822 results about "Active suspension" patented technology

The invention relates to the technical field of forklift driving stability control, in particular to a forklift driving stability control system based on ultrasonic and laser composite ranging, which comprises a composite ranging module, a multi-modal data fusion module, a stability prediction and control module, an execution mechanism control module and an online learning system. The composite distance measuring module collects surrounding environment information and corrects motion errors through a dynamic compensation algorithm; the multi-modal data fusion module dynamically adjusts the weight of the sensor based on an environmental interference factor, and realizes space-time calibration in combination with extended Kalman filtering; the stability prediction and control module is fused with the vehicle dynamic characteristics to predict the rollover risk and generate a hierarchical control instruction; the actuating mechanism control module drives actuating components such as an active suspension and an electronic differential mechanism through a layered framework. The method can adapt to complex working conditions, the prediction precision and fault-tolerant capability are improved, safety and efficiency are balanced, the maintenance cost is reduced, and the method is suitable for various forklifts.

The invention discloses a sliding-mode adaptive vehicle roll stability control method based on deep reinforcement learning, which is applied to an active suspension vehicle and comprises the following steps: establishing a six-degree-of-freedom steering-roll vehicle dynamics model by combining a Doguff tire model, and calculating a target vehicle body roll angle based on a reverse roll mechanism. A sliding mode controller comprising a linear sliding mode surface and an exponential approaching rate is designed, an intelligent agent based on a soft behavior strategy gradient algorithm (SAC) is constructed, and the intelligent agent adaptively outputs optimal sliding mode parameters by sensing the vehicle state and the roll angle tracking condition. And finally, the sliding mode controller combines the optimal sliding mode parameters and the vehicle state to calculate the active roll-over moment and distributes the active roll-over moment to the main power of the left and right side suspensions, so that the precise regulation and control of the vehicle body posture are realized. According to the method, the roll stability domain during high-speed steering can be remarkably expanded, the lateral sensing acceleration of passengers is reduced, the high-robustness tracking effect is kept under complex disturbance, and meanwhile sliding mode buffeting is restrained.

Active suspension actuator systems including an actuator with a compression volume and an extension volume are described. In some embodiments, the system includes one or more flow control devices in fluid communication with the compression volume and / or the extension volume of the actuator. In some instances, a flow control device may include a pressure balanced blow-off valve (PBOV). In some embodiments, the system includes a high capacity bidirectional base valve. In some embodiments, two or more flow control devices cooperate to, for example, damp low amplitude oscillations in the extension and / or compression volumes, and to allow the build-up of pump generated differential pressures while discharging rapid road induced differential pressure spikes between the extension and compression volumes.

The invention belongs to the technical field of active suspension control, and particularly relates to an active suspension control method and system based on Skhook-ADRC-FFORC. According to the method, key parameters are obtained by establishing a 1 / 4 vehicle suspension dynamical model, a state space model is constructed, active disturbance suppression control is introduced on the basis, and the stability of the vehicle suspension is improved. Real-time estimation and compensation of vehicle body displacement and total disturbance of a system are realized, fractional order sliding mode control is combined, a fractional order sliding mode surface is constructed by using a Caputo operator, high robustness and smoothness are considered, the buffeting problem of a traditional sliding mode is suppressed, and finally, the high-frequency vibration isolation advantage of Skyhook control and the anti-interference capability of ADRC-FFORC are subjected to weighted fusion. The problems that in the prior art, model simplification and control distortion are caused, and a single strategy cannot give consideration to multi-target performance are solved, and by fusing ADRC, FOSMC and Skyhook control and realizing adaptive weighted switching, the robustness, smoothness and real-time performance of the active suspension under complex working conditions are effectively improved, so that collaborative optimization of vehicle comfort and safety is realized.

