Multi-axle vehicle self-sensing intelligent suspension system control device and method

Abstract

The invention relates to vehicle equipment, in particular to a multi-axle vehicle self-sensing intelligent suspension system control device and method.The suspension system adopts a hydro-pneumatic spring double-wishbone independent suspension and comprises a whole vehicle state information collecting system and a control device. The whole vehicle state information collecting system collects real-time state information of a whole vehicle in the running process of the vehicle and transmits the real-time state information to the control device, a whole vehicle dynamics control model is arranged in the control device, and the control device calculates the real-time state information of the whole vehicle according to the transmitted whole vehicle state information through the whole vehicle dynamics control model. And the active acting force of the hydro-pneumatic spring is controlled, so that the vehicle runs smoothly and is operated stably. According to the self-sensing intelligent suspension system control device for the multi-axle vehicle, the active acting force of the hydro-pneumatic spring can be actively controlled, so that the vehicle runs more smoothly, and the operation is more stable.

Description

Technical Field

[0001] The present invention relates to vehicle equipment, and in particular to a control device and method for a multi-axle vehicle self-sensing intelligent suspension system. Background Art

[0002] The suspension system is the intermediate link between the wheels and the frame, supporting the sprung mass, buffering and reducing vibrations, and is the main factor affecting the ride smoothness and handling stability of the vehicle. Most traditional suspension systems are passive suspension systems, whose stiffness and damping are fixed after being designed and matched according to the vehicle parameters. The suspension system passively bears the excitation of road unevenness transmitted by the tires to play a role in buffering and reducing vibrations, and cannot actively perceive and control road information.

[0003] With the development of vehicle electrification and intelligence, the electrification of special vehicles has developed rapidly, and intelligence is increasingly being applied to special electric vehicles, making it possible for the suspension system to self-perceive road information and actively control it. There is an urgent need for a suspension system control method that can actively adjust the relevant parameters of the suspension system to further improve the ride smoothness and handling stability of the vehicle. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a multi-axle vehicle self-sensing intelligent suspension system control device and control method that can actively control the active driving force of the oil-gas spring to make the vehicle run smoother and the operation more stable.

[0005] In order to solve the above technical problems, this application provides the following technical solutions:

[0006] The present invention discloses a self-sensing intelligent suspension system control device for a multi-axle vehicle. The suspension system adopts an oil-gas spring double wishbone independent suspension, and includes a vehicle status information collection system and a control device. The vehicle status information collection system collects real-time status information of the vehicle during driving and transmits it to the control device. A vehicle dynamics control model is arranged in the control device. The control device controls the active operating force of the oil-gas spring according to the transmitted vehicle status information through the calculation of the vehicle dynamics control model, so that the vehicle runs smoothly and has stable handling.

[0007] Furthermore, the vehicle status information collection system includes an oil-gas spring displacement information collection unit, an oil-gas spring load information collection unit, an axle head acceleration information collection unit, a vehicle body posture information collection unit, and a vehicle body acceleration information collection unit.

[0008] The oil-gas spring displacement information acquisition unit acquires the displacement information of the oil-gas spring when the vehicle wheel bounces during driving and transmits it to the control device.

[0009] The oil-gas spring load information acquisition unit acquires the load information of the oil-gas spring when the vehicle wheels bounce during driving and transmits it to the control device.

[0010] The shaft head acceleration information acquisition unit acquires the vibration acceleration information of the unsprung mass of the oil-gas spring when the vehicle wheels bounce during driving and transmits it to the control device.

[0011] The body posture information acquisition unit acquires body posture information when the vehicle wheels bounce during driving and transmits it to the control device.

[0012] The vehicle body acceleration information acquisition unit acquires the vibration acceleration information of the vehicle body when the wheels bounce during vehicle travel and transmits it to the control device.

