131 results about "Unsprung mass" patented technology

The invention provides an OBD message analysis and attitude rendering method and system based on a vehicle dynamics model, and belongs to the field of vehicle electronics and control. The method comprises the steps that a message is analyzed through an OBD interface, and vehicle operation parameters are obtained; establishing a unified time base and carrying out resampling and synchronous processing on the data of each channel; constructing a fifteen-degree-of-freedom vehicle dynamics model comprising a vehicle body six-degree-of-freedom pose, a vehicle body angular velocity, a four-wheel rotation angular velocity and unsprung mass vertical displacement for state prediction; designing an observation function to map a model state to an OBD observation space, and adopting an observability enhancement strategy; predicting and observing data are fused by using a nonlinear filter, and abnormal observation gating is carried out based on a mahalanobis distance and an amplitude threshold value; compensating system time delay and adaptively adjusting observation noise; and performing three-dimensional real-time rendering on the attitude information. According to the method, high-precision and high-robustness vehicle attitude estimation can be realized only by depending on the OBD message, and the system cost is effectively reduced.

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 a corner module assembly for an electric vehicle and the electric vehicle, and relates to the technical field of new energy automobiles. The angle module assembly comprises a wheel edge controller, a driving motor, a braking motor and a steering motor, the wheel edge controller comprises a shell, a control circuit and a driving circuit, and the control circuit is used for controlling the driving circuit to drive the driving motor, the braking motor and the steering motor; the surface of the shell comprises a plurality of communication interfaces, a power battery interface, a low-voltage battery interface and a plurality of current output interfaces. The driving circuit is used for receiving power supplied by a low-voltage battery through the low-voltage battery interface and supplying power to the steering motor and the brake motor through the plurality of current output interfaces; the driving circuit is further used for receiving high-voltage direct current output by the power battery through the power battery interface, converting the high-voltage direct current into first alternating current and then supplying power to the driving motor through the multiple current output interfaces. According to the scheme, the number of control chips is reduced, the unsprung mass is reduced, and the integration level and the economical efficiency are improved.

A wireless active suspension system with at least one wireless sensor coupled with at least one unsprung mass of a vehicle is disclosed. The system also includes at least one damper comprising an active valve, the damper being part of a vehicle suspension. The system additionally includes, at least one controller, the at least one controller in wireless communication with the at least one wireless sensor and the at least one damper, wherein the at least one controller receives the sensor data from the at least one wireless sensor and communicates an adjustment command to the active valve to modify a damping characteristic of the at least one damper.

The invention discloses an electronic wedge brake system of a sprung actuator. An angle module part, a vibration reduction system, an electronic wedge brake system, a wheel unit and a steering system are integrated. The system executes braking work completely through a mechanical and electrical integration device, compared with an electro-hydraulic braking system, a hydraulic pipeline device is omitted, and the system has the advantages of being few in structural parts and high in response speed; compared with an existing electronic mechanical braking system, the scheme of the sprung actuator is adopted in the system, the braking execution motor and the planetary gear reducer are installed on the angle module supporting arm, braking torque is transmitted to the electronic wedge-shaped braking device through the universal transmission device, and the electronic wedge-shaped braking device is made to complete service braking work. And meanwhile, the electronic wedge-shaped braking device is arranged on the virtual main pin axis, and the problem that braking torque transmission is unstable under the steering working condition can be effectively solved. According to the system, unsprung mass can be effectively reduced, the driving operation stability is improved, the wheel side space is saved, and the arrangement problem of all systems of a distributed driving wheel side is solved.

The invention belongs to the field of vehicle under-actuated system control, and particularly relates to an active suspension control method based on a Wuka theory analysis kinetic model and a vehicle. The control method comprises the following steps: firstly, constructing an equivalent 1 / 4 suspension model of a vehicle; then, the roll angle, the pitch angle and the vertical displacement of the vehicle and the displacement of the unsprung mass in each wheel suspension serve as one degree of freedom, and a seven-degree-of-freedom whole vehicle dynamic model based on the active suspension is constructed and converted into a matrix form; then, taking the roll angle, the pitch angle and the vertical displacement following expectation as control targets, establishing a corresponding three-dimensional error equation and a constraint equation, and converting the constraint equation into a matrix form; and finally, designing a control strategy of the vehicle based on the constraint following error, and calculating a servo control force and an additional control force in combination with the real-time state of the vehicle so as to obtain an active control vector. According to the method, the pitching and roll coupling control effect of the vehicle can be remarkably improved, and the dynamic response speed and the control precision of the system are improved.

