A dynamic shock-absorbing self-balancing automobile seat and control method

Abstract

The application discloses a kind of dynamic shock absorption self-balancing automobile seat and control method, belong to intelligent seat system design and control technical field, including compliant control push rod module, by push rod array, film pressure sensor in the top of push rod, the integrated circuit board of the clamping plate of each column push rod two sides and clamping plate below setting composition;Control method relies on the Xilinx FPGA of NI CRIO and realizes the parallel control of multiple push rods, in turn through pressure and motion signal acquisition, the difference value calculation of single push rod pressure and array average pressure, the stiffness adjustment of PID combined with feedforward quantity, the speed instruction of admittance control solution acceleration and integration generation, the differential PWM drive push rod of PD controller output, with periodic cycle execution, the application adopts above-mentioned a kind of dynamic shock absorption self-balancing automobile seat and control method, real-time balancing human pressure distribution, dynamic offset road vibration, break through the limitation of traditional seat fixed support, improve ride comfort and stability.

Description

Technical Field

[0001] This invention relates to the field of intelligent seat system design and control technology, and in particular to a dynamic shock-absorbing self-balancing car seat and control method. Background Technology

[0002] Current automotive seat dynamic damping and self-balancing control technologies have several shortcomings. In terms of control methods, traditional PID control, while simple to implement, has weak adaptive capabilities and struggles to cope with dynamic changes in road conditions and occupant weight. Admittance control, while capable of simulating virtual mechanical characteristics, relies on experience for parameter tuning, and coupling interference easily occurs during multi-actuator coordinated adjustment, making it difficult to establish a precise force-position mapping relationship. Regarding actuators, pneumatic components suffer from response lag due to airflow compression delays; electric actuators, limited by motor inertia and transmission mechanisms, have insufficient bandwidth for multi-directional vibration suppression, and single-axis adjustment modes struggle to cover complex scenarios such as steering roll and acceleration / deceleration sway. Metaheuristic algorithms also have limitations in parameter optimization: genetic algorithms have low iterative efficiency, failing to meet the computational demands of real-time control; traditional optimization strategies lack dynamic correlation between road condition characteristics and control parameters, making it difficult to coordinate vibration compensation and pressure homogenization goals.

[0003] These traditional technologies are no longer sufficient to meet the dynamic comfort requirements of car seats under complex road conditions. The car seat and control method provided by this invention achieve multi-dimensional support adjustment by constructing a compliant control push rod module. It improves the dynamic response accuracy by combining FPGA parallel computing PID and feedforward stiffness adjustment and improved admittance control algorithms. It solves the bandwidth bottleneck of the actuator by using differential PWM drive and high-frequency encoder feedback, so as to achieve dynamic uniform distribution of contact force between the human body and the seat cushion and alleviate vertical vibration transmitted from the road surface. Summary of the Invention

[0004] The purpose of this invention is to provide a dynamic shock-absorbing self-balancing car seat and control method. Addressing the problems of existing car seats having fixed support characteristics, difficulty adapting to road bumps and dynamic changes in human posture, resulting in uneven contact force distribution and significant vibration transmission, this invention provides a dynamically adjustable car seat based on a pushrod array. By achieving discrete zone adjustment of the seat cushion surface damping and stiffness, it solves the problem of uneven contact force between the person and the seat under complex road conditions, effectively mitigating the transmission of road vibrations to the human body and improving driving comfort.

[0005] To achieve the above objectives, the present invention provides a dynamic shock-absorbing self-balancing car seat, including a seat cushion and a compliance control push rod module disposed inside the seat cushion. The compliance control push rod module includes a push rod array, which consists of a plurality of push rods arranged vertically in an array. A thin-film pressure sensor is disposed on the top of each push rod. Clamping plates are disposed on both sides of each row of push rods. An integrated circuit board is disposed below the clamping plates, and the thin-film pressure sensor is connected to an interface on the integrated circuit board.

