CN-122008755-A - Angle module with active torsion bar spring and control method of torsion bar spring

CN122008755ACN 122008755 ACN122008755 ACN 122008755ACN-122008755-A

Abstract

The invention relates to the technical field of vehicles, in particular to an angle module with an active torsion bar spring and a control method of the torsion bar spring, wherein the angle module comprises: wheel subassembly, knuckle, steering mechanism, lower control arm and torsion bar spring mechanism, steering mechanism passes through the knuckle and links to each other with wheel subassembly, lower control arm includes lower control arm body, first connecting portion, second connecting portion and third connecting portion, torsion bar spring mechanism includes drive arrangement and torsion bar spring, torsion bar spring wears to locate second connecting portion and third connecting portion, the one end of torsion bar spring adopts spline fit with second connecting portion, torsion bar spring's the other end links to each other with drive arrangement, drive arrangement is used for linking to each other with the frame to drive torsion bar spring rotation. The invention has the advantages that the torsion moment of the torsion bar spring can be adjusted in real time through the driving motor of the torsion bar spring mechanism, the wheel gesture can be actively adjusted, the rolling and pitching of the vehicle can be effectively restrained, and the steering stability and riding comfort of the vehicle can be obviously improved.

Inventors

JIN LIQIANG
ZHANG YULONG
LI WEILIANG
YANG SHUAI
LI PING
ZHENG YUTING
XING HONGKAI
WANG XINGUANG
Wu Yuanshuo

Assignees

长春市麦迪克智行汽车科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260330

Claims (10)

1. An angle module having an active torsion bar spring, comprising: A wheel assembly; the steering knuckle is connected with the wheel assembly and comprises an upper mounting seat and a lower mounting seat; the output end of the steering mechanism is connected with the upper mounting seat so as to drive the steering knuckle to steer and further drive the wheel assembly to rotate; The lower control arm comprises a lower control arm body, a first connecting part, a second connecting part and a third connecting part, wherein the first connecting part is arranged at one end of the lower control arm body, which is close to the knuckle, and is used for being hinged with the lower mounting seat; The torsion bar spring mechanism comprises a driving device and a torsion bar spring, the torsion bar spring penetrates through the second connecting portion and the third connecting portion, one end of the torsion bar spring is in torque transmission connection with the second connecting portion, the other end of the torsion bar spring is connected with the driving device, and the driving device is connected with a frame to drive the torsion bar spring to rotate.
2. The angle module with the active torsion bar spring according to claim 1, wherein the torsion bar spring is arranged along the longitudinal direction of the vehicle, the torsion bar spring is in running fit with the third connecting portion, one end of the torsion bar spring is provided with a spline, the second connecting portion is provided with a spline hole matched with the spline, and the spline is in matching connection with the spline hole.
3. The angle module with active torsion bar spring according to claim 1, wherein the torsion bar spring diameter, length and torsion bar spring torsional stiffness are related by: ; ; Wherein d represents the diameter of the torsion bar spring, k_t represents the torsional rigidity of the torsion bar spring, lt represents the effective working length of the torsion bar spring, G represents the shear modulus of the torsion bar spring material, k represents the vertical linear rigidity of the single wheel, L represents the effective moment arm of the lower control arm, and alpha represents the angle between the rotation plane of the lower control arm and the horizontal plane.
4. The angle module with active torsion bar spring of claim 1, wherein the steering mechanism comprises a steering motor, a first speed reducer, and an adapter, the output of the steering motor is connected to the input of the first speed reducer, the output of the first speed reducer is rotatably connected to the upper mount, and the adapter is connected to a side of the speed reducer near the output thereof.
5. The corner module with active torsion bar spring according to claim 4, further comprising an upper control arm and a shock absorbing mechanism, wherein one end of the upper control arm is hinged to the adapter, the other end of the upper control arm is connected to the frame, one end of the shock absorbing mechanism is connected to the lower control arm, and the other end of the shock absorbing mechanism is connected to the frame.
6. A control method of an active torsion bar spring applied to a vehicle comprising four corner modules according to any one of claims 1 to 5, characterized by comprising the steps of: S1, collecting a vehicle running state signal; s2, judging whether to enter an active control mode according to preset active control intervention conditions; S3, when the intervention condition is met and the vehicle enters an active control mode, estimating the state of the vehicle, and judging whether the vehicle is in a roll-pitch composite working condition or a single working condition; S4, when the single working condition is judged, single attitude control is executed, when the compound working condition is judged, roll-pitch combined control is executed, anti-roll target moment and anti-pitch target moment are generated, and torque distribution is carried out on the driving devices of the four corner modules; And S5, executing constraint processing on the distributed target torque, and outputting control instructions to the driving motors of the angle modules.
7. The method according to claim 6, wherein the preset active control intervention condition is that a vehicle speed is greater than or equal to a vehicle speed intervention threshold value, and an absolute value of at least one of a steering angle, a braking input, a roll angle, and a pitch angle is greater than or equal to a respective corresponding preset threshold value; The judging condition of the roll-pitch composite working condition is that the absolute value of the vehicle lateral acceleration is larger than or equal to the vehicle lateral acceleration threshold value, and the absolute value of at least one of the vehicle longitudinal acceleration, the vehicle roll angle speed and the vehicle pitch angle speed is larger than or equal to the corresponding threshold value.
8. The control method of an active torsion bar spring according to claim 6, wherein the single attitude control in step S4 includes anti-roll control and anti-pitch control; The anti-roll control calculates an anti-roll target moment according to the roll angle, the roll angle speed and the lateral acceleration, and distributes the anti-roll target moment to the driving motors of the angle modules according to the distribution coefficient; and the anti-pitching control calculates an anti-pitching target moment according to the pitch angle, the pitch angle speed and the longitudinal acceleration, and distributes the anti-pitching target moment to the driving motors of the angle modules according to the distribution coefficient.
9. The control method of an active torsion bar spring according to claim 6, wherein the roll-pitch combined control in step S4 includes: Simultaneously generating an anti-roll target moment and an anti-pitch target moment; Obtaining a reference pre-torque of a driving motor of each angle module; and distributing the anti-roll target moment and the anti-pitch target moment to execution units of the left front corner module, the right front corner module, the left rear corner module and the right rear corner module according to a coupling distribution relation, and combining the reference pretwisting torques corresponding to the corner modules to obtain target control torques of driving devices of the corner modules.
10. The control method of an active torsion bar spring according to claim 6, wherein in step S5, the performing constraint processing includes at least one of: Torque limiting, namely limiting the target torque of each angle module between preset minimum torque and maximum torque; Limiting the torque change rate of each angle module at adjacent time within a preset change rate range; Limiting the rotation angle of the torsion bar spring in each angle module between preset minimum rotation angle and maximum rotation angle.

