48 results about "Hydropneumatic suspension" patented technology

The invention discloses an integrated rigidity damping inerter self-control type two-stage vibration reduction hydro-pneumatic suspension and a working method in the field of automobiles, a hollow plunger extends into an upper cavity of an oil cylinder, the lower end of the hollow plunger is fixedly connected with a piston, and an upper lifting lug runner is sequentially connected with an inerter pipe, an electric control throttle valve and a large hydro-pneumatic chamber through a first hydraulic oil pipe; a lower lifting lug runner is sequentially connected with a damper and a small oil gas chamber through a second hydraulic oil pipe, a built-in rigidity control valve outer cylinder with the lower end fixedly connected with a piston is arranged in the plunger, an inner cylinder with the upper end sealed and the lower end connected with the lower lifting lug through a spherical hinge is coaxially sleeved with the outer cylinder, and three rows of holes are formed in the side wall of the inner cylinder from bottom to top. Two rows of holes are formed in the side wall of the outer cylinder from bottom to top; the flow direction of oil liquid is changed when the suspension works, a seal does not need to be arranged on a piston, a longer oil through hole is formed in an outer barrel, the safety of the control valve is improved, a wheel dynamic vibration absorber is integrated to an oil cylinder, integration is achieved, an external rigidity control valve is replaced with an internal rigidity control valve, and the size of the whole suspension is reduced.

The invention belongs to the technical field of vehicle engineering, and particularly relates to an amphibious wheel type chassis device and a using method thereof. An amphibious wheel type chassis device comprises a chassis, a center transmission mechanism and a water propelling mechanism are arranged on the chassis, and the center transmission mechanism is connected with a steering mechanism; according to the amphibious wheel type chassis device, efficient maneuvering on land and on water is achieved through the center transmission mechanism, the water propelling mechanism and the steering mechanism; the central transmission mechanism takes an engine, an ISG motor and a variation box as a core and is matched with a front transmission structure and a rear transmission structure, power is distributed to all axle wheels through a main transmission shaft, 8 * 8 full drive is achieved by means of two modes of fuel oil drive and pure electric drive, and trafficability and stability of complex road conditions are improved through a steering hydro-pneumatic suspension and a non-steering hydro-pneumatic suspension.

The invention discloses an active hydro-pneumatic suspension tractor half-cab dynamic modeling and attitude control method. The method comprises mathematical modeling of a single active hydro-pneumatic suspension, dynamic modeling of an active hydro-pneumatic suspension tractor half-cab and attitude control of the active hydro-pneumatic suspension tractor half-cab. Wherein a single active hydro-pneumatic suspension model comprises a hydro-pneumatic spring two-degree-of-freedom mathematical model and a pressure-flow equation; the active hydro-pneumatic suspension tractor half-vehicle cab attitude control method aims at reducing cab vertical height control errors and pitch angle fluctuation, takes a half-vehicle cab active hydro-pneumatic suspension state-space equation as a basis, and adopts a backstepping design step to construct a control model with a front suspension and a rear suspension decoupling function. According to the invention, high-precision vertical height and pitching attitude control of the driving hydro-pneumatic suspension tractor half-vehicle cab can be realized when coupling force exists in the front suspension and the rear suspension, and the driving comfort is improved.

The utility model belongs to the technical field of vehicle suspension systems, and particularly relates to an active oil gas suspension system which comprises a hydraulic cylinder, a hydraulic two-way pump, a motor and two one-way throttling energy storage branches, the motor is connected with the hydraulic two-way pump, and the hydraulic two-way pump is respectively communicated with a rod cavity and a rodless cavity of the hydraulic cylinder; the two one-way throttling energy storage branches are connected with a rod cavity and a rodless cavity of the hydraulic cylinder respectively, each one-way throttling energy storage branch comprises an energy accumulator and a one-way throttling valve which are connected in series, and each one-way throttling valve comprises a one-way valve and a throttling valve which are connected in parallel; when the hydraulic cylinder is compressed and stretched, the two one-way throttling energy storage branches control fluid to flow in opposite directions. The active hydro-pneumatic suspension system is simple in structure and capable of effectively improving the performance of a vehicle and reducing energy consumption at the same time.

