Control method for adjusting hanging height through flow

Abstract

The invention discloses a control method for adjusting suspension height through flow, which comprises the following steps: a suspension control box sends a suspension adjusting instruction, a posture controller detects the working condition and suspension state of a vehicle, and a suspension adjusting ready instruction is sent after the vehicle is in a water working condition and suspension is received in place; the suspension control box controls and switches on a power supply of the multi-path flow meter; the posture controller controls the suspension executing mechanism to act, the suspension control box detects the accumulated pulse number of the multi-path flow meter, the corresponding stop valve is switched on when the accumulated pulse number reaches a preset value, the multi-path flow meter sends a suspension in-place instruction to the posture controller after logic judgment, and the posture controller controls the suspension executing mechanism to stop acting. And after suspension adjustment is completed, the suspension control box controls the power supply of the multi-path flow meter and the corresponding stop valves to be disconnected. Preset height adjustment of the vehicle suspension device is achieved, then preset adjustment of the distance between the vehicle bottom and the ground is achieved, the operation difficulty of a driver is lowered, and operation and use convenience is improved.

Description

Technical Field

[0001] The invention relates to a control method for adjusting suspension height through flow rate. Background Art

[0002] The suspension device of a special vehicle is an adjustable oil-gas suspension, which is installed on the road wheels on both sides of the inner deck of the vehicle. Each oil-gas suspension consists of a power cylinder, an accumulator, etc., that is, the suspension is an oil-gas spring that uses oil to transmit pressure and nitrogen as the elastic medium. When a special vehicle is driving on land, the vehicle body will be impacted by the ground and vibrate. The function of the suspension device is to mitigate the impact and attenuate the vibration to improve driving stability and work reliability. When sailing on water, the function of the suspension device is to retract the road wheels and tracks to reduce the water shape resistance of the moving part and increase the water speed of the vehicle. When a special vehicle lands on the shore or on a ship in the water, it is necessary to adjust the suspension device to lower the road wheels and tracks. The position of the road wheels and tracks cannot be directly observed and there is no feedback, which has a certain impact on the safety of the vehicle on the water. In severe cases, the vehicle cannot land on the shore or on the ship smoothly; or because the height of the ship's access door is limited, the height of the vehicle bottom from the ground is not appropriate, causing the vehicle to be too high, and ultimately causing the vehicle to fail to land on the ship smoothly. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a control method for adjusting the suspension height by flow rate, which is simple to operate and has high working efficiency.

[0004] The technical solution of the present invention to solve the above technical problems is: a control method for adjusting the suspension height by flow, which is implemented based on a control device, the control device includes a posture controller for controlling the suspension actuator, a suspension control box for setting a specific logic judgment of the flow meter and determining whether the suspension actuator is in place, a flow meter for real-time recording and feedback of the oil flow rate of the oil circuit, a stop valve for cutting off the oil circuit and a suspension actuator; the suspension actuator includes a gas-electric valve, an electromagnetic reversing valve, a power cylinder and an accumulator, the high-pressure gas source is connected to the power cylinder through the gas-electric valve, and the hydraulic source is connected to the accumulator after the electromagnetic reversing valve, the stop valve, the flow meter, and the power cylinder in sequence, the posture controller is electrically connected to the gas-electric valve, the electromagnetic reversing valve, and the suspension control box respectively, and the suspension control box is electrically connected to the stop valve and the flow valve respectively; The control method comprises the following steps: Step 1: Before the suspension is adjusted, the suspension control box sends a "suspension adjustment" command. After receiving the command, the attitude controller starts to detect the vehicle working condition and suspension status. After determining that the vehicle is in the water working condition and the suspension has been received, it sends a "suspension adjustment ready" command to the suspension control box. At the same time, the suspension control box controls the connection of the multi-channel flow meter power supply; Step 2: When adjusting the suspension, the attitude controller sends a suspension release action to control the action of the suspension actuator. At the same time, the suspension control box detects the accumulated pulse number of the multi-channel flow meter in real time. When the accumulated pulse number reaches the preset value, the corresponding stop valve is connected. After the multi-channel flow meter passes the specific logic judgment, it sends the suspension in place instruction to the attitude controller. The attitude controller controls the suspension actuator to stop the action and sends the "suspension adjustment completed" instruction to the suspension control box. At the same time, the suspension control box controls to disconnect the power supply of the multi-channel flow meter and the corresponding stop valve.