The invention relates to the technical field of vehicle mass measurement, in particular to a vehicle mass estimation method, device and equipment and a storage medium. The method comprises the steps that the effective bearing area of the air spring, the effective rigidity of the mechanical spring and the unsprung and compensation mass are obtained; collecting the current deviation height of the air spring and the current air pressure intensity in an air spring cavity through a sensor; calculating the first mass of the compressed air spring according to the effective bearing area, the current gas pressure and the gravitational acceleration; calculating a second mass of the compression mechanical spring according to the effective rigidity, the current offset height and the gravitational acceleration; and according to the first mass, the second mass, the unsprung mass and the compensation mass, the estimated whole vehicle mass is obtained. According to the invention, the technical effects of high precision, real-time performance, simple system integration and high environmental adaptability can be achieved when the mass of the whole vehicle is estimated.

The invention discloses a steering system and a vehicle, the steering system comprises an auxiliary frame and a steering gear assembly, the steering gear assembly comprises a plurality of steering gears, and the plurality of steering gears are fixed to a cross beam of the auxiliary frame. According to the steering system, the steering gear assembly is fixed to the auxiliary frame, the displacement stroke of the steering gear can be increased, then the maximum turning angle of wheels is increased, the flexibility of the vehicle is improved, the unsprung mass can be prevented from being increased, and the operation stability of the whole vehicle is guaranteed.

The present invention belongs to the field of vehicle engineering technology, and specifically relates to a method for optimizing the rollover index of a multi-axle special vehicle. Step 1: Establish a dynamic model of a multi-axle special vehicle, and test the established multi-axle whole vehicle dynamic model; Step 2: Based on the multi-axle special vehicle dynamic model established in step 1, further establish a rollover dynamic model of the multi-axle special vehicle, and establish a rollover evaluation index LTR for the rollover dynamic model; Step 3: Establish an optimization method for the LTR transient value and warning threshold of step 2. Trucksim is used to establish a dynamic model of a multi-axle special vehicle whose dynamic characteristics are highly consistent with those of the actual vehicle. The influence of the roll moment of the sprung mass and the unsprung mass on the vertical load difference of the wheels on both sides, as well as the influence of vehicle speed and road environment changes on the rollover warning threshold are comprehensively considered. The calculation of LTR and LTR threshold is optimized, thereby improving the rollover warning accuracy of the special vehicle anti-rollover control.

Provided are a suspension system and an active force control method, relating to the technical field of suspensions. The suspension system comprises a first constant flow source (401), a second constant flow source (402), a first damping valve (403), a second damping valve (404), a shock absorber (405), and a liquid container (406). The shock absorber (405) comprises a first liquid cavity (4051) and a second liquid cavity (4052) separated by a piston. The first constant flow source (401) and the second constant flow source (402) are used for outputting liquid at a constant flow rate. The liquid container (406) is used for storing or replenishing liquid flowing in the system. An outlet of the first constant flow source (401) is connected to a first end of the first damping valve (403) and the first liquid cavity (4051). A second end of the first damping valve (403) is connected to the liquid container (406), and the liquid container (406) is connected to an inlet of the first constant flow source (401). An outlet of the second constant flow source (402) is connected to a first end of the second damping valve (404) and the second liquid cavity (4052). A second end of the second damping valve (404) is connected to the liquid container (406), and the liquid container (406) is connected to an inlet of the second constant flow source (402). A suspension system having a high operating bandwidth without additionally significantly increasing unsprung mass can be implemented.