[0013] The oil-gas spring comprises a cylinder body, a piston rod, a first connecting end and a second connecting end. The piston rod is arranged in the cylinder body, the first connecting end is connected to the bottom of the cylinder body, the cylinder body is divided into a rod chamber and a rodless chamber, one end of the piston rod outside the cylinder body is the second connecting end, the rod chamber and the rodless chamber are respectively connected to a hydraulic source,

[0014] The control device controls the oil inflow of the rod chamber and the rodless chamber of the oil-gas spring according to the transmitted information through the calculation of the whole vehicle dynamics control model, so as to make the vehicle run smoothly and operate stably.

[0015] Furthermore, the oil-gas spring displacement information acquisition unit is an angular displacement sensor, which is connected to the lower cross arm of the suspension system. The angular displacement sensor is used to collect the swing angle change of the lower cross arm when the vehicle wheel bounces during driving, and converts it into the displacement change of the oil-gas spring and the wheel bounce change through a parallelogram pull rod mechanism. Through Adams multi-body dynamics modeling, a multi-body dynamics model of the wheel-edge system is established in the Adams model according to the actual assembly relationship and the type of kinematic pairs. The wheel is driven to move vertically from the wheel edge, and the wheel bounce drives the upper cross arm and the lower cross arm to swing, and at the same time drives the oil-gas spring to extend and retract, and the swing arm of the angle sensor to swing, so that the corresponding relationship between the wheel bounce change and the displacement change of the oil-gas spring and the angle change of the angle sensor can be obtained, thereby obtaining the displacement information of the oil-gas spring.

[0016] Furthermore, the oil-gas spring load information acquisition unit is a pressure sensor, which is connected to the hydraulic circuit of the oil-gas spring. The pressure sensor acquires pressure information in the hydraulic circuit of the oil-gas spring and converts it into load information of the oil-gas spring through calculation.

[0017] Furthermore, the axle head acceleration information acquisition unit is a vibration acceleration sensor, which is connected to the wheel axle head of the vehicle and is used to acquire acceleration information of the wheel.

[0018] Furthermore, the vehicle body posture information acquisition unit and the vehicle body acceleration information acquisition unit are gyroscopes.

[0019] Furthermore, the gyroscope is connected close to the center of mass of the vehicle.

[0020] The method of controlling the oil-gas spring by using the above-mentioned multi-axle vehicle self-sensing intelligent suspension system control device of the present invention comprises the following steps:

[0021] First, the vehicle status information collection system collects the real-time status information of the vehicle during driving and transmits it to the control device.

[0022] Then, a vehicle dynamics control model is arranged in the control device, and the control device controls the active force of the oil-gas spring according to the transmitted vehicle state information through the calculation of the vehicle dynamics control model, so as to make the vehicle run smoothly and operate stably.

[0023] Furthermore, the oil-gas spring comprises a cylinder body, a piston rod, a first connecting end and a second connecting end, wherein the piston rod is arranged in the cylinder body, the first connecting end is connected to the bottom of the cylinder body, the cylinder body is divided into a rod chamber and a rodless chamber, one end of the piston rod outside the cylinder body is the second connecting end, the rod chamber and the rodless chamber are respectively connected to a hydraulic source,

[0024] The control device calculates the vehicle dynamics control model based on the transmitted information. When the wheel jumps up, the oil-gas spring is compressed, and the control device controls the rod chamber to flow oil to suppress the wheel from jumping up; when the wheel jumps down, the oil-gas spring extends, and the control device controls the rodless chamber to flow oil to suppress the wheel from jumping down, thereby ensuring smooth driving and stable handling of the vehicle.

[0025] Furthermore, the vehicle status information collection system collects displacement information of the gas spring, load information of the gas spring, vibration acceleration information of the unsprung mass of the gas spring, vehicle body posture information, and vibration acceleration information of the vehicle body during vehicle driving.