[0006] The present invention also provides a control method for a dynamically damping self-balancing car seat, comprising the following steps:

[0007] S1. Obtain the magnitude of the pressure at the top of the push rod in contact with the human body using a thin-film pressure sensor. Average force of the push rod array and human body contact Simultaneously, the encoder integrated into the push rod collects the real-time position of the push rod. and speed ;

[0008] S2. The magnitude of the pressure at the top of the push rod obtained in step S1. Position of the push rod Average force of the push rod array and human body contact The input is fed into the variable stiffness control, which calculates the stiffness. ;

[0009] S3, Stiffness The magnitude of the push rod top pressure obtained in step S1 Position of the push rod and speed The input is given to the admittance controller, which calculates and outputs the speed command. Give it to the speed controller;

[0010] S4, the speed command calculated by the admittance controller. The push rod speed obtained in step S1 The input is given to the speed controller, which calculates and outputs two differential PWM signals. ;

[0011] S5. Return to step S1 and enter the next program loop.

[0012] Preferably, in step S1, the magnitude of the pressure at the top of the push rod is... The acquisition process includes:

[0013] When an unknown environment or human body acts on the push rod array, the output voltage of the thin-film pressure sensor at the top of the push rod changes due to the pressure.

[0014] The NIC series analog input acquisition card with embedded main control synchronously receives the voltages of each thin-film pressure sensor after filtering by the voltage divider circuit on the integrated circuit board.

[0015] Finally, the voltage signal is calculated into the magnitude of the pressure at the top of the push rod. .

[0016] Preferably, in step S1, the position of the push rod... and speed The acquisition process includes:

[0017] The encoder of the push rod outputs two phase-difference square wave signals;

[0018] The square wave signal is processed by the encoder signal amplification and filtering circuit of the integrated circuit board;

[0019] The embedded host control NIC series digital input / output card reads and processes the square wave signal;

[0020] The position of the push rod is calculated based on the phase difference and period of the two square waves. and speed .

[0021] Preferably, in step S2, stiffness The calculation process includes:

[0022] Calculate the human contact force of a single push rod Average force of human body in contact with the push rod array The difference ;

[0023] Difference Input to the PID controller, output the PID adjustment value;

[0024] Add the PID adjustment to the feedforward used to maintain the initial support shape of the push rod array;

[0025] The stiffness is calculated from the above superposition results. .

[0026] Preferably, in step S3, the calculation formula for the admittance controller is:

[0027] (1);

[0028] in, This indicates the target position when the push rod is not under pressure. This indicates the target velocity when the push rod is not under pressure. Indicates the real-time position of the push rod. Indicates the real-time speed of the push rod. Indicates the quality coefficient. Indicates the damping coefficient. This indicates an acceleration command, for Integrating to obtain the speed command And output it to the speed controller.

[0029] Preferably, in step S4, the speed controller is a PD controller, and its control logic is as follows: receiving the speed command output in step S3. The real-time speed of the push rod obtained in step S1 After processing by the PD control algorithm, two differential PWM signals are output. The duty cycle of the PWM signal corresponds to the push rod speed. The magnitude of the amplitude, and the positive and negative relationship between the two PWM signals, correspond to the push rod speed. The direction of motion; the PWM signal is transmitted to the motor of the push rod through the NIC series digital input / output card.

[0030] Therefore, this invention adopts the aforementioned control method for a dynamic shock-absorbing self-balancing car seat. By using a pushrod array as the main support for the seat cushion, and utilizing pushrods with integrated thin-film pressure sensors, the damping, stiffness, and other physical characteristics can be discretely and zone-adjusted, significantly improving the seat's dynamic adaptability. On the one hand, variable stiffness control based on single-point pressure signals can optimize the contact force distribution between the person and the seat in real time, effectively avoiding local pressure concentration during road bumps and improving seating comfort. On the other hand, by specifically adjusting the damping and stiffness characteristics of each pushrod, the energy of road vibrations of different frequencies and directions can be accurately offset, reducing the efficiency of vibration transmission to the human body. At the same time, the discrete adjustment design can adapt to the needs of occupants with different weights and sitting postures, as well as complex scenarios such as rapid acceleration and steering. Combined with the closed-loop control logic of pressure sensing and adjustment, a rapid response from pressure perception to characteristic adjustment is achieved, solving the technical pain points of traditional seats with fixed support characteristics and the inability to dynamically adapt to changes in road conditions and human posture, thus comprehensively improving driving comfort and stability.

