1 and 2 are in the same direction, the pitching motion of the interconnected circuit suspension is affected; when the two pairs of forces are of equal magnitude and opposite directions, that is, the output forces of electromagnetic shock absorbers 1 and 2 are in opposite directions, the warping motion of the interconnected circuit suspension is affected.

[0110] Y2 is used to control the roll motion and warping motion of the circuit interconnection suspension; that is, Y2 will cause electromagnetic shock absorbers 1 and 2 to generate a pair of forces of equal magnitude and opposite directions, and electromagnetic shock absorbers 3 and 4 to generate a pair of forces of equal magnitude and opposite directions; when the two pairs of forces are equal in magnitude and direction, that is, the output forces of electromagnetic shock absorbers 1 and 3 are in the same direction, the roll motion of the circuit interconnection suspension is affected, and when the two pairs of forces are equal in magnitude and opposite in direction, that is, the output forces of electromagnetic shock absorbers 1 and 3 are in opposite directions, the warping motion of the circuit interconnection suspension is affected.

[0111] Y3 is used to control the pitching motion and rolling motion of the interconnected circuit suspension; that is, Y3 will cause electromagnetic shock absorbers 1 and 4 to generate a pair of forces of equal magnitude and opposite directions, and electromagnetic shock absorbers 2 and 3 to generate a pair of forces of equal magnitude and opposite directions. When the two pairs of forces are equal in magnitude and direction, that is, the output forces of electromagnetic shock absorbers 1 and 2 are in the same direction, the pitching motion of the interconnected circuit suspension is affected. When the two pairs of forces are equal in magnitude and opposite in direction, that is, the output forces of electromagnetic shock absorbers 1 and 2 are in opposite directions, the rolling motion of the interconnected circuit suspension is affected.

[0112] Y4 is used to control the vertical movement and roll movement of the interconnected circuit suspension; that is, Y4 will cause electromagnetic shock absorbers 1 and 3 to generate a pair of forces of the same magnitude and direction, and electromagnetic shock absorbers 2 and 4 to generate a pair of forces of the same magnitude and direction. When these two pairs of forces are of the same magnitude and direction, that is, when the output forces of electromagnetic shock absorbers 1 and 2 are in the same direction, the vertical movement of the interconnected circuit suspension is affected. When these two pairs of forces are of the same magnitude and opposite direction, that is, when the output forces of electromagnetic shock absorbers 1 and 2 are in opposite directions, the roll movement of the interconnected circuit suspension is affected.

[0113] Y5 is used to control the vertical movement and pitch movement of the circuit interconnection suspension; that is, Y5 will cause electromagnetic shock absorbers 1 and 4 to generate a pair of forces of the same magnitude and direction, and electromagnetic shock absorbers 2 and 3 to generate a pair of forces of the same magnitude and direction. When these two pairs of forces have the same magnitude and direction, that is, when the output forces of electromagnetic shock absorbers 1 and 2 are in the same direction, the vertical movement of the circuit interconnection suspension is affected. When these two pairs of forces have the same magnitude and opposite directions, that is, when the output forces of electromagnetic shock absorbers 1 and 2 are in opposite directions, the pitch movement of the circuit interconnection suspension is affected.

[0114] Y6 is used to control the vertical movement and warping movement of the circuit interconnection suspension; that is, Y6 will cause electromagnetic shock absorbers 1 and 2 to generate a pair of forces of the same magnitude and direction, and electromagnetic shock absorbers 3 and 4 to generate a pair of forces of the same magnitude and direction. When these two pairs of forces have the same magnitude and direction, that is, when the output forces of electromagnetic shock absorbers 1 and 3 are in the same direction, the vertical movement of the circuit interconnection suspension is affected. When these two pairs of forces have the same magnitude and opposite directions, that is, when the output forces of electromagnetic shock absorbers 1 and 3 are in opposite directions, the warping movement of the circuit interconnection suspension is affected.

[0115] It should be noted that, in the above-mentioned six branches Y, in actual processes, the magnitude and direction of the two pairs of forces generated in each branch Y are arbitrary, but can always be decomposed into a combination of a pair of forces of the same magnitude and direction and a pair of forces of the same magnitude and opposite direction. Therefore, any branch Y will simultaneously affect the two movements of the circuit interconnection suspension.