The invention provides a semi-active suspension vibration control method and system based on preview fusion and game decision, and the method comprises the following steps: obtaining pavement preview information through a forward sensor, carrying out the signal processing, and generating a future pavement preview sequence in real time; establishing a two-degree-of-freedom 1 / 4 whole vehicle vertical dynamical model; under a model prediction control framework, participants of a non-cooperative Nash game model are defined, a corresponding cost function is designed, a damping coefficient is discretized by adopting mixed integer programming, Nash equilibrium is solved by adopting a branch and bound method, and an optimal damping coefficient is obtained; mapping the optimal damping coefficient into optimal damping force meeting constraint conditions; hysteresis force compensation is conducted through a hysteresis model, and target control current is obtained through damping force obtained after hysteresis compensation according to the mapping relation between the damping force of the magnetorheological damper and the control current; and outputting the target damping force according to the instruction of the target control current. According to the invention, autonomous balance adjustment of multiple control targets is realized.

The invention relates to a cooperative control method for smooth pit-passing braking of a vehicle. The cooperative control method comprises the following steps that geometric data of a road surface pit and initial time data of predicted contact between a target wheel and the front edge of the pit are obtained through a preview sensing system; when the geometric data and the initial time data meet a preset triggering condition, triggering a suspension position control mode of the target wheel: acquiring target height data of a suspension, and generating a movement track of an active suspension of the target wheel from the current height data to the target height data; controlling an active suspension actuator to track the motion trail; and responding to the condition that the active suspension actuator reaches the preset supporting state. According to the method, traditional passive impact bearing is converted into active impact avoiding and buffering, so that collision energy between the wheels and the pothole edge is greatly absorbed, vertical bumping and pitching shaking of a vehicle body under the condition that a single wheel passes through a pit are effectively restrained, and unprecedented stable and comfortable braking experience is provided for passengers.

The invention relates to the technical field of hybrid electric vehicle active suspension control, in particular to a hybrid electric vehicle active suspension control method under the road surface and switching excitation coupling effect. The road dynamic information rapid preview comprises the steps of excitation and vehicle response characteristic mapping quantity definition, binocular 3D visual identification discrete impact excitation, random road surface grade identification, continuous spectrum construction and rapid reconstruction of road time domain excitation in combination with a transformation method. According to the method, the optimal vehicle dynamic response characteristic quantity is selected through an improved distance evaluation technology, an intelligent algorithm is provided on this basis to realize accurate identification of road surface discrete impact and random road surface grades, road surface time domain excitation can be rapidly constructed in combination with a transformation method, and accurate information is provided for subsequent control input in real time.

The electromagnetic active suspension is used for being connected between a vehicle body and wheels of a motor vehicle and is characterized in that the electromagnetic active suspension comprises an electromagnetic actuator and a magnetorheological damper, the electromagnetic actuator is a linear motor, and the linear motor comprises a permanent magnet cylinder, a primary winding and a bearing connected with the permanent magnet cylinder and the primary winding; the magneto-rheological damper and the linear motor are integrated in the same suspension assembly, the electromagnetic actuator and the magneto-rheological damper are integrated in the same suspension assembly, the integration level of the electromagnetic active suspension is greatly improved, the linear motor is adopted as a main power source, and structure compactness and function collaboration are achieved. The direct driving mode of the linear motor abandons a complex pipeline of a traditional hydraulic system, mechanical inertia is reduced, and the response frequency is greatly improved and far exceeds the upper limit of a hydraulic suspension. The invention further discloses a vehicle which adopts the electromagnetic active suspension, the adaptability of the vehicle under extreme working conditions such as cross-country and racing tracks can be improved, and the optimal balance between control and comfort is achieved.

The invention provides a transmission device and an actuating system. The transmission device comprises two transmission components and a coupling component arranged between the two transmission components. One of the two transmission components is in transmission connection with the force generating mechanism and is used for receiving the torque output by the force generating mechanism; and the other one is in transmission connection with the force output torsion bar and is used for outputting torque to the force output torsion bar. The coupling component is arranged between the two transmission components and used for achieving force transmission between the two transmission components. The active suspension can be applied to intelligent vehicles or electric vehicles, and the frequency response performance of the active suspension can be improved.

