Vehicle body vibration control system and method based on driver posture and vehicle

Abstract

The invention discloses a vehicle body vibration control system and method based on driver postures and a vehicle. Comprising a driver posture monitoring seat, a whole vehicle controller, a working device controller, a working device, a chassis motor controller and a walking motor. The vehicle control unit is used for obtaining operation parameters of a vehicle and the motion state of a seat in real time, conducting working condition recognition, conducting matching with a pre-stored working condition library, outputting a torque value / slope control signal to the walking motor through the chassis motor controller according to a corresponding working condition strategy in the working condition library, and controlling the walking motor to walk. And outputting a peak pressure / buffer curve control signal to the working device through the working device controller until the motion state parameter of the seat is monitored to be lower than a threshold value, so that the vibration of the vehicle body is inhibited. The problem that fine motion characteristics are difficult to obtain through a traditional rigid frame structure is solved, the driving comfort is improved, the driving controllability and safety are enhanced, kinetic energy loss caused by violent vibration of a vehicle body is reduced, and the endurance performance of the whole vehicle is improved.

Description

Technical Field

[0001] This invention patent relates to the field of vehicle vibration regulation, and in particular to a vehicle body vibration control system, control method and vehicle based on driver posture. Background Technology

[0002] As pioneers in the electrification of construction machinery, electric loaders are widely used in harsh working conditions such as ports and mines. Their operating environments are characterized by uneven terrain and frequent heavy-duty digging, lifting, sudden starts and stops, and sharp turns, causing the vehicle body to endure severe and continuous impacts and vibrations. This intense vibration is transmitted not only through the chassis to the entire frame but also directly impacts the driver's body through the seat, leading to a sharp increase in fatigue and severely affecting operating comfort and accuracy. More seriously, long-term vibration also threatens the reliability and lifespan of the vehicle's core three-electric system (battery, motor, and electronic control), causing risks of loosening of precision high-voltage wiring harnesses, potential micro-damage to the internal structure of the battery pack, and signal interference from sensors in the electronic control system, resulting in fatigue damage to structural components. This poses a key challenge to the durability of electric loaders. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a vehicle body vibration control system, control method and vehicle based on driver posture.

[0004] To address the problems of the prior art, this invention discloses a vehicle body vibration control system based on driver posture, comprising: a driver posture monitoring seat, a vehicle controller, a working device controller, a working device, a chassis motor controller, and a travel motor; The driver posture monitoring seat is used by the driver to sit in the seat and monitors the seat's movement. The vehicle controller is used to acquire the vehicle's operating parameters and the seat's motion status in real time, identify the working conditions, and match the identified working conditions with a pre-stored working condition library. Based on the corresponding working condition strategy in the working condition library, the chassis motor controller outputs torque value / slope control signals to the travel motor, and the working device controller outputs peak pressure / buffer curve control signals to the working device until the motion status parameters of the monitored seat are lower than the threshold, thereby suppressing vehicle body vibration.

[0005] Furthermore, the driver attitude monitoring seat adopts the same body as an aircraft seat.

[0006] Furthermore, the driver posture monitoring seat is equipped with a pressure sensor and a height sensor. The pressure sensor is located directly below the center of the seat, and the height sensors are located at the center of each evenly divided area of ​​the seat cushion, depending on the number of sensors.

[0007] Furthermore, the driver posture monitoring seat is equipped with a gyroscope and an accelerometer, which are mounted at the center of the lower surface of the seat cushion.

[0008] Furthermore, the control method for a vehicle body vibration control system based on driver posture includes the following steps: Step 001: When the car door is opened, the vehicle controller is activated and performs a self-check of the seat status before the driver sits down, and completes the seat posture calibration. Step 002: Select to turn the automatic adjustment function based on changes in seat posture on or off; If the user chooses to enable it, proceed to step 003; Step 003: The entire vehicle is brought under high voltage. The vehicle controller completes the self-check of the driver's on-site status and completes the initialization and storage of the seat posture. Step 004: The vehicle controller continuously monitors and analyzes the seat displacement status, motor speed, steering angle sensor, working device angle sensor, accelerator pedal opening, and brake pedal opening to determine the current motion status of the vehicle.