[0026] Compared with the prior art, the multi-axle vehicle self-sensing intelligent suspension system control device of the present invention has at least the following beneficial effects:

[0027] The multi-axle vehicle self-sensing intelligent suspension system of the present invention can actively control the suspension system to adjust relevant parameters of the suspension system during vehicle driving, because the control device can control the active driving force of the oil-gas spring according to the transmitted vehicle status information, thereby further improving the driving smoothness and handling stability of the vehicle, and is more suitable for electric and intelligent vehicles.

[0028] The multi-axle vehicle self-sensing intelligent suspension system control device of the present invention is further described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of a multi-axle vehicle self-sensing intelligent suspension system control device of the present invention;

[0030] Figure 2 This is a control schematic diagram of the oil-gas spring in the multi-axle vehicle self-sensing intelligent suspension system control device of the present invention. DETAILED DESCRIPTION

[0031] like Figure 1 As shown, the present invention is a multi-axle vehicle self-sensing intelligent suspension system control device, the suspension system adopts an oil-gas spring double wishbone independent suspension, including a vehicle status information acquisition system 01 and a control device 02. The vehicle status information acquisition system collects the real-time status information of the vehicle during driving and transmits it to the control device 02. The control device 02 is provided with a vehicle dynamics control model. The control device 02 controls the active force of the oil-gas spring 03 according to the transmitted vehicle status information through the calculation of the vehicle dynamics control model, so that the vehicle runs smoothly and the handling is stable. The multi-axle vehicle self-sensing intelligent suspension system of the present invention, because the control device can control the active force of the oil-gas spring according to the transmitted vehicle status information, can actively control the suspension system to adjust the relevant parameters of the suspension system during the driving of the vehicle, further improve the driving smoothness and handling stability of the vehicle, and is more suitable for electrified and intelligent vehicles.

[0032] Alternatively, if Figure 1 , Figure 2 As shown, the vehicle status information acquisition system 01 includes an oil-gas spring displacement information acquisition unit 11, an oil-gas spring load information acquisition unit 12, an axle head acceleration information acquisition unit 13, a vehicle body posture information acquisition unit 14, and a vehicle body acceleration information acquisition unit 14.

[0033] The oil-gas spring displacement information acquisition unit 11 acquires the displacement information of the oil-gas spring when the vehicle wheels bounce during driving and transmits it to the control device 02.

[0034] The oil-gas spring load information acquisition unit 12 acquires the load information of the oil-gas spring when the vehicle wheels bounce during driving and transmits it to the control device 02.

[0035] The axle head acceleration information acquisition unit 13 acquires the vibration acceleration information of the unsprung mass of the oil-gas spring when the vehicle wheels bounce during driving and transmits it to the control device 02.

[0036] The vehicle body posture information collection unit 14 collects the vehicle body posture information when the vehicle wheels bounce during driving and transmits it to the control device 02.

[0037] The vehicle body acceleration information acquisition unit 15 acquires the vibration acceleration information of the vehicle body when the vehicle wheels bounce during driving and transmits it to the control device 02.