The invention discloses an automobile semi-active suspension PID parameter adaptive adjustment and vibration control method and system based on reinforcement learning, and the method mainly comprises the following working steps: 1, constructing a reinforcement learning environment comprising a suspension dynamics high-fidelity simulation model and a PID controller; 2, defining a state space including a vehicle body vertical acceleration error e (t), an error integral term summa e (t) dt, an error differential term de (t) / dt, a suspension dynamic stroke zdef (t), a driving vehicle speed v (t) and road surface unevenness estimation xi (t); and 3, defining an action space including a proportion coefficient increment delta Kp, an integral coefficient increment delta Ki, a differential coefficient increment delta Kd and an output compensation amount delta e (t) of the PID controller. According to the method, the problem that the suspension performance is reduced due to the fact that control parameters of a traditional PID control method are fixed under the non-linear and time-varying working conditions is solved, and the riding comfort and the handling stability of the vehicle are remarkably improved.

The invention discloses a truck control system and method, and belongs to the technical field of vehicle control, and the system comprises a slope recognition module, an attitude prediction module, a control decision module and an execution module. The gradient recognition module is used for acquiring gradient information and gradient change point positions of a road in front of the truck in real time; the attitude prediction module is connected with the slope recognition module, and predicts the pitch angle change trend when the truck passes through the uphill and downhill turning position based on the slope information; the control decision module is connected with the attitude prediction module and is used for generating a dynamic load distribution instruction and a driving / braking compensation instruction according to the change trend of the pitch angle; and the execution module is connected with the control decision module, comprises an engine controller, a brake controller and an active suspension controller, and is used for executing dynamic load distribution and driving / braking compensation. According to the invention, the attitude change of the wave road turning point can be predicted in advance, and the dynamic stability maintenance of the truck is realized by cooperatively controlling the suspension, the power and the braking system.

The invention relates to an active suspension control method and device of a corner module vehicle, computer equipment and a readable storage medium. The method comprises the following steps: acquiring vehicle state parameters and attribute information; according to the vehicle state parameters, the attribute information and preset anti-rollover constraints, the anti-rollover moment and the suspension total active force in the current vehicle state are determined; distributing the control force corresponding to each suspension based on a preset optimization target, the anti-rollover moment and the total active force of the suspension to obtain a target control force corresponding to each suspension; the target control force is used for performing active suspension control on each suspension. By adopting the method, the accuracy of anti-rollover control can be improved, and the safety of the angle module vehicle is improved.

The invention provides a method for controlling a full-active suspension system and a vehicle, the method is applied to the field of vehicle suspension control, and the method comprises the steps that a target suspension adjusting device of the vehicle is determined according to state parameters of the vehicle and / or environment parameters of the position where the vehicle is located, and the target suspension adjusting device comprises an electric hydraulic device or a damping device; the environment parameters are used for representing the environment state of the position of the vehicle, and the state parameters are used for representing the running state of the vehicle; according to the state parameters, target working parameters of the target suspension adjusting device are determined; and controlling the target suspension adjusting device to operate according to the target working parameters. According to the method, in the running process of the vehicle, work of the electro-hydraulic pump and work of the shock absorber can be decoupled, the electro-hydraulic pump is not controlled to be continuously started when the suspension is adjusted, the starting time of the electro-hydraulic pump is determined according to the state of the vehicle and the environment of the current position, and the vehicle can adapt to and meet the suspension adjusting requirements under different working conditions.

The invention provides a semi-active suspension control method and device, a storage medium and an electronic device.The method comprises the steps that the road surface feature elevation of a road surface abnormal object of a vehicle in the driving direction is recognized, and the driving speed of the vehicle in the driving direction is detected; calculating a front wheel shock-absorbing opportunity of the vehicle for the road surface abnormal object according to the driving speed, and calculating a shock-absorbing damping coefficient of the vehicle for the road surface abnormal object according to the driving speed and the road surface feature elevation; determining that the front wheels of the vehicle enter a shock absorption control state when the front wheel shock absorption time arrives, and controlling a shock absorber of a front axle suspension of the vehicle based on the shock absorption damping coefficient; judging whether the front wheel is switched from the damping control state to the aftershock control state or not; if the front wheels are switched to the aftershock control state, the aftershock elimination damping coefficient of the vehicle for the road surface abnormal object is calculated according to the running speed, and a shock absorber of a front axle suspension of the vehicle is controlled based on the aftershock elimination damping coefficient; and the driving safety and stability of the vehicle are improved.