[0009] Step 005: Fourier transform of motion data in different dimensions can yield the corresponding motion spectrum. Based on the characteristics of frequency and amplitude, the working conditions are matched. After the working conditions are matched, the output torque value / slope of the travel motor and the peak pressure / buffer curve of the working device are controlled according to the corresponding working condition strategy in the working condition library stored in the vehicle controller to perform vehicle body vibration suppression adjustment.

[0010] Furthermore, it also includes: If it is determined that the seat is swaying back and forth, the identified working conditions include: rapid acceleration, sudden braking, bumpy road surfaces, and shaking of the working device. If the seat is determined to be swaying from side to side, the identified operating conditions include: sharp turns, vehicle tilting, and bumpy road surfaces. If the seat is determined to be bouncing up and down, the identified operating conditions include: bumpy road surface, shaking of the working device, and shaking of the whole vehicle.

[0011] Furthermore, the method by which the vehicle controller continuously detects the seat displacement status is as follows: The seat motion state point P is divided into three dimensions: X, Y, and Z: forward and backward swaying—X, left and right swaying—Y, and up and down bouncing—Z. By splitting the motion into three dimensions, the displacement characteristics in different directions can be obtained.

[0012] Furthermore, it also includes: Seat posture calibration is performed every time the door is opened and the vehicle controller is activated. The calibration results are stored in the vehicle controller, and the accumulated error of the next calibration is learned by comparing with the historical state.

[0013] Furthermore, it also includes: The automatic seat posture adjustment function has a memory function to retain the driver's selection before the vehicle controller went into sleep mode.

[0014] A second aspect of the present invention provides an engineering vehicle, including a wheel-side drive chassis, a working motor, a working pump, a multi-way solenoid valve, a working cylinder, an oil tank, a battery controller, a battery pack, and the above-mentioned vehicle body vibration control system based on driver posture; The wheel-side drive chassis is used to receive control commands from the chassis motor controller to complete drive, feedback, and electronic differential functions; The working motor is used to receive control signals from the working device controller to drive the working pump; The working pump is used to provide working / steering / braking pressure for the working device and wheel-side drive chassis; The multi-way solenoid valve is used to receive control current from the vehicle controller and dynamically adjust the working flow for the working device and wheel-side drive chassis. The working cylinder is used to complete the up-and-down movement and left-and-right axial rotation of the working device; The oil tank serves as a hydraulic oil source and return container for the working pump; The battery controller is used to interact with the vehicle controller to control the charging and discharging of the battery; The battery pack is used to power the vehicle's electrical appliances and store the energy fed back from the drive motor.

[0015] The beneficial effects of this invention are as follows: The beneficial effects achieved by this invention are as follows: This invention installs a driver posture monitoring system at the bottom of the aircraft seat in the driver's cab. By monitoring the seat posture, it avoids the problem that traditional rigid frame structures cannot obtain subtle motion characteristics. The vehicle controller analyzes the vibration signals transmitted by the seat and can perform closed-loop control of the travel motor and working device, thereby improving driving comfort, enhancing driving control and safety, extending the service life of precision vehicle components, reducing the requirements for vehicle body rigidity and strength to reduce material usage and achieve lightweighting, and reducing kinetic energy loss caused by severe vehicle body vibration to improve the overall range performance. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a three-dimensional vibration diagram of the monitoring seat of the present invention; Figure 3 This is a schematic diagram of a seat vibration and displacement monitoring scheme. Figure 4 This is a flowchart of the vehicle control process based on seat motion state detection; Figure 5This is a schematic diagram of vibration displacement in the three-dimensional space of the seat. Figure 6 This is a schematic diagram of the three-dimensional vibration decomposition of the seat; Figure 7 A schematic diagram illustrating the uniaxial motion characteristics of a seat. Figure 8 This is a schematic diagram showing the relationship between the torque control slope and vibration characteristics. Figure 9 This is a schematic diagram illustrating the relationship between rotational speed, torque, and torque slope. Figure 10 A schematic diagram of an engineering vehicle equipped with the vibration control system of the present invention. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention. Example 1

[0018] like Figure 1 As shown, the vibration control system based on driver posture of the present invention includes a driver posture monitoring seat 7, a vehicle controller 8 (VCU), a chassis motor controller 9 (MCU), a wheel-side drive chassis 12, a working device controller 5 (HCU), a working motor 6, a working pump 1, a multi-way solenoid valve 2, a working cylinder 3, an oil tank 4, a battery controller 10 (BCU), a battery pack 11 (PACK), and a travel motor 13.