The invention discloses a load sensing device and method for an oil gas suspension cylinder and a control system, and relates to the technical field of vehicles, the load sensing device comprises a VCU device, a vehicle-mounted TOBX device, a cloud control terminal and four pressure transmitters installed on a four-axle double-balance rigid frame, the axles are sequentially numbered as the axle 1, the axle 2, the axle 3 and the axle 4, the four-axle double-balance rigid frame is provided with four oil gas suspension assemblies, and the four oil gas suspension assemblies are connected with the cloud control terminal. The hydro-pneumatic suspension assembly is composed of an energy accumulator and a hydro-pneumatic spring suspension cylinder, the pressure transmitter is installed on the hydro-pneumatic spring suspension cylinder, and the hydro-pneumatic suspension assembly and the pressure transmitter are symmetrically arranged along the left side and the right side of the four-axle double-balance rigid frame. According to the invention, a four-axle double-balanced rigid frame of an existing vehicle is used as a weighing platform, only a pressure transmitter needs to be additionally arranged at a key position, measurement is carried out by using the characteristics of the hydro-pneumatic suspension, large-scale transformation of the vehicle is not needed, and parking or a special wagon balance is not needed; the weight information of the whole vehicle can be obtained in real time in the smooth and stable driving or loading operation process of the vehicle.

The present application belongs to the technical field of suspension system, and particularly relates to a heavy vehicle whole vehicle semi-active damping coordination control method with an oil-gas suspension. The method comprises the following steps: step 1, establishing a mathematical model of adjustable damping force to obtain valve system damping force; step 2, establishing a whole vehicle reference model motion differential equation; step 3, establishing a whole vehicle elastic force and damping force model based on the oil-gas suspension, and the valve system damping force of step 1 is the input of the model; step 4, using the force model, combining step 2, designing a whole vehicle semi-active damping coordination sliding mode control algorithm, coordinating the controllable damping force of each suspension, and realizing that the vertical, roll and pitch states of the whole vehicle body can follow the state changes of the reference model. The present application realizes the coordination control of the vertical, roll and pitch motions of the special vehicle, studies the semi-active control method meeting the use of the special vehicle on the special vehicle with the same side coupled oil-gas suspension, analyzes the semi-active control method, and models and simulates the whole vehicle semi-active damping coordination control strategy.

The invention relates to the technical field of suspension systems, in particular to an oil gas suspension system, a vehicle and a control method. The suspension system comprises a suspension oil cylinder, a main reversing valve, a first suspension valve group and a second suspension valve group; the first end of the main reversing valve is connected with a rodless cavity of the suspension oil cylinder; a port A1 of the first suspension valve group is connected with the second end of the main reversing valve, a port A2 and a port A3 are connected with a rodless cavity and a rod cavity of a suspension oil cylinder respectively, and a port SP is connected with a first energy accumulator. A port P of the second suspension valve group is connected with the hydraulic oil pump, a port T1 and a port T2 are both connected with the hydraulic oil tank, a port A1 and a port B1 are connected with a rodless cavity and a rod cavity of the suspension oil cylinder respectively, a port A2 is connected with the second end of the main reversing valve and connected with a port A1 of the first suspension valve group in parallel, a port B2 is connected with a rod cavity of the suspension oil cylinder, and a port SP is communicated with the port A2 and connected with a second energy accumulator; by controlling the main reversing valve, the first suspension valve group and the second suspension valve group, the suspension can be adaptively adjusted according to the vehicle driving working condition so as to improve the vehicle driving smoothness.

The application discloses a suspension valve group, an oil-gas suspension lifting and leveling system and an all-terrain crane. The suspension valve group comprises a working oil port A, a working oil port B, a return oil port T, an oil inlet port P and an SP port for being connected with an accumulator, and further comprises a suspension lifting control valve, a suspension lowering control valve, a suspension rapid lifting control valve, a suspension slow lifting damping hole, a suspension slow lowering damping hole and a suspension rapid lowering control valve. The suspension lifting control valve and the suspension slow lifting damping hole are connected in series between the P port and the A port of the suspension valve group, and the suspension rapid lifting control valve is connected in parallel with the suspension slow lifting damping hole. The suspension lowering control valve and the suspension slow lowering damping hole are connected in series between the T port and the A port of the suspension valve group, and the suspension rapid lowering control valve is connected in parallel with the suspension slow lowering damping hole. The application considers one-key leveling and control of suspension lifting and lowering speed, so that the vehicle can quickly lift and lower the suspension to adjust the vehicle body height under complex road conditions, and the suspension operation efficiency and the vehicle passing performance are improved.

