CN112895833A - Suspension actuator and method for controlling suspension actuator - Google Patents

The application discloses suspension actuator and suspension actuator's control method, wherein, suspension actuator includes: an actuator body; and the control assembly is used for determining a target working mode of the suspension actuator according to the actual road adhesion coefficient, and controlling the execution action of the actuator body according to the current working mode so as to adjust the rigidity and the damping of the suspension to the parameter value adaptive to the actual road adhesion coefficient. From this, solved and can not discern road surface adhesion coefficient in order to guarantee travelling comfort and security of vehicle under different operating modes, the little installation space of actuator integrated nature is big, and energy conversion device is single makes the problem that energy recuperation efficiency is on the low side, has improved vibration energy recuperation efficiency greatly, has guaranteed the economic performance of vehicle when improving vehicle operation stability ability.

Technical Field

The present disclosure relates to vehicle technologies, and in particular, to a suspension actuator and a control method of the suspension actuator.

Background

Suspension systems are important components of automobiles and their main function is to carry the body and dampen body vibrations, which determine the ride and handling stability of the vehicle. Most of current automotive suspensions are passive suspensions, but the fixed structure parameters of the passive suspensions are difficult to adapt to changeable driving road conditions, and the hydraulic shock absorbers of the traditional passive suspensions on the existing vehicles dissipate part of kinetic energy of the vehicle bodies in a heat mode when the vibration of the vehicle bodies is attenuated, and the dissipated energy accounts for about 10% of the energy consumption of the whole vehicles.

However, although the active suspension utilizes the controllable actuator, the stiffness and the damping of the suspension can be changed in real time according to the road condition to improve the smoothness and the handling stability of the vehicle, the active suspension consumes certain energy when in application, the fuel economy of the vehicle is reduced, and although part of the vibration energy of the suspension can be recovered while the smoothness and the handling stability of the vehicle are improved, a single energy conversion device enables the energy recovery efficiency to be lower, which is needed to be solved urgently.

Content of application

The application provides a suspension actuator and suspension actuator's control method to solve and can not discern road surface adhesion coefficient in order to guarantee travelling comfort and security of vehicle under different operating modes, the little installation space of actuator integrated nature is big, and the single problem that makes energy recuperation efficiency low on the side of energy conversion device has improved vibration energy recuperation efficiency greatly, has guaranteed the economic performance of vehicle when improving vehicle operation stability ability.

An embodiment of the first aspect of the present application provides a suspension actuator, including:

an actuator body; and

and the control component is used for determining a target working mode of the suspension actuator according to the actual road adhesion coefficient and controlling the execution action of the actuator body according to the current working mode so as to adjust the rigidity and the damping of the suspension to the parameter values matched with the actual road adhesion coefficient.

Optionally, the actuator body includes:

the piston type cylinder comprises a cylinder barrel and an upper sealing end cover connected with an opening in the top of the cylinder barrel, wherein a hollow piston rod which penetrates out of the upper sealing end cover upwards is arranged in the cylinder barrel, the bottom of the hollow piston rod is connected with a lower sealing end cover of the cylinder barrel, a piston consisting of an upper stepped shaft and a lower stepped shaft is fixed on the hollow piston rod, and a piston coil is embedded between the upper stepped shaft and the lower stepped shaft;

the motor mounting seat and the first direct current brushless motor are mounted on the motor mounting seat, and the top of the hollow piston rod is connected with the hollow piston rod;

the sleeve is connected with a part which is arranged in the hollow piston rod and penetrates out of the cylinder barrel after penetrating out of the lower sealing end cover of the cylinder barrel downwards;

the lower guide seat is used for guiding the hollow piston rod to move up and down along the sleeve, and is arranged between the lower port of the hollow piston rod and the sleeve;

and the upper guide seat is used for guiding the hollow piston rod to move up and down along the cylinder barrel, and is arranged in the lower port of the hollow piston rod and between the cylinder barrels.