[0019] The driver posture monitoring seat 7 includes an aircraft seat body, a pressure sensor, and several height sensors. The aircraft seat supports the driver and transmits vibrations between the driver and the vehicle body. The pressure sensor transmits pressure signals to the vehicle controller 8, and the height sensors monitor the motion state of the seat surface in real time and transmit signals to the vehicle controller 8. The vehicle controller 8 is used to receive pressure signals from the seat pressure sensor to detect different driver seating pressures and complete the initial seat plane calibration, receive height signals from the height sensor to analyze the vehicle motion state and classify working conditions, send control commands to the chassis motor controller 9 to dynamically adjust the motor speed / torque, send control commands to the working device controller 5 to dynamically adjust the working motor speed, send control current to the multi-way solenoid valve 2 to dynamically adjust the valve opening, and interact with the battery controller 10 to monitor the status of the battery pack 11 in real time. The chassis motor controller 9 is used to receive control commands from the vehicle controller 8 and to precisely control the wheel-side drive chassis 12; The wheel-side drive chassis 12 is used to receive control commands from the chassis motor controller 9 to complete functions such as driving, feedback, and electronic differential. The working device controller 5 is used to receive control commands from the vehicle controller 8 and to precisely control the working motor 6; The working motor 6 is used to drive the working pump; The working pump is used to provide working / steering / braking pressure for the 6-way working device and wheel-side drive chassis; The multi-way solenoid valve 2 is used to receive control current from the vehicle controller 8 and dynamically adjust the working flow for the working device and the wheel-side drive chassis 12. The working cylinder 3 is used to complete the up-and-down movement and left-and-right axial rotation of the working device; The oil tank 4 is used to provide hydraulic oil to the working pump and serves as a return container; The battery controller 10 is used to interact with the vehicle controller 8 to control the charging and discharging of the battery; The battery pack 11 is used to supply power to the electrical appliances of the vehicle and to store the energy fed back by the drive motor. like Figure 2 As shown, the movement of the driver posture monitoring seat 7 is divided into three dimensions: fore-and-aft swaying X, left-and-right swaying Y, and up-and-down bouncing Z; like Figure 3 As shown, the driver posture monitoring seat includes at least one pressure sensor, and typically includes one, four, or nine height sensors. The pressure sensor is located directly below the center of the seat, while the height sensors are located at the center of each equally divided area, depending on their number.

[0020] The initial plane of the seat refers to the plane in which the seat surface is located in its free state when the driver is not in the seat. The chassis includes, but is not limited to, wheel-side drive chassis, central drive chassis, and axle drive chassis; The chassis is a rigid structure, without active buffer structures such as hydraulic pistons, air springs, and electromagnetic suspension, as well as passive buffer structures not represented by metal springs. The initial plane of the seat refers to the plane in which the seat surface is located in its free state when the driver is not in the seat. In addition to the pressure sensor plus height sensor solution, the driver posture monitoring seat can also use a gyroscope plus accelerometer solution, but the gyroscope and accelerometer need to be installed at the center of the lower surface of the seat cushion. The wheel-side drive chassis 12 includes a rigid frame, four wheel-side motor assemblies, a steering cylinder, and a travel motor 13. Example 2

[0021] like Figure 4As shown, this embodiment provides a control method using the above-mentioned vibration control system based on driver posture. The method includes controlling according to the working conditions corresponding to different seat postures. The control process includes: Step 001: When the car door is opened, the VCU is activated and performs a self-check of the seat status before the driver sits down, completing the seat posture calibration.

[0022] Step 002: The user selects to turn the automatic adjustment function based on changes in seat posture on or off the display screen or other interactive interface such as membrane panel or rocker switch.

[0023] If the user chooses to turn it off, the vehicle's equipment will operate in normal mode; If the user chooses to enable it, proceed to step 003. Step 003: The entire vehicle is subjected to high voltage. The VCU completes the self-check of the driver's on-site status and completes the initialization and storage of the seat posture.

[0024] Step 004: The VCU continuously monitors and analyzes the seat displacement, motor speed, steering angle sensor, working device angle sensor, accelerator pedal opening, and brake pedal opening to determine the vehicle's current motion state. The vehicle's motion state is divided into three dimensions: XYZ: forward and backward swaying—X, left and right swaying—Y, and up and down bouncing—Z.