[0005] In the above control method for adjusting the suspension height by flow rate, the specific process of step 1 is as follows: 1-1: Press the power button to turn on the power; 1-2: Determine whether the communication between the suspension control box and the attitude controller is normal. If not, the power indicator light flashes and the display screen on the attitude controller prompts "Communication with the suspension control box is abnormal"; if normal, the power indicator light turns on and proceed to the next step; 1-3: The suspension control box sends out a "suspension adjustment" command. After receiving the command, the attitude controller starts to detect the vehicle working condition and suspension status, and determines whether the vehicle is in the water working condition and whether the suspension has been retracted. If the vehicle is not in the water working condition, the display screen on the attitude controller prompts "Please put the vehicle in the water working condition". If the suspension has not been retracted, the display screen on the attitude controller prompts "Please execute the crawler retraction procedure". When the vehicle is in the water working condition and the suspension has been retracted, go to the next step; 1-4: The attitude controller sends the "suspension adjustment ready" command to the suspension control box; 1-5: The hanging control box controls the power supply of the multi-channel flow meter.

[0006] In the above control method for adjusting the suspension height by flow rate, in the steps 1-3, after pressing the "suspension adjustment" button on the suspension control box for 3 seconds, the suspension control box issues a "suspension adjustment" command.

[0007] In the above control method for adjusting the suspension height by flow rate, the specific process of step 2 is as follows: 2-1: The attitude controller controls the action of the suspension actuator, and the attitude controller connects the suspension oil circuit reversing valve and the external suspension indicator light; 2-2: The attitude controller turns on the suspension unlocking solenoid valve for 2 seconds, and then turns on the power cylinder charging gas-electric valve for 3 seconds; 2-3: The attitude controller simultaneously connects the high- and low-pressure oil circuit reversing valves and the track release solenoid valve for 1 second, and then simultaneously connects the power cylinder air release valve, the front suspension raising solenoid valve, and the rear suspension raising solenoid valve for 3 seconds; 2-4: loop step 2-3, during the loop, the multi-channel flow meter determines whether the suspension is in place through specific logic, stops the loop when it is in place, and proceeds to the next step; 2-5: The attitude controller simultaneously turns on the high and low pressure oil circuit reversing valve and the track release solenoid valve for 1 second, then turns on the power cylinder charging gas-electric valve for 10 seconds, then turns on the track tensioning solenoid valve for 5 seconds, and finally turns on the power cylinder deflation gas-electric valve for 5 seconds; 2-6: The crawler track lowering process is completed, the attitude controller stops outputting, and outputs the "suspension adjustment completed" command to the suspension control box; 2-7: After the suspension control box receives the "suspension adjustment completed" command from the attitude controller, it disconnects the power supply of all flow meters and closes the output of all stop valves.

[0008] In the above control method for adjusting the suspension height by flow rate, in step 2-4, the process in which the multi-channel flow meter determines whether the suspension is in place by specific logic is as follows: 2-4-1: Real-time monitoring of the pulse counts of the 6 groups of flow meters in the front suspension and the 6 groups of flow meters in the rear suspension; 2-4-2: After reading each flow meter pulse, the corresponding flow indicator light will light up and flash. The corresponding flow indicator light of the flow meter that has not received the pulse number will not light up; 2-4-3: When the number of pulses reaches the corresponding preset value, the corresponding flow indicator light of the flow meter that reaches the pulse number will be on, and the stop valve corresponding to the flow meter that reaches the pulse number will be turned on; 2-4-4: Determine whether the front suspension is in place. If so, the suspension control box sends a command to the attitude controller to raise the front suspension to the position, and the attitude controller stops connecting the front suspension raising solenoid valve; 2-4-5: Determine whether the rear suspension is in place. If so, the suspension control box sends a rear suspension lifting command to the attitude controller, and the attitude controller stops connecting the rear suspension lifting solenoid valve.