Optionally, a ball screw is sleeved in the sleeve, the ball screw penetrates out of the sleeve upwards and then penetrates out of a ball screw nut, the ball screw nut is fixedly connected to the top of the sleeve through a ball nut fixing bolt, a stepped shaft portion used for being connected with a rotor of the first dc brushless motor is arranged at the top of the ball screw, an external thread is arranged on an upper stepped shaft portion of the ball screw, an external thread used for being connected with the upper stepped shaft portion of the ball screw is arranged at a lower end portion of the rotor of the first dc brushless motor, and the ball screw is connected with a shaft of the first dc brushless motor through the external thread of the upper stepped shaft portion of the ball screw and the external thread of the lower end portion of the rotor of the first dc brushless motor by the connecting nut.

Optionally, a lower end face of the lower guide seat and an upper end face of the upper guide seat are respectively provided with a lower oil seal and an upper oil seal of the hollow piston rod.

Optionally, the control assembly comprises:

the actuator controller is used for acquiring a plurality of speed signals of the vehicle and calculating the actual road surface adhesion coefficient according to the plurality of speed signals;

the electric energy storage circuit is used for storing electric energy generated by the actuator body in an actuating device of the actuator body;

and the controllable constant current source output circuit is used for outputting the electric energy stored by the electric energy storage circuit.

Optionally, the actuator controller comprises:

a yaw rate sensor for acquiring a yaw rate of the vehicle;

an acceleration sensor for acquiring longitudinal or lateral acceleration of the vehicle;

an unsprung mass velocity sensor for acquiring unsprung mass velocity of the vehicle;

a steering wheel angle sensor for acquiring a steering wheel angle of the vehicle;

a sprung mass velocity sensor for acquiring a sprung mass velocity of the vehicle;

and the vehicle speed sensor is used for acquiring the actual vehicle speed of the vehicle.

Optionally, the electrical energy storage circuit comprises:

a first storage battery;

the first energy feedback adjusting circuit, the second energy feedback adjusting circuit and the third energy feedback adjusting circuit are connected with the input end of the first storage battery, wherein the first energy feedback adjusting circuit comprises a second direct current brushless motor, a third Metal-Oxide-Semiconductor Field-Effect Transistor (MOS) switch trigger driving module, a first rectifier, a first direct current-direct current (DC-DC) converter boosting module, a first super capacitor and a first MOS switch trigger driving module which are connected in sequence, the output end of the first MOS switch trigger driving module is connected with the input end of the first storage battery, the input end and the output end of the first voltage sensor are respectively connected with the output end of the first super capacitor and the input end of the actuator controller, and the second energy feedback adjusting circuit comprises a first piezoelectric power generation unit, a second piezoelectric power generation unit, a third MOS switch trigger driving module, a first super capacitor and a first MOS switch trigger driving module which are connected in sequence, wherein the output end of the first MOS switch trigger driving module is connected in sequence, the first rectifier, the output end of the second MOS switch trigger driving module is connected with the input end of the first storage battery, and the input end and the output end of the second voltage sensor are respectively connected with the output end of the second super capacitor and the input end of the actuator controller; the third energy feedback adjusting circuit comprises a second piezoelectric power generation unit, a third rectifier, a third DC-DC boosting module, a third super capacitor and a fifth MOS switch trigger driving module which are sequentially connected, the output end of the fifth MOS switch trigger driving module is connected with the input end of the first storage battery, and the input end and the output end of the third voltage sensor are respectively connected with the output end of the third super capacitor and the input end of the actuator controller.

Optionally, the controllable constant current source output circuit includes:

a second storage battery;

the first controllable constant current source regulating circuit and the second controllable constant current source regulating circuit are connected with the output end of the second storage battery, wherein the first controllable constant current source regulating circuit comprises a fourth MOS switch trigger driving module, a first controllable constant current source control module and a third direct current brushless motor which are connected in sequence, the input end of the fourth MOS switch trigger driving module is connected with the output end of the second storage battery, the second controllable constant current source regulating circuit comprises a second controllable constant current source control module and a piston coil which are connected in sequence, the output end of the actuator controller is connected with the input end of the first DC-DC boosting module, the input end of the second DC-DC boosting module, the input end of the third DC-DC boosting module, the input end of the first MOS switch trigger driving module, the input end of the second MOS switch trigger driving module, The input end of the third MOS switch trigger driving module, the input end of the fourth MOS switch trigger driving module, the input end of the fifth MOS switch trigger driving module, the input end of the first controllable constant current source control module and the input end of the second controllable constant current source control module.