The present application discloses a vibration reduction system of a hub motor, and a use thereof. The vibration reduction system of a hub motor comprises a brake, a vibration reduction mechanism, a torque transmission mechanism, and a hub motor. The brake is mainly used for braking and torque transmission. The vibration reduction mechanism is used for reducing the acting force of the weight of a motor on an automobile hub, reducing the load of the hub, and increasing the reaction speed of the hub. The torque transmission mechanism indirectly transmits the rotating torque of the motor to the automobile hub, and, at the same time, the torque transmission mechanism and the vibration reduction mechanism jointly prevent high-frequency, large-amplitude impact force of the automobile hub from being transmitted to the hub motor, and the unsprung mass of an automobile using the hub motor is reduced.

A kind of truck wheel structure of rolling steel, including hub (1), spoke (2) and rim (3), it is characterized in that, wheel diameter is 840mm, the thickness of rim (3) is 60mm, the inner diameter of rim (3) is 720mm, the aperture of hub (1) is 210mm, overall weight is 314kg.The application increases the thickness of rim from 50mm of HESA wheel to 60mm under the premise of ensuring that the mass of wheel does not increase, which will not increase the unsprung mass, suitable for both 70t level truck, also can be used for 60t level truck.The relative HESA wheel of existing 70t level truck has the technical characteristics of high safety factor, light wheel weight, wide application range, and good application prospect.

The present invention discloses a hub motor drive axle with a built-in speed reduction mechanism, which includes an axle body and a hub motor. The hub motor includes a motor part, which has a motor part output shaft, a motor part housing, a stator and a rotor. The rotor is fixedly connected to the motor output shaft through a rotor support. A planetary gear speed reduction mechanism is arranged in the rotor cavity. The planetary gear speed reduction mechanism has an output shaft that reduces the rotation of the motor output shaft and outputs it, and a reduction part housing that forms an outer contour. The output shaft of the planetary gear speed reduction mechanism and the motor output shaft share a common shaft. By integrating the reducer in the rotor cavity and sharing a common shaft with the motor, the present invention realizes the miniaturization of the hub motor, ultimately effectively reduces the weight of the axle body and the unsprung mass, improves the comfort of the whole vehicle, reduces the cost of the whole vehicle, improves the transmission efficiency, and at the same time solves the problem of the difficulty in industrializing the original hub drive.

The utility model discloses a transverse plate spring double-wishbone front suspension structure with an independent main pin, which is mounted on a frame and comprises a transverse plate spring, the transverse plate spring is positioned below the frame, and the middle of the transverse plate spring is fixedly connected with the frame; an upper swing arm and a lower swing arm are installed on the two side faces of the frame respectively, a connecting arm is installed between the upper swing arm and the free end of the lower swing arm on the corresponding side in a hinged mode, and a steering knuckle is installed on the connecting arm in a hinged mode through a vertically-arranged main pin. The two ends of the transversely-arranged plate spring are fixedly connected with the lower swing arms on the corresponding sides. The independent suspension is adopted, the unsprung mass is small, the impact load of the suspension is small, the driving controllability and comfort are improved, the vertical space occupied by the transversely-arranged plate spring is small, and the low-floor form of a vehicle body is achieved. The steering knuckle is directly installed on the connecting arm in a hinged mode through the main pin, interference force arms are reduced, the driving stability is improved, the structure is simple, the technology is simple, and cost is low.

This invention discloses a power unit for a flying car based on a hub motor, belonging to the field of flying cars. It integrates ground driving and aerial flight into a single power unit, switching modes through changes in operating conditions. The wheel-mounted motors drive the vehicle's motion, while the propeller motors drive the propellers via hub motors mounted on a support shaft. The wheels and propeller share a hollow support shaft for rotational support, and the telescopic hydraulic structure for wheel reversal is integrated with the shock-absorbing suspension structure. The overall design is compact, simplifying the power unit structure and effectively reducing the vehicle's unsprung mass.