[0009] In the above control method for adjusting the suspension height by flow rate, in step 2-4-4, the specific logic for judging whether the front overhang is in place is as follows: The front suspension includes 6 power cylinders, corresponding to 6 groups of flow meters, numbered left 1, left 2, left 3, right 1, right 2, right 3. When the following conditions are met at the same time, it means that the front suspension is in place: 1) The pulse numbers of the left 1 and right 1 flow meters reach the preset value; 2) At least one of the two flow meter pulse numbers, Left 2 and Left 3, reaches the preset value; 3) At least one of the two flow meter pulse numbers, Right 2 and Right 3, reaches the preset value.

[0010] In the above control method for adjusting the suspension height by flow rate, in step 2-4-5, the specific logic for judging whether the rear suspension is in place is as follows: The rear suspension includes 6 power cylinders, corresponding to 6 groups of flow meters, numbered left 4, left 5, left 6, right 4, right 5, right 6. The rear suspension is in place when the following conditions are met at the same time: 1) The pulse number of the left 6 and right 6 flowmeters reaches the preset value; 2) At least one of the two flow meter pulse numbers, left 4 and left 5, reaches the preset value; 3) At least one of the two flow meter pulse numbers, right 4 and right 5, reaches the preset value.

[0011] In the above-mentioned control method for adjusting the suspension height by flow, in the steps 2-4, if the front and rear suspensions are in place, the display screen on the posture controller prompts "Vehicle posture adjustment completed"; if it is other cases, the display screen on the posture controller prompts "Vehicle posture adjustment abnormal, please check".

[0012] The beneficial effects of the present invention are as follows: the present invention solves the problem that the suspension device of the existing special vehicle cannot feedback position information during adjustment, which in turn causes inconvenience for the driver in operating the vehicle when landing on shore or on a ship normally, thereby improving the safety of use; at the same time, the preset height adjustment of the vehicle suspension device is realized, and then the preset adjustment of the height of the vehicle bottom from the ground is realized, which reduces the operating difficulty of the driver and improves the convenience of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 Flow chart of the control method of the present invention.

[0014] Figure 2 It is a schematic diagram of the structure of the control device of the present invention. DETAILED DESCRIPTION

[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0016] like Figure 1 , Figure 2 As shown, a control method for adjusting the suspension height by flow is implemented based on a control device, the control device includes a posture controller for controlling a suspension actuator, a suspension control box for setting a specific logic judgment of a flow meter and determining whether the suspension actuator is in place, a flow meter for real-time recording and feedback of the oil flow rate of the oil circuit, a shut-off valve for cutting off the oil circuit and a suspension actuator; the suspension actuator includes a gas-electric valve, an electromagnetic reversing valve, a power cylinder and an accumulator, a high-pressure gas source is connected to the power cylinder via a gas-electric valve, a hydraulic source is connected to the accumulator via an electromagnetic reversing valve, a shut-off valve, a flow meter and a power cylinder in sequence, the posture controller is electrically connected to the gas-electric valve, the electromagnetic reversing valve and the suspension control box respectively, and the suspension control box is electrically connected to the shut-off valve and the flow valve respectively.

[0017] The attitude controller is connected to the suspension control box by CAN communication, and is provided with communication fault detection and indication.

[0018] The suspension control box sets a preset value for the number of pulses of each flow meter, and the preset value is adjusted within the range of the flow meter to achieve a corresponding suspension height, thereby achieving a preset height adjustment of the vehicle bottom from the ground.

[0019] The hanging control box is provided with a multi-channel flow meter indicator light. If the flow meter indicator light is not lit, it means that no pulse number has been received. If the flow meter indicator light is lit and flashing, it means that the pulse number is being received. If the flow meter indicator light is always on, it means that the received pulse number has reached a preset value.

[0020] The posture controller is provided with a display screen, which can realize the intuitive display of the entire suspension adjustment control process and give text prompts for the suspension adjustment results.

[0021] The flow meter is a turbine flow meter or a gear flow meter.

[0022] The stop valve is linked in one or more ways according to the suspension control box, and has the characteristics of fast response and easy installation.