[0031] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of a system application scenario according to an embodiment of the present invention;

[0033] Figure 2 This is an exploded view of the device components according to an embodiment of the present invention;

[0034] Figure 3 This is a hardware system architecture diagram of an embodiment of the present invention;

[0035] Figure 4 This is a block diagram illustrating the control logic principle of an embodiment of the present invention;

[0036] Figure Labels

[0037] 4. Compliant control push rod module; 401. Thin-film pressure sensor; 402. Push rod; 403. Integrated circuit board; 404. Clamping plate. Detailed Implementation

[0038] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0039] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0040] Example

[0041] like Figures 1-2 As shown, a dynamic shock-absorbing self-balancing car seat design includes a seat cushion and a compliance control push rod module 4 disposed inside the seat cushion. The compliance control push rod module 4 includes a push rod array, which consists of several push rods 402 arranged vertically in an array. A thin film pressure sensor 401 is disposed on the top of the push rod 402. A clamping plate 404 is disposed on both sides of each row of push rods 402. An integrated circuit board 403 is disposed below the clamping plate 404, and the thin film pressure sensor 401 is connected to an interface on the integrated circuit board 403.

[0042] A control method for the aforementioned dynamic shock-absorbing self-balancing automotive seat, the hardware system architecture of which is as follows: Figure 3As shown, the embedded main controller is developed based on NI CRIO hardware and the LabVIEW G language development environment. The host PC layer is developed based on LabVIEW G language, running FPGA and RT programming environment, responsible for algorithm development interface, RT GUI interface and cross-layer communication. The RT GUI interface can monitor and adjust parameters of the program running on Xilinx FPGA on NI CRIO. The NI CRIO hardware layer integrates processor module and Xilinx FPGA module. The processor module runs Linux Real-Time OS. The software framework relies on NI LabVIEW programming library to implement DMA interrupt management and bus control driver development. The processor peripheral driver and hardware boot driver are developed through C language programming library. The Xilinx FPGA module is responsible for controlling each push rod and running the control method of the seat based on the push rod array. Based on NI LabVIEW FPGA programming library, the core algorithms such as admittance control and speed PID are compiled into hardware description language. The parallel computing capability of FPGA is used to realize pressure signal acquisition and PWM drive signal output. The relevant sensor signals and control signals are realized through NIC series card I / O.

[0043] like Figure 4 As shown, a control method for a dynamic shock-absorbing self-balancing car seat includes the following steps:

[0044] S1. The contact force at the top of the push rod 402, which is in contact with the human body, is obtained through the thin-film pressure sensor 401. Average force of the push rod array and human body contact Simultaneously, the real-time position of the push rod 402 is acquired through the encoder integrated in the push rod 402. and speed The signals, after being processed by the filtering circuit of the integrated circuit board, are transmitted to the seat control unit.

[0045] Among them, the magnitude of the pressure at the top of push rod 402 The acquisition process includes:

[0046] When an unknown environment or human body acts on the push rod array, the output voltage of the thin-film pressure sensor 401 on the top of the push rod 402 under pressure changes.

[0047] The NI C series analog input acquisition card with embedded main control synchronously receives the voltages of each thin-film pressure sensor after filtering by the voltage divider circuit on the integrated circuit board 403.

[0048] Finally, the voltage signal was calculated into the magnitude of the contact force at the top of push rod 402. .