A spring assembly for mounting between a chassis and an unsprung mass of a vehicle, the spring assembly comprising a coil spring and a hydropneumatic spring acting in series, wherein the hydropneumatic spring is configured to be switchable between a compressible state and an incompressible state, such that when the hydropneumatic spring is in the compressible state, the equivalent spring rate of the spring assembly is a function of the spring rate of the coil spring and the hydropneumatic spring, and when the hydropneumatic spring is in the incompressible state, the equivalent spring rate of the spring assembly is a function of the spring rate of the coil spring.

The application belongs to the technical field of new energy vehicle dynamics control and energy management, and particularly relates to a power distribution method for a distributed drive vehicle in a variable-gradient transition working condition. First, a four-degree-of-freedom half-vehicle suspension dynamics model containing sprung mass vertical motion, pitching motion and front and rear unsprung mass vertical motion is constructed, Kalman filtering is used to fuse inertial measurement unit and suspension height sensor signals to observe front and rear axle dynamic normal loads in real time; based on the dynamic loads and a magic formula tire model, the upper limits of front and rear motor safe torques are calculated; finally, a hierarchical distribution strategy combining offline global efficiency optimization and online safety constraint compensation is used: an optimal driving mode table and an optimal distribution ratio table are generated offline, and after a reference torque is obtained by online table lookup, constraint checking and axle torque compensation are performed based on a dynamic safety boundary. The application realizes predictive slip control in a cross-gradient transient working condition, ensures driving stability and takes into account system efficiency in all working conditions.

The utility model provides a wheel structure and a vehicle. The wheel structure comprises a tire rim assembly and a hub motor shell which are coaxially arranged. The tire rim assembly comprises a body part and a plurality of mounting parts, the body part forms a first accommodating cavity, each mounting part protrudes out of the body part in the first accommodating cavity, and the plurality of mounting parts are arranged at intervals along the circumferential direction of the body part; at least part of the hub motor shell is arranged in the first containing cavity, the hub motor shell comprises a main body part and a plurality of protruding parts, and the protruding parts correspond to the mounting parts and are arranged in a protruding mode in the axial direction; the protruding parts are connected to the corresponding installation parts so as to connect the tire rim assembly and the hub motor shell. Compared with an existing design, the complex structure of a traditional spoke is reduced, the assembling process of a vehicle is simplified, the production cost and the maintenance difficulty are reduced, meanwhile, the overall weight and the unsprung mass of the wheel are reduced, and the controllability of the vehicle is effectively improved.

The embodiment of the invention relates to the technical field of vehicle intelligent sensing and control, and discloses a road condition recognition method and device and a vehicle, and the method comprises the steps: for at least one wheel of the vehicle, obtaining a first vertical speed signal and a second vertical speed signal corresponding to each wheel; the first vertical speed signal represents the vertical speed of the sprung mass at the corresponding wheel position, and the second vertical speed signal is used for representing the vertical speed of the unsprung mass at the corresponding wheel position; determining an obstacle recognition condition corresponding to each wheel according to the first vertical speed signal and the second vertical speed signal; and determining obstacle information identified by the vehicle according to the obstacle identification conditions of all the wheels. By applying the technical scheme of the invention, the real-time and accurate recognition of the obstacle crossing event of the vehicle can be realized by fusing the dynamic response characteristics of the sprung mass and the unsprung mass and combining the multi-level collaborative arbitration logic.

A surface compactor machine includes an unsprung mass including a cylindrical drum and a cylindrical spool disposed within the cylindrical drum, and a sprung mass rotationally coupled to the cylindrical spool. The sprung mass has a center of gravity that is lower than the center of gravity of the unsprung mass when the surface compactor machine is in a stationary position. The sprung mass includes a traction system that rotates the sprung mass relative to the cylindrical spool. When the traction system rotates the sprung mass relative to the cylindrical spool, the second center of gravity of the sprung mass is rotated out of vertical alignment with the first center of gravity of the unsprung mass, thereby imparting torque to the cylindrical spool that causes rotation of the cylindrical drum.