The application provides a split-acting oil-gas active suspension and a control method. The suspension comprises a suspension controller, a hydraulic actuator, a motor actuator electrically connected with the suspension controller, and a sensor for collecting motion state information of the suspension system, the motor actuator is connected with the hydraulic actuator through a hydraulic oil pipeline; the suspension controller outputs a control signal to control the motor actuator according to a certain control algorithm based on the sensor output signal, the motor actuator drives the hydraulic actuator to act through hydraulic transmission, thereby realizing active control of the suspension system. The application retains the hydraulic actuator of the traditional passive oil-gas suspension, can reduce the cost and difficulty of the active modification of the passive oil-gas suspension. In the driving condition of good road condition, the suspension system is passively controlled by the hydraulic actuator by stopping the control of the servo motor, so as to reduce the power consumption and achieve the purpose of energy saving.

The lower end of an oil cylinder body is fixedly connected with the upper end of a force transmission cylinder, a force transmission plate and a first buffer block are arranged in the force transmission cylinder, the force transmission plate is arranged above the first buffer block, and a distance is reserved between the upper end face of the first buffer block and the lower end face of the force transmission plate; the rod end of the plunger rod downwards passes through the force transmission cylinder, penetrates through the force transmission plate and a central through hole of the first buffer block and then extends out of the lower end face of the force transmission cylinder, the lower end of the plunger rod is fixedly sleeved with a second buffer block, and a distance is reserved between the upper end face of the second buffer block and the lower end face of the force transmission cylinder. The lower end of the plunger rod is fixedly connected with a wheel through a third coupling device and a lower coupling device in sequence; a wheel dynamic vibration absorber is fixedly connected above the third coupling device; when the suspension is far away from the balance position, large rigidity is automatically provided, when the high-frequency vibration reduction requirement of the vehicle body is met, inerter can be provided, and the high-frequency vibration of the vehicle body is effectively restrained by adopting three measures of small-rigidity vibration isolation / anti-resonance / wheel dynamic vibration absorption.

The application discloses an active oil-gas suspension system, and relates to the field of vehicle suspension systems.The active oil-gas suspension system comprises the following: a hydraulic cylinder is sealed at both ends; an opening is arranged on the side wall of the hydraulic cylinder; a compression valve and an extension valve are arranged at one end of a piston rod; the compression valve and the extension valve divide the hydraulic cylinder into a rod cavity and a rodless cavity according to the movement direction of the piston rod; the other end of the piston rod extends out of the hydraulic cylinder; an energy accumulator is connected with the rod cavity and the rodless cavity through a one-way throttle valve; oil circulates among the energy accumulator, the rod cavity and the rodless cavity; a motor is connected with a hydraulic pump; the hydraulic pump is connected with the rod cavity and the rodless cavity respectively; the motor drives the hydraulic pump; a controller assembly is connected with the motor, a first one-way throttle valve and a second one-way throttle valve respectively; the controller assembly is used for adjusting the opening degree of the first one-way throttle valve and the second one-way throttle valve and the rotating speed of the motor.The application improves the riding comfort of a vehicle and reduces energy consumption.

The utility model relates to the structure field of transfer trolley, especially a container transfer trolley oil gas suspension structure. The suspension structure includes drive axle, rim and oil gas damping component, two rims are symmetrically arranged on the left and right sides of drive axle, and two oil gas damping components are symmetrically arranged on one side of drive axle; the oil gas damping component includes oil cylinder, high pressure chamber and low pressure chamber, one end of oil cylinder is rotatably connected with drive axle, the other end of oil cylinder is rotatably connected with the bottom of container transfer trolley, and high pressure chamber and low pressure chamber are all communicated with oil cylinder. The utility model designs oil gas damping component to carry out buffering action and supporting action for suspension, sets up high pressure chamber and low pressure chamber respectively to refine the buffering capacity and realizes accurate regulation, the damping effect is better, increases the suspension height adjusting function while increasing the suspension buffering capacity range, cancels the connecting pipeline between high pressure chamber and oil cylinder, adopts integral transmission, and is more suitable for container scene transfer trolley type in wharf.