[0049] Position of putter 402 and speed The acquisition process includes:

[0050] The encoder of push rod 402 outputs two phase difference square wave signals;

[0051] The square wave signal is processed by the encoder signal amplification and filtering circuit of integrated circuit board 403;

[0052] The embedded host control NIC series digital input / output card reads and processes the square wave signal;

[0053] The position of push rod 402 is calculated based on the phase difference and period of the two square waves. and speed .

[0054] S2. The magnitude of the pressure at the top of push rod 402 obtained in step S1. Position of push rod 402 、 Average force of the push rod array in contact with the human body The input is given to the variable stiffness control, which calculates the output stiffness. .

[0055] Among them, stiffness The calculation process includes:

[0056] Calculate the human contact force of a single push rod 402 Average force of human body in contact with the push rod array The difference ;

[0057] Difference Input to the PID controller, output the PID adjustment value;

[0058] Add the PID adjustment to the feedforward used to maintain the initial support shape of the push rod array;

[0059] The stiffness is calculated from the above superposition results. .

[0060] S3, Stiffness The magnitude of the pressure at the top of push rod 402 obtained in step S1 Position of push rod 402 and speed The input is given to the admittance controller, which calculates and outputs the speed command. Give it to the speed controller.

[0061] The formula for calculating the admittance controller is:

[0062] (1);

[0063] in, This indicates the target position of push rod 402 when it is not under pressure. This indicates the target velocity of push rod 402 when it is not under pressure. This indicates the real-time position of push rod 402. This indicates the real-time speed of the push rod 402. Indicates the quality coefficient. Indicates the damping coefficient. This indicates an acceleration command, for Integrating to obtain the speed command And output it to the speed controller.

[0064] S4, the speed command calculated by the admittance controller. The speed of push rod 402 obtained in step S1 The input is given to the speed controller, which calculates and outputs two differential PWM signals. .

[0065] The speed controller is a PD controller, and its control logic is as follows: receive the speed command output in step S3. The real-time speed of push rod 402 obtained in step S1 After processing by the PD control algorithm, two differential PWM signals are output. The duty cycle of the PWM signal corresponds to the speed of the push rod 402. The magnitude of the amplitude, and the positive and negative relationship between the two PWM signals, correspond to the speed of the push rod 402. The direction of motion; the PWM signal is transmitted to the motor of the push rod 402 through the NI C series digital input / output card.

[0066] After receiving a PWM signal, the motor of push rod 402 drives the push rod 402 to extend and retract. In the push rod array, each push rod 402 autonomously adjusts its extension and retraction based on the difference in contact pressure, constructing a support surface that dynamically conforms to the human body. By changing the stiffness and damping characteristics of the contact points in real time, it disperses the vibration energy transmitted from road bumps, weakening the transmission of vibration to the human body; on the other hand, it balances the contact pressure distribution between the human body and the seat, avoiding local stress concentration. The thin-film pressure sensor 401 at the top of the push rod 402 continuously collects the contact force signal and feeds it back to the control unit to enter the next cycle, realizing a closed-loop dynamic adaptation of sensing, adjustment, and feedback, ultimately achieving a shock absorption self-balancing effect under complex road conditions.