The invention provides a multi-gear heavy truck electric drive device and a heavy truck, and relates to the technical field of heavy trucks. The multi-gear heavy truck electric drive device comprises a motor stator, a motor rotor, a sun gear, a differential mechanism, a first half shaft, a second half shaft and a variable-speed rotating assembly. The first half shaft is in transmission connection with the second half shaft through a differential; the motor stator is sleeved with the motor rotor, and the motor rotor is hollow and arranged on the first half shaft in a sleeving mode. And the sun gear is connected with the motor rotor and is in transmission connection with the variable-speed rotating assembly. According to the coaxial integrated structure, the rotor cantilever layout of a traditional offset type three-gear electric drive axle is eliminated, bearing unbalance loading and shell stress concentration are reduced, the structural rigidity is enhanced, and the fatigue life is prolonged. Meanwhile, the power source is directly coupled to the output end of the differential mechanism through the planet carrier after being decelerated through the planet row, the gear stage number and meshing loss are reduced, the transmission efficiency and endurance are improved, the unsprung mass, the whole machine size and the assembly complexity are reduced, and high performance, high reliability and engineering manufacturability are considered.

A leveling system for a vehicle includes a electromechanical actuator including an electric motor (102), a gear reduction unit (104) selectively driven by the electric motor, a rotary to linear motion conversion mechanism (108) and a clutch (106). The rotary to linear motion conversion mechanism includes a first rotatable member adapted to be coupled to one of a sprung mass and an unsprung mass of the vehicle. A linearly translatable member of the rotary to linear motion conversion mechanism is adapted to be coupled to the other sprung and unsprung masses. The clutch is operable in an open mode or a torque transferring mode where power is transmitted between the electric motor and the rotary linear motion conversion mechanism to change a distance between the sprung mass and the unsprung mass.

The embodiment of the invention relates to the technical field of vehicles, and discloses a pit identification method and device, and the method comprises the steps: obtaining the vertical speed information of the sprung mass and the vertical speed information of the unsprung mass of each wheel of a vehicle; determining speed characteristic information of each wheel according to the vertical speed information of the sprung mass and the vertical speed information of the unsprung mass of each wheel; and according to the speed characteristic information of each wheel, determining a pit identification result of the vehicle. By applying the technical scheme of the invention, the problem of poor accuracy of pit identification in the prior art can be solved.

The utility model discloses a distributed driving and braking integrated fusion system and a vehicle, and relates to the technical field of electric automobiles, the distributed driving and braking integrated fusion system comprises at least two drivers, at least two brakes and at least two speed reducers; the at least two drivers are used for respectively driving one wheel to rotate; a brake shaft of each brake is connected with a driver, and the brake is used for braking the correspondingly connected driver; each speed reducer is arranged on a brake shaft of the corresponding brake in a sleeving mode, located between the corresponding brake and the corresponding driver in a sleeving mode and used for being connected with a wheel. According to the technical scheme, the unsprung mass of a vehicle can be reduced, the response speed of the vehicle is increased, dust environmental pollution of a brake is reduced, the heat dissipation effect of the brake is improved, the number and the size of parts of the whole vehicle are reduced, the space layout of the whole vehicle is better achieved, it is guaranteed that a half shaft between a wheel and a speed reducer has enough length, and the service life of the vehicle is prolonged. And the requirement for the large movement range of the wheel is met under extreme working conditions.

The invention relates to the technical field of new energy axles, in particular to a hydraulic expansion forming type light-weight new energy axle which comprises a main beam body, end connecting parts arranged at the two ends of the main beam body and a differential mechanism shell connecting base arranged in the middle of the main beam body. The main beam body comprises an outer-layer pipe wall and a lining sleeve arranged on the inner side of the outer-layer pipe wall. The lining sleeve sequentially comprises an A-section reinforcing area, B-section gradual transition areas located on the two sides of the A-section reinforcing area and a C-section non-reinforcing area located on the outer side of the B-section gradual transition areas in the axial direction. And the main beam body is provided with a controllable collapse triggering area in the C-section non-reinforced area. Compared with the prior art, the outer-layer pipe wall and the lining sleeve are laminated in the A-section reinforcing area adjacent to the differential shell connecting base, so that the bending resistance and torsion resistance of the section are improved, and the equivalent wall thickness is increased; and meanwhile, a lining sleeve is omitted and thinned in a C-section non-reinforced area far away from a key load transmission path, so that the material consumption is reduced, and the unsprung mass is reduced.