[0116] Based on the differences in circuit elements and connection methods, six different parallel circuits and cross circuits can be obtained. Through different circuit interconnection networks, the vibration control of each vibration degree of freedom of the vehicle can be simplified; specifically, different connection methods between electromagnetic shock absorbers can control the electromagnetic shock absorbers to output electromagnetic forces in different directions, and in the circuit interconnection suspension system, multiple controllable circuit elements in the interconnected circuit network can be controlled separately at the same time, and the recovered vibration energy can be redistributed, thereby realizing decoupling control of vibrations in various degrees of freedom directions of the vehicle body, that is, the output of each electromagnetic shock absorber can be independently controlled to achieve precise control of vehicle body vibration, and it also has the advantages of fast response speed and high energy conversion efficiency; optionally, the resistor can be a local circuit composed of other circuit elements or multiple circuit elements.

[0117] Combining two or more basic circuit models can form a more complex interconnected circuit network, which can realize the control of different movements such as vertical, pitch, roll and warping in the circuit interconnected suspension, so that the circuit system can achieve more precise and independent control effects during operation. Through flexible circuit interconnection network design, the performance and efficiency of the entire system can be improved, providing effective solutions for control needs in various complex scenarios.

[0118] refer to Fig.12 and Fig.13 The parallel circuit Y3 and the cross circuit Y6 are arranged and combined to form a four-port interconnected network. The motors of the electromagnetic shock absorbers 1 and 4, and the motors 2 and 3 generate force control circuits in the parallel circuit Y3 to interconnect the pitch motion and roll motion of the suspension. The force control circuits generated in the cross circuit Y6 interconnect the vertical motion and warping motion of the suspension. Although this interconnected circuit network structure cannot achieve complete decoupling of multiple degrees of freedom, it can divide the four degrees of freedom motion into two groups, reducing the control difficulty.

[0119] Specifically, the forces generated by the motors 1 and 4, and the motors 2 and 3 of the electromagnetic shock absorbers in the parallel circuit Y3 control the pitch and roll motions of the circuit-interconnected suspension. At this time, the motors of the electromagnetic shock absorbers generate forces in opposite directions through parallel connection to form a difference to control the pitch and roll motions, wherein the pitch motion refers to the up and down motion on the front and rear axis of the circuit-interconnected suspension, that is, the reverse up and down motions of 1 and 2, 3 and 4 are controlled; the roll motion refers to the lateral tilting motion of the circuit-interconnected suspension, that is, the reverse up and down motions of 1 and 3, 2 and 4 are controlled. ; The forces generated by the motors of electromagnetic shock absorbers 1 and 4, and the motors of 2 and 3 in the cross circuit Y6 control the vertical movement and warping movement of the circuit-interconnected suspension, that is, the motors generate forces in the same direction through cross-connection to form a combined force to control the vertical and warping movement of the circuit-interconnected suspension, wherein the vertical movement refers to the up and down movement of the circuit-interconnected suspension as a whole, that is, controlling the overall changes of 1, 2, 3 and 4 in the vertical direction; the warping movement refers to the movement in the opposite direction of the diagonal electromagnetic shock absorbers, that is, controlling the reverse up and down movement of 1 and 4, 2 and 3.

[0120] refer to Fig.12 and Fig.14The parallel circuits Y1, Y2 and the cross circuit Y6 are arranged and combined to form a four-port interconnected network. The motors of the electromagnetic absorbers 1 and 3, and the motors 2 and 4 in the parallel circuit Y1 generate a force control circuit to interconnect the roll vibration and warping motion of the suspension. The motors of the electromagnetic absorbers 1 and 2, and the motors 3 and 4 in the parallel damping circuit Y2 generate a force control circuit to interconnect the pitch vibration and warping motion of the suspension. The motors of the electromagnetic absorbers 1 and 4, and the motors 2 and 3 in the cross circuit Y6 generate a force control circuit to interconnect the vertical vibration and warping motion of the suspension.