[0023] A control method for adjusting suspension height by flow rate comprises the following steps: Step 1: Before adjusting the suspension, the suspension control box sends a "suspension adjustment" command. After receiving the command, the attitude controller starts to detect the vehicle working condition and suspension status. After determining that the vehicle is in the water working condition and the suspension is in place, it sends a "suspension adjustment ready" command to the suspension control box. At the same time, the suspension control box controls the connection of the multi-channel flow meter power supply.

[0024] The specific process of step 1 is: 1-1: Press the power button to turn on the power.

[0025] 1-2: Determine whether the communication between the suspension control box and the attitude controller is normal. If not, the power indicator light flashes and the display screen on the attitude controller prompts "Communication with the suspension control box is abnormal"; if normal, the power indicator light is on and proceed to the next step.

[0026] 1-3: After pressing the "suspension adjustment" button on the suspension control box for 3 seconds, the suspension control box sends out a "suspension adjustment" command. After receiving the command, the attitude controller starts to detect the vehicle working condition and suspension status, and determines whether the vehicle is in the water working condition and whether the suspension has been received. If the vehicle is not in the water working condition, the display screen on the attitude controller prompts "Please put the vehicle in the water working condition". If the suspension has not been received, the display screen on the attitude controller prompts "Please execute the track retraction procedure". When the vehicle is in the water working condition and the suspension has been received, go to the next step.

[0027] 1-4: The attitude controller sends a "suspension adjustment ready" command to the suspension control box.

[0028] 1-5: After receiving the "suspension adjustment ready" command, the suspension control box lights up the boarding indicator light and controls the power supply of the multi-channel flow meter to be turned on.

[0029] Step 2: When adjusting the suspension, the attitude controller sends a suspension release action to control the action of the suspension actuator. At the same time, the suspension control box detects the accumulated pulse number of the multi-channel flow meter in real time. When the accumulated pulse number reaches the preset value, the corresponding stop valve is connected. After the multi-channel flow meter passes the specific logic judgment, it sends the suspension in place instruction to the attitude controller. The attitude controller controls the suspension actuator to stop the action and sends the "suspension adjustment completed" instruction to the suspension control box. At the same time, the suspension control box controls to disconnect the power supply of the multi-channel flow meter and the corresponding stop valve.

[0030] The specific process of step 2 is: 2-1: The attitude controller controls the action of the suspension actuator. The attitude controller connects the suspension oil circuit reversing valve and the external suspension indicator light.

[0031] 2-2: The attitude controller turns on the suspension unlocking solenoid valve for 2 seconds, and then turns on the power cylinder charging gas-electric valve for 3 seconds.

[0032] 2-3: The attitude controller simultaneously connects the high and low pressure oil circuit reversing valves and the track release solenoid valve for 1 second, and then simultaneously connects the power cylinder air release valve, the front suspension raising solenoid valve, and the rear suspension raising solenoid valve for 3 seconds.

[0033] 2-4: Loop steps 2-3. During the loop, the multi-channel flow meter uses specific logic to determine whether the suspension is in place. If it is in place, the loop stops and goes to the next step.

[0034] The process by which the multi-channel flow meter determines whether the suspension is in place through specific logic is as follows: 2-4-1: Real-time monitoring of the pulse counts of the 6 groups of flow meters in the front suspension and the 6 groups of flow meters in the rear suspension; 2-4-2: After reading each flow meter pulse, the corresponding flow indicator light will light up and flash. The corresponding flow indicator light of the flow meter that has not received the pulse number will not light up; 2-4-3: When the number of pulses reaches the corresponding preset value, the corresponding flow indicator light of the flow meter that reaches the pulse number will be on, and the stop valve corresponding to the flow meter that reaches the pulse number will be turned on; 2-4-4: Determine whether the front suspension is in place. If so, the suspension control box sends a command to the attitude controller to raise the front suspension to the position, and the attitude controller stops connecting the front suspension raising solenoid valve; 2-4-5: Determine whether the rear suspension is in place. If so, the suspension control box sends a rear suspension lifting command to the attitude controller, and the attitude controller stops connecting the rear suspension lifting solenoid valve.