A method of controlling a robotic cleaning apparatus. The method includes detecting, via one or more sensors, a soiled area on a target surface for cleaning. The method includes activating an active suspension system to reduce a distance between a chassis of the robotic cleaning device and a target surface to increase pressure exerted by a cleaning pad mounted to the chassis of the robotic cleaning device. The method includes monitoring, via one or more processors, one or more parameters of the robotic cleaning device to determine whether the one or more parameters are outside a threshold parameter range. The method includes adjusting the active suspension system if the one or more parameters are outside the threshold parameter range, and deactivating the active suspension system when it is detected that the soiled area on the target surface is cleaned.

The invention discloses a driving and braking suspension cooperative control method, device and equipment, a medium and a product, and relates to the field of vehicle active safety control. The method comprises the steps that a driving demand analysis and decision module determines driver demand torque, a control mode and a neutral steering target according to the vehicle state, the steering angle of a steering wheel of a driver and input information of a driving / braking pedal; the hybrid coordination control module determines front and rear motor torques according to the torque required by a driver and the vehicle state under the conventional working condition, and determines four-wheel cylinder brake pressure by using sliding mode control according to the vehicle state; the torque vector optimization distribution control and Smith predictor control method is adopted to determine the torque of a front motor, the torque of a rear motor and the brake pressure of a four-wheel cylinder according to the torque required by a driver, the vehicle state and a neutral steering target under the limiting working condition, and the weighted pseudo-inverse distribution vehicle body posture coordination control is adopted to determine the damping force of the semi-active suspension. The method can achieve the precise tracking of the expected neutral steering target, and gives full play to the lateral movement limit of the vehicle.

Example illustrations are directed to a damping system for a vehicle suspension that includes a controller configured to determine a roughness of a ground surface associated with the vehicle. The controller is also configured to determine a damper setting for the damping system based on the determined roughness. A method is also provided that includes determining, using a controller, a roughness of a ground surface associated with the vehicle. The method may further include determining, using the controller, a damper setting of the vehicle based on the determined roughness.

The invention discloses a semi-active suspension attitude coordination method based on a suspension controller, and belongs to the technical field of attitude coordination, and the method comprises the following steps: S1, carrying out kinetic analysis on a whole vehicle suspension; s2, determining the control force of the vehicle body suspension based on the kinetic analysis result; and S3, according to the control force of the vehicle body suspension, a vehicle body posture coordination controller is used for completing posture control. The dynamic response of the pitch angle and the roll angle of the vehicle body is considered, the vehicle body attitude compensation strategy is constructed to restrain the vehicle body attitude change, and the vehicle stability and comfort are improved; the vehicle body attitude compensation controller is designed, accurate adjustment of pitching and roll is achieved, and the vehicle body attitude compensation method has good application value and development prospects.

The invention discloses a semi-active suspension LQR controller optimization method based on an improved mayfly naiad algorithm, and belongs to the technical field of LQR controller optimization, and the method comprises the following steps: S1, constructing a vehicle model of a semi-active suspension; s2, constructing an LQR controller based on the vehicle model of the semi-active suspension; and S3, performing iterative processing on the LQR controller by using the improved mayfly naiad algorithm to complete optimization of the LQR controller. According to the method, the self-adaptive inertia weight factor, the Cauchy variation strategy and the dynamic switching probability mechanism are introduced, the balance between the global search capability and the local development capability of the mayfly naiad algorithm is optimized, and the defect that the algorithm is prone to falling into local optimum is effectively avoided.