[0025] If it is determined that the seat is swaying back and forth, the identified working conditions include: rapid acceleration, sudden braking, bumpy road surfaces, and shaking of the working device. If the seat is determined to be swaying from side to side, the identified operating conditions include: sharp turns, vehicle tilting, and bumpy road surfaces. If the seat is determined to be bouncing up and down, the identified operating conditions include: bumpy road surface, shaking of the working device, and shaking of the whole vehicle.

[0026] Step 005: Performing Fourier transform on motion data of different dimensions yields the corresponding motion spectrum. Operating conditions are then matched based on the frequency and amplitude characteristics. After operating condition matching is complete, the output torque / slope of the travel motor and the peak pressure / buffer curve of the working device can be controlled according to the corresponding operating condition strategy in the VCU to regulate vehicle body vibration suppression.

[0027] Step 006: End the run.

[0028] The wheel seat posture calibration is performed every time the door is opened and the VCU is activated. The calibration results are stored in the controller, and the cumulative error of the next calibration is learned by comparing with the historical state.

[0029] The automatic adjustment function based on seat posture changes has a memory function, which retains the driver's selections before the last VCU hibernation.

[0030] The general state refers to the vehicle's motion performance when the vehicle control strategy is unaffected by changes in seat posture.

[0031] like Figure 5 As shown, the VCU continuously detects the seat displacement state and determines the vehicle's current motion state by simultaneously monitoring and analyzing the motor speed, steering angle sensor, working device angle sensor, accelerator pedal opening, and brake pedal opening. Specifically, referring to Table 1, the seat motion state point P is divided into three dimensions: X, Y, and Z: fore-and-aft swaying—X, left-and-right swaying—Y, and up-and-down bouncing—Z. By breaking it down, the displacement characteristics in different directions can be obtained.

[0032] Table 1 like Figure 6 As shown, the left-right vibration curve (Y) is very stable, the up-down vibration curve (Z) fluctuates the most violently, and the front-back vibration (X), while more pronounced than Y, is still gentler than Z. Combined with the fact that the steering angle is within ±3°, the working device angle change is less than 1°, the motor speed is above 50 rpm, the accelerator pedal opening is greater than 5% with a change of less than 1%, and the brake pedal opening is less than 3%, the VCU can roughly determine that the vehicle is currently traveling straight on a continuous bumpy road with relatively small potholes.

[0033] To more accurately match vehicle operating conditions, feature extraction is needed from data spanning a longer period. For example... Figure 7 As shown, the motion spectrum obtained by performing a Fourier transform on single-dimensional motion data is used by the VCU to match the real-time acquired frequencies and amplitudes with the operating condition feature library built into the VCU memory to obtain the final predicted operating condition. After the operating condition matching is completed, the output torque value / slope of the travel motor and the peak pressure / buffer curve of the working device can be controlled according to the corresponding operating condition strategy in the VCU to adjust the vehicle body vibration suppression. Figure 8 and Figure 9 As shown, this is the torque control strategy when the vehicle is traveling in a straight line on a continuous bumpy road. By test-driving different control characteristics under various operating conditions, vibration can be controlled in a targeted manner. Example 3

[0034] This embodiment provides an engineering vehicle, such as Figure 10 The electric loader shown is equipped with the aforementioned vibration control system based on driver posture, and a vehicle body vibration control method using the aforementioned vehicle body vibration control method.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Additionally, in the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, in the accompanying drawings of this invention, the fill patterns are only for distinguishing layers and do not constitute any other limitation.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A vehicle body vibration control system based on driver posture, characterized in that, include: Driver posture monitoring seat, vehicle controller, working device controller, working device, chassis motor controller and travel motor; The driver posture monitoring seat is used by the driver to sit in the seat and monitors the seat's movement. The vehicle controller is used to acquire the vehicle's operating parameters and the seat's motion status in real time, identify the working conditions, and match the identified working conditions with a pre-stored working condition library. Based on the corresponding working condition strategy in the working condition library, the chassis motor controller outputs torque value / slope control signals to the travel motor, and the working device controller outputs peak pressure / buffer curve control signals to the working device until the motion status parameters of the monitored seat are lower than the threshold, thereby suppressing vehicle body vibration.