[0035] If the front and rear overhangs are in place, the display screen on the posture controller will prompt "Vehicle posture adjustment completed"; if it is any other situation, the display screen on the posture controller will prompt "Vehicle posture adjustment abnormal, please check".

[0036] 2-5: The attitude controller simultaneously connects the high and low pressure oil circuit reversing valves and the track release solenoid valve for 1 second, then connects the power cylinder inflation gas-electric valve for 10 seconds, then connects the track tensioning solenoid valve for 5 seconds, and finally connects the power cylinder deflation gas-electric valve for 5 seconds.

[0037] 2-6: The track lowering process is completed, the attitude controller stops outputting, and outputs the "suspension adjustment completed" command to the suspension control box.

[0038] 2-7: After the suspension control box receives the "suspension adjustment completed" command from the attitude controller, it disconnects the power supply of all flow meters and closes the output of all stop valves.

Claims

1. A control method for adjusting the suspension height by flow, which is realized based on a control device, wherein the control device comprises a posture controller for controlling a suspension actuator, a suspension control box for setting a specific logic judgment of a flow meter and determining whether the suspension actuator is in place, a flow meter for real-time recording and feedback of the oil flow rate of an oil circuit, a stop valve for cutting off the oil circuit, and a suspension actuator; the suspension actuator comprises a gas-electric valve, an electromagnetic reversing valve, a power cylinder, and an accumulator, a high-pressure gas source is connected to the power cylinder via a gas-electric valve, and a hydraulic source is connected to the power cylinder via an electromagnetic reversing valve, a stop valve, a flow meter, and an accumulator in sequence, the posture controller is electrically connected to the gas-electric valve, the electromagnetic reversing valve, and the suspension control box respectively, and the suspension control box is electrically connected to the stop valve and the flow valve respectively; The control method comprises the following steps: Step 1: Before the suspension is adjusted, the suspension control box sends a "suspension adjustment" command. After receiving the command, the attitude controller starts to detect the vehicle working condition and suspension status. After determining that the vehicle is in the water working condition and the suspension has been received, it sends a "suspension adjustment ready" command to the suspension control box. At the same time, the suspension control box controls the connection of the multi-channel flow meter power supply; Step 2: When adjusting the suspension, the attitude controller sends a suspension release action to control the action of the suspension actuator. At the same time, the suspension control box detects the accumulated pulse number of the multi-channel flow meter in real time. When the accumulated pulse number reaches the preset value, the corresponding stop valve is connected. After the multi-channel flow meter passes the specific logic judgment, it sends the suspension in place instruction to the attitude controller. The attitude controller controls the suspension actuator to stop the action and sends the "suspension adjustment completed" instruction to the suspension control box. At the same time, the suspension control box controls to disconnect the power supply of the multi-channel flow meter and the corresponding stop valve.

2. The control method for adjusting the suspension height by flow rate according to claim 1, characterized in that: The specific process of step 1 is: 1-1: Press the power button to turn on the power; 1-2: Determine whether the communication between the suspension control box and the attitude controller is normal. If not, the power indicator light flashes and the display screen on the attitude controller prompts "Communication with the suspension control box is abnormal"; if normal, the power indicator light turns on and proceed to the next step; 1-3: The suspension control box sends out a "suspension adjustment" command. After receiving the command, the attitude controller starts to detect the vehicle working condition and suspension status, and determines whether the vehicle is in the water working condition and whether the suspension has been retracted. If the vehicle is not in the water working condition, the display screen on the attitude controller prompts "Please put the vehicle in the water working condition". If the suspension has not been retracted, the display screen on the attitude controller prompts "Please execute the crawler retraction procedure". When the vehicle is in the water working condition and the suspension has been retracted, go to the next step; 1-4: The attitude controller sends the "suspension adjustment ready" command to the suspension control box; 1-5: The hanging control box controls the power supply of the multi-channel flow meter.

3. The control method for adjusting the suspension height by flow rate according to claim 2, characterized in that: In the steps 1-3, after pressing the "suspension adjustment" button on the suspension control box for 3 seconds, the suspension control box issues a "suspension adjustment" command.