Optionally, a coil spring is installed between an upper coil spring support seat and a lower coil spring support seat, wherein the first piezoelectric power generation unit is arranged on the lower end face of the motor installation seat, the upper coil spring support seat is arranged on the lower end face of the first piezoelectric power generation unit, the lower coil spring support seat is arranged on the upper end face of the second piezoelectric power generation unit, and holes through which the hollow piston rod penetrates are formed in the center of the bottom of each of the first piezoelectric power generation unit, the second piezoelectric power generation unit, the lower coil spring support seat and the upper coil spring support seat, so that in the target working mode, the coil spring is continuously switched between the stretching state and the compression state, so that the force of the coil spring acting on the piezoelectric power generation unit through the upper coil spring support seat is continuously changed, an induced current is generated.

In a second aspect, the present invention provides a method for controlling a suspension actuator, which employs the above suspension actuator, wherein the method includes the following steps:

determining a target working mode of the suspension actuator according to the actual road adhesion coefficient;

and controlling the actuator body to perform actions according to the current working mode so as to adjust the rigidity and the damping of the suspension to the parameter values which are matched with the actual road adhesion coefficient.

From this, through discernment road surface adhesion coefficient, make suspension actuator be in different mode according to different adhesion coefficient to guarantee travelling comfort and security of vehicle under different work condition, adopt two kinds of different energy conversion devices and can carve the work simultaneously, great improvement vibration energy recovery efficiency, guarantee the economic performance of vehicle when improving vehicle operation stability ability.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a block diagram of a suspension actuator according to an embodiment of the present application;

figure 2 is a schematic illustration of the connection of a suspension actuator according to one embodiment of the present application,

FIG. 3 is a schematic structural diagram of a suspension actuator according to an embodiment of the present application;

FIG. 4 is a graph illustrating the relationship between the sticking compensation factor and the front wheel steering angle deviation value according to an embodiment of the present application;

fig. 5 is a flowchart of a control method of a suspension actuator according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

A suspension actuator and a control method of the suspension actuator according to an embodiment of the present application will be described below with reference to the drawings. Can not discern road surface adhesion coefficient in order to guarantee travelling comfort and security of vehicle under different operating modes to what above-mentioned background art center mentioned, the little installation space of actuator integrated nature is big, the single problem that makes energy recuperation efficiency low on the one side of energy conversion device, the application provides a suspension actuator, through discerning road surface adhesion coefficient, make the suspension actuator be in different mode according to different adhesion coefficient, in order to guarantee travelling comfort and security of vehicle under different operating modes, adopt two kinds of different energy conversion devices and can carve work simultaneously, great improvement vibration energy recovery efficiency, guarantee the economic performance of vehicle when improving vehicle behaviour stability ability.

Specifically, fig. 1 is a schematic flow chart of a suspension actuator according to an embodiment of the present disclosure.

Wherein, the first energy feedback adjusting circuit, the second energy feedback adjusting circuit and the third energy feedback adjusting circuit are all connected with the input end of the first storage battery 45, wherein, the first energy feedback adjusting circuit comprises a second direct current brushless motor (such as a direct current brushless motor 15), a third MOS switch trigger driving module 49, a first rectifier 40, a first DC-DC boosting module 41, a first super capacitor 42 and a first MOS switch trigger driving module 44 which are connected in sequence, the output end of the first MOS switch trigger driving module 44 is connected with the input end of the first storage battery 45, the input end and the output end of the first voltage sensor 43 are respectively connected with the output end of the first super capacitor 42 and the input end of the actuator controller 47, the second energy feedback adjusting circuit comprises a first piezoelectric power generating unit 19, a second rectifier 31 and a second DC-DC boosting module 32 which are connected in sequence, the output end of the second MOS switch triggering driving module 51 is connected with the input end of the first storage battery 45, and the input end and the output end of the second voltage sensor 52 are respectively connected with the output end of the second super capacitor 33 and the input end of the actuator controller 47; the third energy feedback adjusting circuit comprises a second piezoelectric power generation unit 29, a third rectifier 53, a third DC-DC boosting module 53, a third super capacitor 55 and a fifth MOS switch trigger driving module 57 which are sequentially connected, wherein the output end of the fifth MOS switch trigger driving module 57 is connected with the input end of the first storage battery 45, and the input end and the output end of a third voltage sensor 56 are respectively connected with the output end of the third super capacitor 55 and the input end of an actuator controller 47. Further, in some embodiments, as shown in fig. 3, a controllable constant current source output circuit includes: a second battery (e.g., battery 45); a first controllable constant current source regulating circuit and a second controllable constant current source regulating circuit which are connected with the output end of the second storage battery, wherein the first controllable constant current source regulating circuit comprises a fourth MOS switch trigger driving module 48, a first controllable constant current source control module 39 and a third direct current brushless motor (such as the direct current brushless motor 15) which are connected in sequence, the input end of the fourth MOS switch trigger driving module 48 is connected with the output end of the second storage battery, the second controllable constant current source regulating circuit comprises a second controllable constant current source control module 46 and a piston coil 7 which are connected in sequence, the output end of the actuator controller 47 is connected with the input end 41 of the first DC-DC boosting module, the input end 32 of the second DC-DC boosting module, the input end of the third DC-DC boosting module 53, the input end of the first MOS switch trigger driving module 44, An input terminal of the second MOS switch trigger driving module 51, an input terminal of the third MOS switch trigger driving module 49, an input terminal of the fourth MOS switch trigger driving module 48, an input terminal of the fifth MOS switch trigger driving module 57, an input terminal of the first controllable constant current source control module 39, and an input terminal of the second controllable constant current source control module 46.