The utility model discloses a novel hydro-pneumatic suspension which comprises an outer cylinder, an upper sealing cover and a lower sealing cover, wherein the upper sealing cover and the lower sealing cover are connected to the top and the bottom of the outer cylinder; an air film abutting against the upper sealing cover and the lower sealing cover is further arranged in the outer barrel, and a hydraulic cylinder sleeve connected in the air film in a sleeved mode is arranged between the upper sealing cover and the lower sealing cover. A hydraulic piston is slidably connected into the hydraulic cylinder sleeve, the top of the hydraulic piston is further sleeved with a buffer block, and the lower end of the hydraulic piston is connected with a shock absorber supporting rod extending to the outer end of the lower sealing cover. A plurality of liquid holes are formed in the upper end of the hydraulic cylinder sleeve, a hydraulic oil cavity is formed between the outer wall of the hydraulic cylinder sleeve and the air film, and an air cavity is formed between the air film and the outer barrel. Compared with the prior art, the novel hydro-pneumatic suspension has the advantages that the novel hydro-pneumatic suspension is easy to popularize and use and is used by being combined with hydro-pneumatic control.

The utility model discloses a novel dry bulk cargo transport vehicle and an unmanned cargo transport vehicle, and the novel dry bulk cargo transport vehicle comprises a cargo box, a vehicle frame, a distributed electric drive axle, a slewing device and an oil gas suspension; the container is arranged on the upper side of the frame; the lower side of the frame is connected with a distributed electric drive axle through a slewing device; an oil gas suspension is arranged between the rotating device and the distributed electric drive axle; a conveying device is arranged in the container in the length direction. The conveying device moves the goods to the opening direction of the container; a lifting device is arranged between one end of the bottom of the container and the frame; the lifting device is used for lifting one end of the container. According to the novel dry bulk cargo transport vehicle, unloading is more convenient and efficient; moreover, the maneuverability and trafficability of the cargo transport vehicle in a narrow space can be greatly improved, so that the vehicle can easily turn and turn around in the narrow space.

The utility model discloses a novel steel mill steel coil transport vehicle and a steel mill steel coil unmanned transport vehicle, and the novel steel mill steel coil transport vehicle comprises a vehicle frame, a saddle, a slewing device, a distributed drive axle and an oil gas suspension; a saddle is arranged on the upper side of the frame in the length direction; the saddle is used for fixing a steel coil; the lower side of the frame is connected with a distributed drive axle through a slewing device; and an oil gas suspension is arranged between the slewing device and the distributed drive axle. According to the novel steel mill steel coil transport vehicle, by means of the structure that the vehicle frame, the saddle, the rotating device, the distributed drive axle and the oil gas suspension are combined, occupied space of the suspension is reduced, the steering angle of the steel coil vehicle is more flexible to control, maneuverability and trafficability of the steel coil vehicle in a narrow space are improved, and the steel coil vehicle is convenient to use. And the steel coil car can turn in a narrow space, turn around in situ and the like.

The invention discloses a digital hydraulic oil gas suspension system controlled by pressure of a suspension air chamber and a working method. The system comprises a suspension actuating cylinder with an inner cavity, and an opening is formed in one end of the suspension actuating cylinder; the oil-gas diaphragm is hermetically connected to the inner side wall of the suspension actuating cylinder and divides an inner cavity of the suspension actuating cylinder into a gas chamber and an oil chamber; the piston rod is inserted into the oil cavity from the opening, a damping valve and a one-way valve are arranged on the piston rod, and the piston rod divides the oil cavity into a rodless cavity and a rod cavity; the oil tank is communicated with the suspension actuating cylinder through a plurality of output pipelines and input pipelines, the output pipelines are connected with pneumatic control one-way valves and digital switch valves, and the input pipelines are connected with digital switch valves and pumps. By reducing the number of the driven digital switch valves, the energy loss of the active hydro-pneumatic suspension system is reduced, meanwhile, the active adjusting function of the hydro-pneumatic suspension system is guaranteed, and the active hydro-pneumatic suspension system has the advantages of being low in energy consumption, long in service life, simple in structure and the like.