[0121] Specifically, the force control circuits of the electromagnetic shock absorbers 1 and 3, and the motors 2 and 4 in the parallel circuit Y1 generate a roll motion and a warping motion of the interconnected suspension, that is, the motors are connected in parallel to form a force difference, which controls the reverse up and down motion of 1 and 3, 2 and 4, and the reverse up and down motion of 1 and 4, 2 and 3; the force control circuits of the electromagnetic shock absorbers 1 and 2, and the motors 3 and 4 in the parallel circuit Y2 generate a pitch motion and a warping motion of the interconnected suspension, at this time, the motors are still connected in parallel to form a force difference, which controls the reverse up and down motion of 1 and 2, 3 and 4, and the reverse up and down motion of 1 and 4, 2 and 3; the electromagnetic shock absorbers 1 and 4 The force generated by the motors 1, 2 and 3 in the cross circuit Y6 controls the vertical movement and warping movement of the circuit-interconnected suspension, that is, the motors form a combined force through cross-connection, controlling the overall vertical change of 1, 2, 3 and 4, and controlling the reverse up and down movement of 1 and 4, 2 and 3; it can be explained that in the four-port interconnection network, the vertical, pitch and roll motion states of the circuit-interconnected suspension system are only related to branches Y6, Y2 and Y1, respectively, while the warping motion state is related to branches Y6, Y2 and Y1. Changing Y6, Y2 and Y1 in the circuit interconnection network can realize the decoupling control of the vertical, pitch and roll motion states of the circuit-interconnected suspension system.

[0122] refer to Fig.12 and Fig.15As an optional implementation, the parallel circuits Y1, Y2 and the cross circuits Y4, Y5 are arranged in combination to form a four-port interconnection network; specifically, the motors of the electromagnetic shock absorbers 1 and 3, and the motors of 2 and 4 in the parallel circuit Y1 generate a force control circuit to interconnect the roll motion and warping motion of the suspension, that is, to control the reverse up and down motion of 1 and 3, 2 and 4, and to control the reverse up and down motion of 1 and 4, 2 and 3; the motors of the electromagnetic shock absorbers 1 and 2, and the motors of 3 and 4 in the parallel circuit Y2 generate a force control circuit to interconnect the pitch motion and warping motion of the suspension, that is, to control the reverse up and down motion of 1 and 2, 3 and 4, and to control the reverse up and down motion of 1 and 4, 2 and 3; the motors of the electromagnetic shock absorbers 1 and 3, and the motors of 2 and 4 in the cross circuit Y4 generate a force control circuit to interconnect the pitch motion and warping motion of the suspension. The vertical movement and pitching movement of the interconnected circuit suspension are controlled, that is, the overall change of 1, 2, 3 and 4 in the vertical direction is controlled, and the reverse up and down movement of 1 and 2, 3 and 4 is controlled; the force generated by the motors of electromagnetic shock absorbers 1 and 2, and the motors of 3 and 4 in the cross circuit Y5 controls the vertical movement and roll movement of the interconnected circuit suspension, that is, the overall change of 1, 2, 3 and 4 in the vertical direction is controlled, and the reverse up and down movement of 1 and 3, 2 and 4 is controlled; it can be explained that the vertical movement state of the interconnected circuit suspension system is related to Y4 and Y5, and the warping movement state is related to Y1 and Y2, and the control of vertical and warping can be decoupled; similarly, the pitching movement state is related to Y2 and Y4, and the roll movement state is related to Y1 and Y5, and the control of pitch and roll can be decoupled.

[0123] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0124] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A vehicle multifunctional circuit interconnection suspension, characterized in that: The system includes an electromagnetic vibration absorber, a circuit interconnection network, a controllable power supply and a controller. The electromagnetic shock absorber is arranged between the vehicle body and the wheel, and comprises a motor, wherein the motor is connected to the circuit interconnection network to form a current loop, and is used to convert the mechanical energy of the relative vibration between the vehicle body and the wheel into electrical energy, and / or convert the electromagnetic torque generated by the electromagnetic shock absorber into an electromagnetic force for controlling the relative vibration between the vehicle body and the wheel; The circuit interconnection network includes parallel circuits connected between the same poles of any two motors, and / or cross circuits between different poles, wherein each parallel circuit and each cross circuit constitutes a plurality of branches, thereby forming a circuit interconnection network; The controller controls the operating state of the motor through a controllable power supply circuit, and further controls the vertical movement, pitch movement, roll movement and warping movement of the circuit interconnected suspension through the circuit interconnection network.