[0067] Therefore, this invention employs the aforementioned dynamic shock-absorbing self-balancing car seat and control method. By using a pushrod array as the main support for the seat cushion, and utilizing pushrods with integrated thin-film pressure sensors, the damping, stiffness, and other physical characteristics are discretely and zone-adjustable, significantly improving the seat's dynamic adaptability. On the one hand, variable stiffness control based on single-point pressure signals can optimize the contact force distribution between the person and the seat in real time, effectively avoiding local pressure concentration during road bumps and improving seating comfort. On the other hand, by specifically adjusting the damping and stiffness characteristics of each pushrod, the energy of road vibrations at different frequencies and directions can be precisely offset, reducing the efficiency of vibration transmission to the human body. Simultaneously, the discrete adjustment design can adapt to the needs of occupants with different weights and sitting postures, as well as complex scenarios such as rapid acceleration and steering. Combined with the closed-loop control logic of pressure sensing and adjustment, a rapid response from pressure perception to characteristic adjustment is achieved, solving the technical pain points of traditional seats with fixed support characteristics and the inability to dynamically adapt to changes in road conditions and human posture, thus comprehensively improving driving comfort and stability.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A control method of a dynamic shock-absorbing self-balancing automobile seat, characterized by, Comprising the following steps: S1, acquire the size value of the pressure on the top of the push rod in contact with the human body through the thin film pressure sensor , average force of the push rod array and the human body in contact , collect the real-time position and speed of the push rod through the encoder integrated with the push rod and speed ; S2, the magnitude of the tappet top pressure acquired in step S1 , the position of the tappet , the average force of the tappet array and the human body contact , input to the variable stiffness control, the variable stiffness control calculates the output stiffness ; S3, stiffness The magnitude of the value of the plunger top pressure obtained in step S1 The position of the plunger And the speed Is input to the admittance controller, which calculates and outputs a speed command To the speed controller; S4, the speed instruction calculated by the admittance controller obtained in step S1 is input to the speed controller, which calculates and outputs two differential PWM signals The speed controller is a PD controller, and its control logic is as follows: receiving the speed instruction output by step S3 and the real-time speed of the push rod obtained in step S1 After the PD control algorithm is operated, two differential PWM signals are output , wherein the duty cycle of the PWM signal corresponds to the amplitude of the push rod speed , and the positive and negative relationship of the two PWM signals corresponds to the movement direction of the push rod speed ; the PWM signal is transmitted to the motor of the push rod through the NIC series digital input / output card. S5, back to step S1 into the next program cycle.

2. The control method of a dynamic shock-absorbing self-balancing automobile seat according to claim 1, characterized in that, In step S1, the value of the push rod top pressure The acquisition process includes: When the unknown environment or human body acts on the push rod array, the film pressure sensor at the top of the push rod under pressure changes the output voltage; The embedded host NIC series analog input acquisition card synchronously receives the filtered voltage of each film pressure sensor on the integrated circuit board through the film pressure sensor voltage divider circuit; Finally, the voltage signal is resolved into a magnitude value of the push rod top pressure .

3. The control method of a dynamic shock-absorbing self-balancing automobile seat according to claim 1, characterized in that, The acquisition process of the position and speed of the push rod in step S1 comprises: The encoder of the push rod outputs two-phase difference square wave signals; The square wave signal is processed by the encoder signal amplification and filtering circuit of the integrated circuit board; The embedded host NIC series digital input / output card reads the processed square wave signal; The position of the push rod is calculated based on the phase difference and period of the two square waves. and speed .

4. The control method of a dynamic shock-absorbing self-balancing automobile seat according to claim 1, wherein In step S2, the rigidity calculation process includes: Computing individual putter human contact force Difference from putter array human contact average force ;​ differential value input PID controller, output PID adjustment amount; The PID adjustment amount is added to the feedforward amount for maintaining the initial support mode of the push rod array. The rigidity is calculated from the above superposition results .

5. The control method of a dynamic shock-absorbing self-balancing automobile seat according to claim 1, wherein In step S3, the calculation formula of the admittance controller is: （1） in, This indicates the target position when the push rod is not under pressure. This indicates the target velocity when the push rod is not under pressure. Indicates the quality coefficient. Indicates the damping coefficient. This indicates an acceleration command, for Integrating to obtain the speed command And output it to the speed controller.

6. A dynamic shock-absorbing self-balancing automobile seat control method applied to the dynamic shock-absorbing self-balancing automobile seat of any one of claims 1-5, characterized in that: It comprises a seat cushion and a compliant control push rod module arranged inside the seat cushion, the compliant control push rod module comprises a push rod array, the push rod array is composed of a plurality of push rods, and the plurality of push rods are vertically distributed in an array, the top of the push rod is provided with a film pressure sensor, both sides of each column of the push rod are provided with a clamping plate, the lower side of the clamping plate is provided with an integrated circuit board, and the film pressure sensor is connected with the interface on the integrated circuit board.

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