The present invention relates to a saddle-type vehicle comprising a frame, a front wheel and a rear wheel, a suspension system (6) coupling the frame to the front and rear wheels in a variable relative position, and an engine; the vehicle comprising a sprung mass portion and an unsprung mass portion comprising at least a portion of the engine; the suspension system (6) being interposed between said mass portions so as to support the sprung portion relative to the unsprung portion. The suspension system (6) comprises a hybrid mechanical hydropneumatic suspension (15) comprising, in turn, an elastic element (7) having a first stiffness (k1), and a hydropneumatic spring (8) having a second stiffness (k2), which are operationally coupled to each other and define an equivalent stiffness (keq) of the hybrid suspension (15) that varies according to the relative position. Figure 2

The invention provides a wide-body dump truck and a control method thereof, relates to the field of mining dump trucks, and adopts the scheme that the wide-body dump truck comprises a frame, a front suspension system and a rear suspension system, the vehicle state sensor assembly comprises a vehicle speed sensor, a load axle load sensor, a suspension stroke sensor and a vehicle body posture and vibration detection sensor; a positioning module; a road section information storage module; and the suspension controller is configured to identify the working condition of a mining area where the vehicle is located and a corresponding road section based on the vehicle speed, the load, the vehicle body posture and vibration, the suspension state and the vehicle position, call corresponding suspension control parameters from the road section information storage module, and adjust the all-hydro-pneumatic suspension system in real time. According to the invention, the driving comfort and the operation safety of the mining wide-body dumper under the condition of cyclic operation on the non-paved road surface in a mining area can be obviously improved.

The invention provides a digital valve control interconnection hydro-pneumatic suspension system and a control method thereof, and the system comprises hydro-pneumatic springs, a digital hydraulic valve and an integrated valve block which are arranged between hydro-pneumatic spring connecting pipelines, a control oil source, a vehicle-mounted controller, a laser radar and a vibration acceleration sensor, according to the method, road spectrum information in front of a vehicle is collected through a laser radar, a feedforward control instruction is provided, and a vehicle-mounted controller carries out pre-judgment processing on a control combination of a pilot high-speed switch valve and a PWM signal duty ratio in advance according to the mode and damping control requirements; correction processing and iterative updating are carried out through a feedback control instruction provided by vehicle body vibration information collected by a vibration acceleration sensor; the interconnected hydro-pneumatic suspension system has the damping adjusting function while achieving mode switching, is particularly suitable for large-flow application occasions of the hydro-pneumatic suspension system of the mining dump truck, and has the advantages of being rapid in response, high in real-time performance, high in control precision and the like.

The invention discloses a composite suspension type crawler chassis and a rescue engineering vehicle. The composite suspension type crawler chassis comprises a frame (10); the loading wheel assemblies are connected with the frame (10) in a swinging mode and comprise a front loading wheel assembly (21f), a rear loading wheel assembly (21r) and at least one middle loading wheel assembly (22), and the at least one middle loading wheel assembly (22) is located between the front loading wheel assembly (21f) and the rear loading wheel assembly (21r); the hydro-pneumatic suspension system (30) is arranged on the frame (10) and is connected with the front loading wheel assembly (21f) and the rear loading wheel assembly (21r); and the torsion bar suspension mechanism (40) is arranged on the frame (10) and is connected with the at least one middle loading wheel assembly (22).

The present invention discloses an active pressure regulation system and method for load imbalance on a truck's front axle, belonging to the fields of mechanical devices and transportation technology. The system comprises a three-position, six-way valve, which includes a front axle balance detection mechanism and a pressure-regulating actuator for controlling the pressure in the oil-pneumatic suspension chambers on the left and right sides of the front axle. The front axle balance detection mechanism automatically detects whether the front axle is in a balanced state. The front axle balance detection mechanism then controls the pressure-regulating actuator to adjust the pressure in the oil-pneumatic suspension chambers on the left and right sides of the front axle, ultimately balancing the axle and preventing the construction vehicle from rolling. The system features a simple structure, high reliability, and rapid response, enabling rapid adjustment of the truck's front axle balance.