2. The vehicle multifunctional circuit interconnection suspension according to claim 1, characterized in that: The parallel circuit and the cross circuit are variable damping circuit, variable stiffness circuit, variable capacitance circuit, and any parallel combination circuit of variable damping circuit, variable stiffness circuit and variable capacitance circuit; the variable damping circuit is an adjustable resistor, the variable stiffness circuit is an adjustable resistor and an inductor connected in series, and the variable capacitance circuit is an adjustable resistor and a capacitor connected in series.

3. The vehicle multifunctional circuit interconnection suspension according to claim 1, characterized in that: The controllable power supply circuit is connected in series in the power supply circuit of the motor, and includes a power supply and four MOS tubes forming an H-bridge circuit.

4. The vehicle multifunctional circuit interconnection suspension according to claim 3, characterized in that: The controller controls the circuit interconnected suspension to be in active mode or semi-active mode by controlling the conduction and cutoff of four MOS tubes. In the active mode, the motor is an electric motor, which outputs active force to the outside to control the relative vibration of the vehicle body and wheels; in the semi-active mode, the motor is a generator, which controls the resistance of the variable damping circuit in each branch of the interconnected circuit network to control the output force and torque of the circuit interconnected suspension to control the vibration of the vehicle body.

5. The vehicle multifunctional circuit interconnection suspension according to claim 1, characterized in that: The motors in front of the vehicle body are numbered 1 and 2, and the motors in the rear of the vehicle body are numbered 3 and 4. The motors 1 and 3, 2 and 4 are respectively arranged on the same side; the parallel circuits are Y1, Y2, and Y3, and the cross circuits are Y4, Y5, and Y6. The Y1 is a parallel circuit between 1 and 3 and between 2 and 4; the Y2 is a parallel circuit between 1 and 2 and between 3 and 4; the Y3 is a parallel circuit between 1 and 4 and between 2 and 3; the Y4 is a cross circuit between 1 and 3 and between 2 and 4; the Y5 is a cross circuit between 1 and 2 and between 3 and 4; the Y6 is a cross circuit between 1 and 4 and between 2 and 3; The Y1 is used to control the pitching and warping motions of the circuit interconnection suspension; The Y2 is used to control the roll motion and warping motion of the circuit interconnected suspension; The Y3 is used to control the pitching and rolling movements of the circuit interconnected suspension; The Y4 is used to control the vertical movement and roll movement of the circuit interconnection suspension; The Y5 is used to control the vertical movement and pitch movement of the circuit interconnection suspension; The Y6 is used to control the vertical movement and warping movement of the circuit interconnection suspension.

6. The vehicle multifunctional circuit interconnection suspension according to claim 5, characterized in that: The parallel circuit Y3 and the cross circuit Y6 are arranged and combined to form a four-port interconnected network. The motors of the electromagnetic shock absorbers 1 and 4, and the motors 2 and 3 generate force control circuits in the parallel circuit Y3 to interconnect the pitch motion and roll motion of the suspension, and the force control circuits generated in the cross circuit Y6 to interconnect the vertical motion and warping motion of the suspension.

7. The vehicle multifunctional circuit interconnection suspension according to claim 5, characterized in that: The parallel circuits Y1, Y2 and the cross circuit Y6 are arranged and combined to form a four-port interconnected network. The motors of the electromagnetic shock absorbers 1 and 3, and the motors 2 and 4 in the parallel circuit Y1 generate force control circuits to interconnect the roll motion and warping motion of the suspension. The motors of the electromagnetic shock absorbers 1 and 2, and the motors 3 and 4 in the parallel circuit Y2 generate force control circuits to interconnect the pitch motion and warping motion of the suspension. The motors of the electromagnetic shock absorbers 1 and 4, and the motors 2 and 3 in the cross circuit Y6 generate force control circuits to interconnect the vertical motion and warping motion of the suspension.

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