The present invention discloses a four-wheel non-linear two-degree-of-freedom vehicle model simulation system and method. The system includes a two-degree-of-freedom vehicle body dynamics model of the whole vehicle, a four-wheel composite working condition magic tire model, an Ackermann angle calculation model, a four-wheel sideslip angle calculation model, a four-wheel dynamic vertical load calculation model, and a Carsim software module. The vehicle model is a four-wheel model, which considers the sideslip angle hysteresis response caused by the lateral relaxation length of the tire, and can provide a more accurate tire sideslip angle than the two-wheel model. The vertical load transfer between the left and right wheels and the unsprung mass are considered, thereby improving the estimation accuracy of the tire vertical load. The composite working condition tire model considers the non-linear sideslip stiffness and the friction ellipse relationship between the lateral force and the longitudinal force, and can provide a more accurate tire lateral force. The present invention can improve the input accuracy of the tire model without introducing new degrees of freedom, and further improve the simulation accuracy of the steady-state and dynamic responses of the two-degree-of-freedom vehicle model.

The application discloses a wheeled armored vehicle dynamics simulation platform and a construction method, equipment and medium thereof, relates to the field of wheeled armored vehicle simulation, and comprises the following steps: based on a Lagrange dynamics method, a dynamics model of a wheeled armored vehicle is constructed; the dynamics model of the wheeled armored vehicle comprises a sprung mass dynamics model, an unsprung mass dynamics model and a turret system dynamics model; and the dynamics model of the wheeled armored vehicle is iteratively simulated and solved to obtain a simulation result of the wheeled armored vehicle. The application improves the refinement degree of the construction of the dynamics model of the wheeled armored vehicle.

The present disclosure relates to a corner module arrangement comprising: a hub connected to a wheel; a body spaced apart from the hub; a first motor disposed within the main body; a second motor disposed within the body and spaced apart from the first motor; a driving member configured to be connected to the first motor and the hub and to provide a driving force to the wheel; and a steering member configured to be connected to the second motor and the hub and adjust a steering angle of the wheel. According to the corner module apparatus, since the main body and the first steering body are supported by the second steering body fixed to the vehicle body, the size of the unsprung mass is reduced, thereby ensuring improved ride comfort and durability.

The utility model discloses a rear wheel central braking device for a formula car. The rear wheel central braking device comprises an auxiliary frame, the limited slip differential is fixedly connected to one side of the auxiliary frame; the two ends of the limited slip differential are each connected with a wheel through a half shaft. The brake disc is coaxially arranged on the outer wall of the middle part of the limited slip differential and is connected with the limited slip differential; the brake is fixedly connected to the other side of the auxiliary frame; a U-shaped groove is formed in the middle of the brake; a clamping gasket is arranged in the U-shaped groove; wherein the outer ring of the brake disc is arranged in a U-shaped groove of the brake. According to the rear wheel central braking device for the formula car, a braking pipeline can be simplified, the stress of the rear stand column is reduced, and the unsprung mass is reduced.

The invention relates to the technical field of automobile intelligent brake systems, and discloses a new energy automobile combined electronic mechanical hydraulic drive-by-wire brake system which comprises an electronic control unit, an oil can and brake execution devices, and each wheel is matched with a set of brake execution device; the brake executing device comprises a driving motor and a reciprocating actuating mechanism, the driving motor serves as a power source, rapid and accurate linear change of brake pressure is achieved through reciprocating motion of the reciprocating actuating mechanism, the defects and defects of EHB and EMB are effectively overcome, cost can be effectively reduced, pipelines are simplified, the using amount of brake fluid is reduced, and the unsprung mass is reduced. Therefore, the brake pressure control precision is effectively improved, the maneuverability and stability of the vehicle are improved, and the active safety performance of the whole vehicle is improved.