This invention relates to the field of suspension system technology, specifically to a hydropneumatic suspension system, a vehicle, and a control method. The suspension system includes a suspension cylinder, a main directional valve, a first suspension valve assembly, and a second suspension valve assembly. The first end of the main directional valve is connected to the rodless chamber of the suspension cylinder. Port A1 of the first suspension valve assembly is connected to the second end of the main directional valve; ports A2 and A3 are respectively connected to the rodless and rod chambers of the suspension cylinder; port SP is connected to a first accumulator. Port P of the second suspension valve assembly is connected to a hydraulic pump; ports T1 and T2 are both connected to a hydraulic oil tank; ports A1 and B1 are respectively connected to the rodless and rod chambers of the suspension cylinder; port A2 is connected to the second end of the main directional valve and is connected in parallel with port A1 of the first suspension valve assembly; port B2 is connected to the rod chamber of the suspension cylinder; port SP is connected to port A2 and is linked to a second accumulator. By controlling the main directional valve, the first suspension valve assembly, and the second suspension valve assembly, the suspension can be adaptively adjusted according to the vehicle's driving conditions to improve ride comfort.

The present invention discloses an adaptive load-adjustable pressure oil-gas suspension, comprising a load detection device, a hydraulic control structure and a center and rear axle oil-gas suspension body; the oil-gas suspension can actively adjust the accumulator charging pressure of the oil-gas suspension according to the vehicle load conditions, thereby solving the problem of insufficient compressible stroke of the oil-gas cylinder when the vehicle is heavily loaded; the accumulator charging pressure can be actively adjusted to achieve low stiffness when lightly loaded and high stiffness when heavily loaded, thereby satisfying the vehicle's shock absorption performance, improving the vehicle's comfort, and improving the vehicle's load and passability.

The invention provides a hydro-pneumatic suspension control method and device of a vehicle, a storage medium and a control system. The method comprises the following steps: acquiring vehicle body height data and / or acceleration sensing data of a vehicle; the current vertical height of the vehicle is judged according to the vehicle body height data, and an energy accumulator electromagnetic valve and an oil way reversing valve are controlled to lift the vehicle; the current horizontal posture of a vehicle body is judged according to the acceleration sensing data, and an energy accumulator electromagnetic valve, an oil way reversing valve and a double-valve shock absorber electromagnetic valve are controlled to adjust the posture of the vehicle; wherein the lifting control priority of the vehicle is lower than that of the whole posture control of the vehicle body. Data of a plurality of sensors are integrated for hydro-pneumatic suspension control, and working conditions of various scenes can be effectively handled.

This invention relates to the field of suspension system technology for engineering vehicles, and discloses a hydropneumatic suspension system and a tracked engineering vehicle, including a front suspension cylinder, a middle suspension cylinder, a rear suspension cylinder, a front swing arm, a middle swing arm, a rear swing arm, a buffer cylinder, a tensioning cylinder, a brake arm, and an eccentric shaft; one end of each of the front, middle, and rear suspension cylinders is hinged to the vehicle frame, and the other end is hinged to the front, middle, and rear swing arms, respectively; a tensioning cylinder cylinder seat is fixedly connected to the rear of the cylinder barrel of the tensioning cylinder, and the cylinder barrel of the buffer cylinder is placed inside the tensioning cylinder cylinder seat, allowing it to swing within the tensioning cylinder cylinder seat; the piston rod end of the buffer cylinder is hinged to the brake arm; the piston rod end of the tensioning cylinder is hinged to the vehicle frame. The beneficial effects of this invention are: it can significantly attenuate the vibration generated during high-speed operation, improve the overall comfort of the vehicle, and ensure that the tracks are tensioned in real time during high-speed operation, preventing slippage and derailment, thus guaranteeing the vehicle's mobility and passability.