[0038] The oil-gas spring 03 includes a cylinder body 31, a piston rod 32, a first connecting end 33 and a second connecting end. The piston rod 32 is partially arranged in the cylinder body 31, and the first connecting end 33 is connected to the bottom of the cylinder body 31. The cylinder body 31 is divided into a rod chamber 34 and a rodless chamber 35. The end of the piston rod 32 located outside the cylinder body 31 is the second connecting end. The rod chamber 34 and the rodless chamber 35 are respectively connected to a hydraulic source. Specifically, the oil-gas spring 03 is a double-chamber oil-gas spring, which can be actively actuated to compress and extend the oil-gas spring 03 to achieve control of the output force of the oil-gas spring 03. Considering the characteristics of special vehicles with multiple axes, heavy loads, and height adjustment requirements, the suspension system adopts an oil-gas spring double wishbone independent suspension type. The oil-gas springs are connected in groups, and the whole vehicle is divided into four equivalent support points: left front, right front, left rear, and right rear, which plays a role in balancing the multi-axis loads. Among them, the hydraulic principle of the right front group is as follows Figure 2As shown. The suspension system obtains the displacement and load information of the suspension system through the oil-gas spring displacement information acquisition unit 11 and the oil-gas spring load information acquisition unit 12, senses the impact transmitted by the wheels due to the unevenness of the road surface, and obtains the suspension system control parameters through the vehicle dynamics model solution in combination with the vehicle body vibration and posture information collected by the vehicle sensors, and then accurately adopts different control algorithms and selects different control parameters according to different control objectives. The control device 02 controls the oil intake of the rod chamber 34 and the rodless chamber 35 of the oil-gas spring according to the transmitted information through the calculation of the vehicle dynamics control model, so that the vehicle runs smoothly and the handling is stable. Optionally, the oil-gas spring displacement information acquisition unit 11 is an angular displacement sensor, which is connected to the lower cross arm of the suspension system. The angular displacement sensor is used to collect the swing angle change of the lower cross arm when the vehicle's wheel bounces, and converts it into the displacement change of the oil-gas spring and the wheel bounce change through a parallelogram pull rod mechanism. Specifically, through Adams multi-body dynamics modeling, a multi-body dynamics model of the wheel-edge system is established in the Adams model according to the actual assembly relationship and the type of kinematic pairs. The wheel is driven to move vertically from the wheel edge, and the wheel bounce drives the upper cross arm and the lower cross arm to swing, and at the same time drives the oil-gas spring to extend and retract, and the swing arm of the angle sensor to swing, so that the corresponding relationship between the wheel bounce change and the displacement change of the oil-gas spring and the angle change of the angle sensor can be obtained, thereby obtaining the displacement information of the oil-gas spring.

[0039] Optionally, the oil-gas spring load information acquisition unit 12 is a pressure sensor 36, which is connected to the hydraulic circuit of the oil-gas spring. The pressure sensor collects the pressure information in the hydraulic circuit of the oil-gas spring and converts it into the load information of the oil-gas spring through calculation. The pressure sensor collects the pressure of the rodless chamber and the rod chamber of the oil-gas spring and multiplies them by their respective piston areas, and then calculates the difference to obtain the force of the oil-gas spring. For the suspension based on the oil-gas spring, each hydraulic circuit of the hydraulic system, such as the left front, right front, left rear, and right rear, is equipped with a pressure sensor. Figure 2 As shown, the pressure sensor in each circuit of the hydraulic system is used to collect the pressure information of each hydraulic circuit of the left front, right front, left rear and right rear in real time, and convert it into the load information of the oil and gas spring through calculation, which is used as another input parameter of the active control of the suspension. Since the oil and gas springs in each group of the left front, right front, left rear and right rear are connected, the oil and gas springs in each group have the same pressure, that is, the same load.

[0040] Optionally, the axle head acceleration information acquisition unit 13 is a vibration acceleration sensor, which is connected to the wheel axle head of the vehicle and is used to acquire acceleration information of the wheel.

[0041] By installing sensors and performing further calculations, the acceleration of the wheels, the displacement and load information of the springs, and the acceleration and posture information of the vehicle body are obtained. These parameters provide comprehensive input information for active suspension control. The control device adopts different control algorithms and selects different control parameters according to different control targets. For example, control algorithm A is used when the vehicle body acceleration is used as the control target, and control algorithm B is used when the suspension displacement is used as the control target.

[0042] Optionally, the vehicle body posture information acquisition unit 14 and the vehicle body acceleration information acquisition unit 15 are gyroscopes, and the gyroscopes are connected to a body mass center close to the vehicle.

[0043] The method of controlling the oil-gas spring by using the above-mentioned multi-axle vehicle self-sensing intelligent suspension system control device of the present invention comprises the following steps:

[0044] First, the vehicle status information collection system collects the real-time status information of the vehicle during driving and transmits it to the control device 02.