2. The vehicle body vibration control system based on driver posture according to claim 1, characterized in that, The driver attitude monitoring seat uses an aircraft seat design.

3. The vehicle body vibration control system based on driver posture according to claim 2, characterized in that, The driver posture monitoring seat is equipped with a pressure sensor and a height sensor. The pressure sensor is located below the center of the seat, and the height sensors are located at the center of each evenly divided area of ​​the seat cushion, depending on the number of sensors.

4. The vehicle body vibration control system based on driver posture according to claim 2, characterized in that, The driver posture monitoring seat is equipped with a gyroscope and an accelerometer, which are installed at the center of the lower surface of the seat cushion.

5. The control method for a vehicle body vibration control system based on driver posture according to claim 1, characterized in that, Includes the following steps: Step 001: When the car door is opened, the vehicle controller is activated and performs a self-check of the seat status before the driver sits down, and completes the seat posture calibration. Step 002: Select to turn the automatic adjustment function based on changes in seat posture on or off; If the user chooses to enable it, proceed to step 003; Step 003: The entire vehicle is brought under high voltage. The vehicle controller completes the self-check of the driver's on-site status and completes the initialization and storage of the seat posture. Step 004: The vehicle controller continuously monitors and analyzes the seat displacement status, motor speed, steering angle sensor, working device angle sensor, accelerator pedal opening, and brake pedal opening to determine the current motion state of the vehicle. Step 005: Performing Fourier transform on motion data of different dimensions can yield the corresponding motion spectrum, and matching the working conditions based on the characteristics of frequency and amplitude; After the working condition matching is completed, the output torque value / slope of the travel motor and the peak pressure / buffer curve of the working device are controlled according to the corresponding working condition strategy in the working condition library stored in the vehicle controller to perform vehicle body vibration suppression adjustment.

6. The control method for the vehicle body vibration control system based on driver posture according to claim 5, characterized in that, Also includes: If it is determined that the seat is swaying back and forth, the identified working conditions include: rapid acceleration, sudden braking, bumpy road surfaces, and shaking of the working device. If the seat is determined to be swaying from side to side, the identified operating conditions include: sharp turns, vehicle tilting, and bumpy road surfaces. If the seat is determined to be bouncing up and down, the identified operating conditions include: bumpy road surface, shaking of the working device, and shaking of the whole vehicle.

7. The control method for the vehicle body vibration control system based on driver posture according to claim 5, characterized in that, The method by which the vehicle controller continuously detects the seat displacement status is as follows: The seat motion state point P is divided into three dimensions: X, Y, and Z: forward and backward swaying—X, left and right swaying—Y, and up and down bouncing—Z. By splitting the motion into three dimensions, the displacement characteristics in different directions can be obtained.

8. The control method for the vehicle body vibration control system based on driver posture according to claim 5, characterized in that, Also includes: Seat posture calibration is performed every time the door is opened and the vehicle controller is activated. The calibration results are stored in the vehicle controller, and the accumulated error of the next calibration is learned by comparing with the historical state.

9. The control method for a vehicle body vibration control system based on driver posture according to claim 5, characterized in that, Also includes: The automatic seat posture adjustment function has a memory function to retain the driver's selection before the vehicle controller went into sleep mode.

10. An engineering vehicle, characterized in that, It includes a wheel-side drive chassis, a working motor, a working pump, a multi-way solenoid valve, a working cylinder, an oil tank, a battery controller, a battery pack, and a vehicle body vibration control system based on driver posture as described in any one of claims 1-4; The wheel-side drive chassis is used to receive control commands from the chassis motor controller to complete drive, feedback, and electronic differential functions; The working motor is used to receive control signals from the working device controller to drive the working pump; The working pump is used to provide working / steering / braking pressure for the working device and wheel-side drive chassis; The multi-way solenoid valve is used to receive control current from the vehicle controller and dynamically adjust the working flow for the working device and wheel-side drive chassis. The working cylinder is used to complete the up-and-down movement and left-and-right axial rotation of the working device; The oil tank serves as a hydraulic oil source and return container for the working pump; The battery controller is used to interact with the vehicle controller to control the charging and discharging of the battery; The battery pack is used to power the vehicle's electrical appliances and store the energy fed back from the drive motor.

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