The invention belongs to the technical field of semi-active suspension control methods, and relates to a semi-active suspension control method based on an improved multi-objective particle swarm optimization (MOPSO) algorithm, which comprises the following steps of: performing adaptive grid division on an external file of the MOPSO algorithm to determine global optimum with the most diversity and global optimum with the most convergence; judging the evolution state of the population according to the distribution entropy variation of all optimal solutions in an external file, and selecting a global optimal gBest for guiding evolution; according to the variable quantity of the local crowding distance of the current population evolution, adjusting flight parameters of population evolution to balance the evolution trend of the population; and fusing the two core mechanisms, providing a multi-information fusion multi-target particle swarm optimization algorithm, and applying the multi-information fusion multi-target particle swarm optimization algorithm to determination of a semi-active suspension LQR control strategy weight coefficient. According to the novel multi-objective optimization algorithm, external archive information and current population dynamic information are cooperatively integrated, so that balance between convergence precision and population diversity is effectively realized.

The invention provides an active suspension system control method, electronic equipment and a vehicle, relates to the technical field of vehicle control, and can judge and control a system to enter a corresponding safety state according to the type of the active suspension system and a specific fault condition, so that the stability and the control precision of the active suspension system are improved. The method comprises the steps that the running state of the active suspension system is detected; and under the condition that the running state of the active suspension system has the running fault, controlling the active suspension system to enter a target safety state based on the type of the active suspension system and the running fault.

The invention relates to the technical field of control systems, and discloses a control system for a magneto-rheological semi-active suspension, comprising an acceleration sensor configured to collect vibration acceleration signals of sprung mass and unsprung mass of a vehicle; the displacement sensor is configured to monitor the dynamic deflection of the suspension; the gyroscope is configured to obtain attitude information of a pitch angle and a roll angle of the vehicle body; the vehicle speed sensor is configured to detect the vehicle running speed in real time; the binocular camera is configured to collect pavement environment image information; the magneto-rheological damper is configured to adjust the damping force according to the current of the electromagnetic coil; the MCU controller comprises a signal acquisition module, a control processing module, a current driving module and a current sampling module; the signal acquisition module is configured to convert a sensor signal into a physical quantity; the control processing module is configured to fuse multi-source information to calculate expected damping force; the current driving module is configured to output PWM driving current to the magnetorheological damper; and the current sampling module is configured to feed back an actual current value to realize closed-loop control.

The invention discloses an active suspension electro-hydraulic pump assembly, a chassis axle and a chassis system for a vehicle, an integrated motor shell and a controller cover plate are arranged, the integrated shell is provided with motor cavities located at the two ends in the axial direction, and the two motor cavities are respectively provided with two motors and corresponding hydraulic pumps; the controller cover plate covers the circuit board mounting surface of the integrated motor shell to form the controller cavity for mounting the circuit board, and only the sealant is arranged between the controller cover plate and the circuit board mounting surface for connection, so that the assembly process of the electro-hydraulic pump assembly is reconstructed and simplified; the design that the double motors are fixedly connected through bolts and the technology that the double motors are sealed through sealants are avoided, the overall road surface vibration resisting function of the product is improved, and the sealing reliability of the controller cavity of the product is improved.

The present disclosure includes an active suspension having an actuator disposed between a carrier member and a vehicle body, a state detection device that detects state information that is information about a current or future acceleration applied to the carrier member, a controller that supplies a control current to the actuator such that, when the up-down direction position of the carrier member is not a preset zero point, the up-down direction position of the carrier member becomes a zero point, and a traveling detection device that detects traveling information that is information about travel of the vehicle, and the controller executes a zero point change processing of changing the zero point based on the traveling information and the state information.

The invention provides an active suspension control method and system based on structural constraints and a bionic reference model, and relates to the technical field of active suspension control, and the method comprises the steps: S1, building a two-degree-of-freedom active suspension system model, and designing a disturbance observer to determine disturbance influence parameters; s2, establishing a bionic reference model to provide a reference tracking trajectory for motion control in the two-degree-of-freedom active suspension system; s3, setting a suspension mechanical structure hard constraint condition, and designing a nonlinear coordination function to balance the smoothness of the vehicle and the suspension deflection; s4, designing a preset performance controller according to the sprung mass vertical displacement tracking error; and S5, outputting the final active control force of the controller to realize two-degree-of-freedom active suspension system control. The sprung quality tracking trajectory error is controlled through the preset performance controller; and through a nonlinear coordination function, an active suspension control target is adjusted, and the suspension stroke is prevented from exceeding the structural limitation.