4. The control method for adjusting the suspension height by flow rate according to claim 2, characterized in that: The specific process of step 2 is: 2-1: The attitude controller controls the action of the suspension actuator, and the attitude controller connects the suspension oil circuit reversing valve and the external suspension indicator light; 2-2: The attitude controller turns on the suspension unlocking solenoid valve for 2 seconds, and then turns on the power cylinder charging gas-electric valve for 3 seconds; 2-3: The attitude controller simultaneously connects the high- and low-pressure oil circuit reversing valves and the track release solenoid valve for 1 second, and then simultaneously connects the power cylinder air release valve, the front suspension raising solenoid valve, and the rear suspension raising solenoid valve for 3 seconds; 2-4: loop step 2-3, during the loop, the multi-channel flow meter determines whether the suspension is in place through specific logic, and stops the loop when it is in place, and proceeds to the next step; 2-5: The attitude controller simultaneously turns on the high and low pressure oil circuit reversing valve and the track release solenoid valve for 1 second, then turns on the power cylinder charging gas-electric valve for 10 seconds, then turns on the track tensioning solenoid valve for 5 seconds, and finally turns on the power cylinder deflation gas-electric valve for 5 seconds; 2-6: The crawler track lowering process is completed, the attitude controller stops outputting, and outputs the "suspension adjustment completed" command to the suspension control box; 2-7: After the suspension control box receives the "suspension adjustment completed" command from the attitude controller, it disconnects the power supply of all flow meters and closes the output of all stop valves.

5. The control method for adjusting the suspension height by flow rate according to claim 4, characterized in that: In step 2-4, the process in which the multi-channel flow meter determines whether the suspension is in place through specific logic is as follows: 2-4-1: Real-time monitoring of the pulse counts of the 6 groups of flow meters in the front suspension and the 6 groups of flow meters in the rear suspension; 2-4-2: After reading each flow meter pulse, the corresponding flow indicator light will light up and flash. The corresponding flow indicator light of the flow meter that has not received the pulse number will not light up; 2-4-3: When the number of pulses reaches the corresponding preset value, the corresponding flow indicator light of the flow meter that reaches the pulse number will be on, and the stop valve corresponding to the flow meter that reaches the pulse number will be turned on; 2-4-4: Determine whether the front suspension is in place. If so, the suspension control box sends a command to the attitude controller to raise the front suspension to the position, and the attitude controller stops connecting the front suspension raising solenoid valve; 2-4-5: Determine whether the rear suspension is in place. If so, the suspension control box sends a rear suspension lifting command to the attitude controller, and the attitude controller stops connecting the rear suspension lifting solenoid valve.

6. The control method for adjusting the suspension height by flow rate according to claim 5, characterized in that: In step 2-4-4, the specific logic for determining whether the front overhang is in place is as follows: The front suspension includes 6 power cylinders, corresponding to 6 groups of flow meters, numbered left 1, left 2, left 3, right 1, right 2, right 3. When the following conditions are met at the same time, it means that the front suspension is in place: 1) The pulse numbers of the left 1 and right 1 flow meters reach the preset value; 2) At least one of the two flow meter pulse numbers, Left 2 and Left 3, reaches the preset value; 3) At least one of the two flow meter pulse numbers, Right 2 and Right 3, reaches the preset value.

7. The control method for adjusting the suspension height by flow rate according to claim 5, characterized in that: In step 2-4-5, the specific logic for determining whether the rear overhang is in place is as follows: The rear suspension includes 6 power cylinders, corresponding to 6 groups of flow meters, numbered left 4, left 5, left 6, right 4, right 5, right 6. The rear suspension is in place when the following conditions are met at the same time: 1) The pulse number of the left 6 and right 6 flowmeters reaches the preset value; 2) At least one of the two flow meter pulse numbers, left 4 and left 5, reaches the preset value; 3) At least one of the two flow meter pulse numbers, right 4 and right 5, reaches the preset value.

8. The control method for adjusting the suspension height by flow rate according to claim 4, characterized in that: In the steps 2-4, if the front and rear overhangs are in place, the display screen on the posture controller prompts "vehicle posture adjustment completed"; if it is other cases, the display screen on the posture controller prompts "vehicle posture adjustment abnormal, please check".

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