[0045] Then, a vehicle dynamics control model is set in the control device 02. The control device 02 controls the active force of the oil-gas spring according to the transmitted vehicle state information through the calculation of the vehicle dynamics control model, so that the vehicle runs smoothly and the handling is stable.

[0046] Optionally, the oil-gas spring includes a cylinder body 31, a piston rod 32, a first connecting end 33 and a second connecting end. The piston rod 32 is arranged in the cylinder body 31, the first connecting end 33 is connected to the bottom of the cylinder body 31, the cylinder body 31 is divided into a rod chamber 34 and a rodless chamber 35, and one end of the piston rod 32 located outside the cylinder body 31 is the second connecting end. The rod chamber 34 and the rodless chamber 35 are respectively connected to a hydraulic source.

[0047] The control device 02 controls the oil inflow into the rod chamber 34 and the rodless chamber 35 of the gas spring based on the transmitted information and the calculation of the vehicle dynamics control model. When the wheel jumps up, the gas spring is compressed, and the control device controls the oil inflow into the rod chamber 34 to suppress the wheel from jumping up; when the wheel jumps down, the gas spring extends, and the control device controls the oil inflow into the rodless chamber 35 to suppress the wheel from jumping down, so that the vehicle runs smoothly and the handling is stable.

[0048] Optionally, the vehicle status information collection system collects displacement information of the gas spring, load information of the gas spring, vibration acceleration information of the unsprung mass of the gas spring, vehicle body posture information, and vibration acceleration information of the vehicle body during vehicle driving and transmits them to the control device 02.

[0049] The embodiments described above are merely descriptions of preferred implementation modes of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A multi-axle vehicle self-sensing intelligent suspension system control device, the suspension system adopts an oil-gas spring double wishbone independent suspension, characterized in that: The invention comprises a vehicle status information collection system (01) and a control device (02). The vehicle status information collection system collects real-time status information of the vehicle during driving and transmits it to the control device (02). The control device (02) is provided with a vehicle dynamics control model. The control device (02) controls the active driving force of the oil-gas spring (03) according to the transmitted vehicle status information and the calculation of the vehicle dynamics control model, so as to make the vehicle drive smoothly and operate stably.

2. The multi-axle vehicle self-sensing intelligent suspension system control device according to claim 1, characterized in that: The vehicle status information collection system (01) comprises an oil-gas spring displacement information collection unit (11), an oil-gas spring load information collection unit (12), an axle head acceleration information collection unit (13), a vehicle body posture information collection unit (14), and a vehicle body acceleration information collection unit (14). The oil-gas spring displacement information acquisition unit (11) acquires displacement information of the oil-gas spring when the wheel bounces during vehicle travel and transmits the information to the control device (02). The oil-gas spring load information acquisition unit (12) acquires the load information of the oil-gas spring when the wheel bounces during vehicle travel and transmits the information to the control device (02). The shaft head acceleration information acquisition unit (13) acquires vibration acceleration information of the unsprung mass of the oil and gas spring when the vehicle wheels bounce during driving and transmits the information to the control device (02). The vehicle body posture information collection unit (14) collects vehicle body posture information when the vehicle wheels bounce during driving and transmits it to the control device (02). The vehicle body acceleration information acquisition unit (15) acquires the vibration acceleration information of the vehicle body when the wheels of the vehicle bounce while the vehicle is running and transmits it to the control device (02). The oil-gas spring (03) comprises a cylinder body (31), a piston rod (32), a first connecting end (33) and a second connecting end. The piston rod (32) is arranged in the cylinder body (31). The first connecting end (33) is connected to the bottom of the cylinder body (31). The cylinder body (31) is divided into a rod chamber (34) and a rodless chamber (35). One end of the piston rod (32) located outside the cylinder body (31) is the second connecting end. The rod chamber (34) and the rodless chamber (35) are respectively connected to a hydraulic source. The control device (02) controls the oil intake of the rod chamber (34) and the rodless chamber (35) of the oil-gas spring according to the transmitted information through the calculation of the vehicle dynamics control model, so as to ensure smooth running and stable handling of the vehicle.