The invention discloses a balanced communication hydro-pneumatic suspension, a damping continuous adjustable system and a control method thereof, and relates to the field of vehicle hydraulic control. The balanced communication hydro-pneumatic suspension comprises at least four hydraulic cylinders, a centralized damping valve block and an energy accumulator. Each hydraulic cylinder comprises an upper cavity and a lower cavity; a piston rod is arranged in the lower cavity, and the upper cavity does not contain the piston rod. A piston is arranged at one end of the piston rod, and a hole is formed in the piston; the upper cavity and the lower cavity corresponding to each hydraulic cylinder are communicated through holes; the upper cavities corresponding to the hydraulic cylinders are communicated with each other; the upper cavity corresponding to each hydraulic cylinder is connected with the centralized damping valve block; the concentrated damping valve block is connected with the energy accumulator; the concentrated damping valve block is used for generating damping force; the energy accumulator is used for providing elastic force. The invention aims to realize the automatic balance of the multi-axle suspension and improve the driving smoothness.

The invention discloses a multi-mode well mining road surface identification method and a vehicle hydro-pneumatic suspension active control method. The identification method comprises the following steps: acquiring a road surface image of a target well mine in real time to determine illumination intensity, dynamically determining the weight of a camera and a laser radar according to the illumination intensity, calculating the signal-to-noise ratio of the camera according to the road surface image, and determining the optical perception credibility by combining the weight of the camera; determining a laser radar confidence index according to environmental point cloud data collected by the laser radar, and determining environmental point cloud reliability in combination with a laser radar weight; determining a vehicle response weight according to the weights of the camera and the laser radar, determining a matching degree between the vehicle response and the road surface features through the real-time acceleration of vehicle driving, and obtaining a vibration feature matching gain degree between the vehicle vibration response and the road surface features; and according to the optical sensing credibility, the environmental point cloud reliability and the vibration feature matching gain degree, obtaining a multi-dimensional sensing confidence degree, and determining the road surface grade of the target well mine. The method can realize accurate identification of the mine road surface of the well.

The multi-mode adjustable anti-roll oil-gas ISD suspension for the unmanned mine truck comprises two oil-gas springs, and the interior of a hydraulic cavity of each oil-gas spring is divided into a rodless cavity and a rod cavity by a piston; the rod cavity is connected with the first energy accumulator and the second energy accumulator and used for achieving two-stage adjustable rigidity. The second energy accumulator is directly connected with a rod cavity, a first high-speed switch electromagnetic valve and a damping valve are arranged on a pipeline between the first energy accumulator and the rod cavity, and a spiral pipe and a second high-speed switch electromagnetic valve are connected in parallel at two ends of the first high-speed switch electromagnetic valve and the damping valve to switch different damping forces; the first high-speed switch electromagnetic valve and the second high-speed switch electromagnetic valve are in signal connection with an electronic control unit (ECU), switching of working modes of the oil gas ISD suspension is controlled, and a rodless cavity and a rod cavity are connected, so that anti-roll of a vehicle is achieved. The method is suitable for the oil gas suspension system of the unmanned mine truck, the performance of the oil gas suspension is optimized, and the comfort and safety of vehicle driving are effectively improved.

The invention discloses a crane hydro-pneumatic suspension control method, system, device and equipment, and belongs to the technical field of engineering vehicle control, and the method comprises the following steps: executing hydro-pneumatic suspension lifting control and variable damping adjustment control by an arithmetic unit; the hydro-pneumatic suspension lifting control comprises the step of receiving hydro-pneumatic suspension lifting instructions, wherein the hydro-pneumatic suspension lifting instructions comprise a hydro-pneumatic suspension lifting instruction and a hydro-pneumatic suspension descending instruction. The following steps are repeatedly executed until the hydro-pneumatic suspension reaches the target position: based on the hydro-pneumatic suspension ascending instruction, the hydraulic system is controlled to execute throttling increasing / oil supply reducing control when the hydro-pneumatic suspension ascends; and based on the hydro-pneumatic suspension descending instruction, when the hydro-pneumatic suspension descends, the hydraulic system is controlled to execute throttling reduction / oil supply increase control and keep back pressure. The problems that in the prior art, the crane suspension is low in leveling efficiency and poor in precision, and the stability is poor due to the fact that adaptability to different loads and vehicle speed working conditions in the running process is insufficient are solved. The service life of the structure is influenced by non-uniform shaft load distribution of each supporting point; and the operation flexibility is limited.