The invention discloses an RBF neural network active suspension control method and system for complex road conditions. The method comprises the steps that vehicle body motion information is obtained in real time; the RBF neural network self-adaptive controller adjusts internal control parameters of the RBF neural network self-adaptive controller in an online self-adaptive mode based on the deviation between the vehicle body motion information and the expected stable state, and outputs an adjusting instruction used for adjusting a supporting mechanism; and according to an adjusting instruction output by the RBF neural network self-adaptive controller, the supporting mechanism is driven to do telescopic motion so as to adjust the vertical, pitching and side-tipping postures of the carrying trolley. By introducing the RBF neural network adaptive control algorithm, real-time sensing and intelligent processing of the vehicle body motion information are realized, and the control parameters of the suspension system can be dynamically adjusted according to the complex road condition, so that the stability and safety of the carrying trolley under the complex road condition are effectively improved, the risk of damage to instruments and equipment is remarkably reduced, and the service life of the carrying trolley is prolonged. The transportation efficiency is improved.

The invention relates to the technical field of vehicle-mounted visual perception, in particular to a camera active anti-shake cooling system based on a magnetorheological fluid medium and a control method. The heat dissipation system comprises a camera module, at least three independent pipelines which are arranged around the camera module and are hollow inside, a hydraulic driving unit, at least one electromagnetic coil which is arranged on the outer wall of the independent pipeline and is used for generating a controllable magnetic field, and a controller, the controller is used for cooperatively controlling the liquid pressure in the pipeline and the magnetic field intensity acting on the magnetorheological fluid according to the vehicle state information and / or the posture information of the camera module so as to achieve active anti-shake and heat dissipation of the camera module. The pressure of the cooling liquid in the pipeline is adjusted to support the camera and change the electromagnetic force between the magnetic fluid and the coil by changing the magnetic field intensity, and lens shaking is reduced in cooperation with a vehicle body active shock absorption system.

The invention discloses a vehicle full-temporal cooperative control method and system based on multi-source sensing data fusion, and belongs to the field of vehicle control. Comprising the following steps that S1, vertical pressure signals, yaw velocity, vehicle three-axis acceleration, vertical acceleration generated by road excitation, front obstacle distance and relative velocity and front road images of all suspensions are synchronously collected, and multi-source sensing data are formed; s2, fusing the preprocessed multi-source sensing data of the same timestamp, determining the real-time three-dimensional gravity center, the vehicle body attitude angle and the real-time road surface state of the vehicle, and obtaining the predicted road surface state based on the historical multi-source sensing data; and S3, cooperatively controlling braking force distribution, steer-by-wire and an active suspension. According to the vehicle full-temporal cooperative control method and system based on multi-source sensing data fusion, through fusion of the multi-source sensing data, full-dimensional coverage of vehicle state-road environment-obstacle information is achieved, and it is ensured that the sensing result is stable and reliable.

A method for controlling a traction control system, ABS and actively controlled suspension. The method includes receiving an sensor output from at least one suspension sensor at a controller. The sensor output is indicative of a vertical height of the suspension relative to a road. The method determines an amplitude of vertical motion of the suspension over time using the received sensor output. The method identifies peaks and valleys in the amplitude of vertical motion of the suspension over time. The method determines that a rough road condition is present in response to a number of peaks and valleys exceeding a predefined threshold amplitude occurring more often than a predefined threshold frequency. An active suspension control of at least one wheel system of a vehicle is adapted in response to determining that a rough road condition is present.

Aspects of the present invention relate to a method and to a control system for controlling an active suspension of a vehicle, the control system comprising one or more controllers, the control system configured to: obtain information indicative of a change of gradient of a driving surface in a direction of travel; and control the active suspension to adjust relative ride height between a front and rear of a vehicle body of the vehicle above the driving surface beneath the vehicle in dependence on the change of gradient.