3. The multi-axle vehicle self-sensing intelligent suspension system control device according to claim 2, characterized in that: The oil-gas spring displacement information acquisition unit (11) is an angular displacement sensor, which is connected to the lower cross arm of the suspension system. The angular displacement sensor is used to collect the swing angle change of the lower cross arm when the vehicle wheel bounces during driving, and converts it into the displacement change of the oil-gas spring and the wheel bounce change through a parallelogram pull rod mechanism. Through Adams multi-body dynamics modeling, a multi-body dynamics model of the wheel edge system is established in the Adams model according to the actual assembly relationship and the type of kinematic pair. The wheel is driven to move vertically from the wheel edge. The wheel bounce drives the upper cross arm and the lower cross arm to swing, and at the same time drives the oil-gas spring to move in an extension and contraction manner and the swing arm of the angle sensor to swing. The corresponding relationship between the wheel bounce change and the displacement change of the oil-gas spring and the angle change of the angle sensor can be obtained, thereby obtaining the displacement information of the oil-gas spring.

4. The multi-axle vehicle self-sensing intelligent suspension system control device according to claim 3, characterized in that: The oil-gas spring load information acquisition unit (12) is a pressure sensor, which is connected to the hydraulic circuit of the oil-gas spring. The pressure sensor acquires pressure information in the hydraulic circuit of the oil-gas spring and converts it into load information of the oil-gas spring through calculation.

5. The multi-axle vehicle self-sensing intelligent suspension system control device according to claim 4, characterized in that: The axle head acceleration information acquisition unit (13) is a vibration acceleration sensor, which is connected to the wheel axle head of the vehicle and is used to acquire acceleration information of the wheel.

6. The multi-axle vehicle self-sensing intelligent suspension system control device according to claim 5, characterized in that: The vehicle body posture information acquisition unit (14) and the vehicle body acceleration information acquisition unit (15) are gyroscopes.

7. The multi-axle vehicle self-sensing intelligent suspension system control device according to claim 6, characterized in that: The gyroscope is connected near the center of mass of the vehicle.

8. A method for controlling a hydro-pneumatic spring using a multi-axle vehicle self-sensing intelligent suspension system control device as described in any one of claims 1 to 7, characterized in that: The steps include: First, the vehicle status information collection system collects the real-time status information of the vehicle during driving and transmits it to the control device (02). Then, a vehicle dynamics control model is arranged in the control device (02). The control device (02) controls the active force of the oil-gas spring according to the transmitted vehicle state information through calculation of the vehicle dynamics control model, so as to make the vehicle run smoothly and operate stably.

9. The method for controlling an oil-gas spring according to claim 8, characterized in that: The oil-gas spring comprises a cylinder body (31), a piston rod (32), a first connecting end (33) and a second connecting end. The piston rod (32) is arranged in the cylinder body (31). The first connecting end (33) is connected to the bottom of the cylinder body (31). The cylinder body (31) is divided into a rod chamber (34) and a rodless chamber (35). One end of the piston rod (32) located outside the cylinder body (31) is the second connecting end. The rod chamber (34) and the rodless chamber (35) are respectively connected to a hydraulic source. The control device (02) calculates the whole vehicle dynamics control model according to the transmitted information. When the wheel jumps, the oil-gas spring is compressed, and the control device causes the rod chamber (34) to flow oil to suppress the wheel from jumping. When the wheel jumps down, the oil-gas spring stretches, and the control device controls the rodless chamber (35) to flow oil, thereby suppressing the wheel from jumping down, so that the vehicle runs smoothly and is stable in operation.

10. The method for controlling an oil-gas spring according to claim 9, characterized in that: The vehicle status information collection system collects displacement information of the oil and gas spring, load information of the oil and gas spring, vibration acceleration information of the unsprung mass of the oil and gas spring, vehicle body posture information, and vibration acceleration information of the vehicle body during vehicle driving.

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