The fourth MOS switch trigger driving module 48 is in an off state in the above comfortable and smooth mode, the efficient economic mode and the safe economic mode, and when the vehicle runs on an uneven road, the relative linear motion generated by the upper suspension ring 14 and the lower suspension ring 1 is converted into the relative linear motion between the upper suspension ring 14 and the lower suspension ring 1 through the transmission action of the ball screw pair, so that the motor rotor of the dc brushless motor 15 is converted into the relative linear motion between the upper suspension ring 14 and the lower suspension ring 1The dc brushless motor 15 operates as a generator; after the brushless DC motor 15 works as a generator, the brushless DC motor 15 generates an induced ac current, the induced ac current first passes through the first rectifier 40, and rectifies and filters the current to obtain a stable DC current, and the voltage output by the first rectifier 40 is boosted by the first DC-DC boost module 41 and then temporarily stored in the first super capacitor 42; the actuator controller 47 determines whether or not the voltage value of the first supercapacitor 42 has reached the set voltage value V based on the voltage value of the first supercapacitor 42 detected by the first voltage sensor 43_mWhen the voltage value of the first super capacitor 42 reaches the set voltage value V for starting charging the battery 45_mMeanwhile, the actuator controller 47 controls the first MOS switch trigger driving module 44 to be switched on, and the voltage output by the first super capacitor 42 charges the storage battery 45 after passing through the first MOS switch trigger driving module 44; when the voltage value of the first super capacitor 42 is less than the set voltage value V for stopping charging the storage battery 45_LAt this time, the actuator controller 47 controls the first MOS switch to trigger the driving module 44 to be turned off, and the first super capacitor 42 stops charging the storage battery 45.

Relative linear motion generated by the upper lifting ring 14 and the lower lifting ring 1 when the vehicle runs on an uneven road surface in the above comfort and smooth mode, the high-efficiency economy mode, the safe and smooth mode and the safe and economy mode enables the coil spring 11 arranged between the coil spring upper supporting seat 20 and the coil spring lower supporting seat 28 to be continuously switched between the stretching motion state and the compression motion state, further, the force of the spiral spring 11 acting on the first piezoelectric power generation unit 19 through the spiral spring upper support 20 is also changed continuously, an electric polarization phenomenon is generated inside the first piezoelectric power generation unit 19, an induced current is generated, the induced current firstly passes through the second rectifier 31 and rectifies and filters the current to form stable direct current, and the voltage output by the second rectifier 31 is boosted by the second DC-DC boosting module 32 and then is temporarily stored in the second super capacitor 33; the actuator controller 47 determines whether or not the voltage value of the second supercapacitor 33 has reached the set voltage value V based on the voltage value of the second supercapacitor 33 detected by the second voltage sensor 52_mWhen the second super exceedsThe voltage value of the stage capacitor 33 reaches the set voltage value V for starting charging the storage battery 45_mWhen the voltage is charged, the actuator controller 47 controls the second MOS switch trigger driving module 51 to be switched on, and the voltage output by the second super capacitor 33 charges the storage battery 45 after passing through the second MOS switch trigger driving module 51; when the voltage value of the second super capacitor 33 is less than the set voltage value V for stopping charging the storage battery 45_LAt this time, the actuator controller 47 controls the second MOS switch to trigger the driving module 51 to be turned off, and the second super capacitor 33 stops charging the storage battery 45.

Relative linear motion of the upper lifting ring 14 and the lower lifting ring 1 is generated when the vehicle runs on an uneven road surface in the above comfort and smooth mode, the high-efficiency economy mode, the safe and smooth mode and the safe and economy mode, so that the coil spring 11 arranged between the coil spring supporting seat 20 and the coil spring lower supporting seat 28 is continuously switched between the stretching motion state and the compression motion state, further, the force of the coil spring 11 acting on the second piezoelectric power generation unit 3 through the coil spring lower support seat 28 is also changed continuously, an electric polarization phenomenon is generated inside the second piezoelectric power generation unit 3, an induced current is generated, the induced current firstly passes through the third rectifier 53 and rectifies and filters the current to enable the current to become a stable direct current, and the voltage output by the third rectifier 53 is boosted by the third DC-DC boosting module 54 and then is temporarily stored in the third super capacitor 55; the actuator controller 47 determines whether or not the voltage value of the third supercapacitor 55 has reached the set voltage value V based on the voltage value of the third supercapacitor 55 detected by the third voltage sensor 56_mWhen the voltage value of third supercapacitor 55 reaches voltage value V set to start charging battery 45_mMeanwhile, the actuator controller 47 controls the fifth MOS switch trigger driving module 57 to be turned on, and the voltage output by the third super capacitor 54 charges the storage battery 45 after passing through the fifth MOS switch trigger driving module 57; when the voltage value of the third super capacitor 54 is less than the set voltage value V for stopping charging the storage battery 45_LAt this time, the actuator controller 47 controls the fifth MOS switch to trigger the driving module 57 to turn off, and the third super capacitor 54 stops charging the storage battery 45.

In addition, c is_skyIs taken as2000N·s/m，c_gndIs 1800 Ns/m, K_TIs 0.086 N.m/A, c_sHas a value of 860 Ns/m, V_mIs 22V, V_mIs 14V.

According to the suspension actuator that this application embodiment provided, through discernment road surface adhesion coefficient, make the suspension actuator be in different mode according to different adhesion coefficient to guarantee comfort and security of vehicle under different work condition, adopt two kinds of different energy conversion devices and can work simultaneously, great improvement vibration energy recovery efficiency, guaranteed the economic performance of vehicle when improving vehicle operation stability.

Next, a control method of a suspension actuator proposed according to an embodiment of the present application is described with reference to the drawings.

Fig. 5 is a flowchart of a control method of a suspension actuator according to an embodiment of the present application.

As shown in fig. 5, the method for controlling a suspension actuator employs the above-described suspension actuator, wherein the method includes the steps of:

and S501, determining a target working mode of the suspension actuator according to the actual road adhesion coefficient.

And S502, controlling the execution action of the actuator body according to the current working mode so as to adjust the rigidity and the damping of the suspension to the parameter values which are adaptive to the actual road adhesion coefficient.

It should be noted that the foregoing explanation of the embodiment of the suspension actuator is also applicable to the control method of the suspension actuator of the embodiment, and the details are not repeated here.

According to the control method of the suspension actuator provided by the embodiment of the application, the suspension actuator is in different working modes according to different adhesion coefficients by recognizing the road adhesion coefficients so as to ensure the comfort and the safety of the vehicle under different working conditions, two different energy conversion devices are adopted and can work simultaneously, the vibration energy recovery efficiency is greatly improved, and the economic performance of the vehicle is ensured while the vehicle operation stability is improved.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: discrete logic circuits with logic gates for implementing logic functions on data signals, application specific integrated circuits with appropriate combinational logic gates, Programmable Gate Arrays (PGAs), Field Programmable Gate Arrays (FPGAs), etc.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that can be related to instructions of a program, which can be stored in a computer-readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.