Description

Angle module with active torsion bar spring and control method of torsion bar spring Technical Field The invention relates to the technical field of vehicles, in particular to an angle module with an active torsion bar spring and a control method of the torsion bar spring. Background The torsion bar spring suspension is widely applied to suspension systems of various vehicles due to simple structure, high reliability and lower cost. The traditional torsion bar spring suspension is of a passive structure, the torsion rigidity of the torsion bar spring is fixed, the torsion bar spring can only absorb road surface impact by means of self elastic deformation and inhibit the change of the vehicle body posture, and the vehicle body posture can not be actively regulated according to the running conditions of steering, braking, bumpy road surfaces and the like, so that the running stability and the comfort of the vehicle are limited. Meanwhile, the traditional torsion bar spring is connected with the lower control arm in a mode that the end part is directly hinged or connected with the support, so that the torsion bar spring occupies a large space in the longitudinal direction of the vehicle body, the span design of the lower control arm is limited, the overall layout flexibility of a suspension system is reduced, interference with other parts of the vehicle body is easy to occur, and the integrated design of the chassis of the vehicle is limited. In addition, if the design of the connecting part of the existing torsion bar spring and the lower control arm is unreasonable, the problems of abrasion, looseness and the like are easy to occur, and the service life of the suspension system and the running safety of the vehicle are further affected. With the development of vehicle intellectualization and chassis integration, users put forward higher demands on vehicle running stability, comfort and space utilization. The existing passive torsion bar spring suspension is difficult to adapt to complex and changeable running conditions, and the defects in structural layout and connection reliability limit further improvement of chassis performance. Disclosure of Invention Based on the above, the invention aims to provide an angle module with an active torsion bar spring and a torsion bar spring control method, wherein the active control of the torsion bar spring and the active adjustment of the wheel posture are realized by arranging a torsion bar spring mechanism, the space layout of a suspension is optimized, meanwhile, the reliable connection between the torsion bar spring and a second connecting part is realized by adopting spline connection, and the connection reliability and the service life are improved. The technical scheme includes that the angle module with the driving torsion bar spring comprises a wheel assembly, a steering knuckle, a steering mechanism and a lower control arm, wherein the steering knuckle is connected with the wheel assembly and comprises an upper mounting seat and a lower mounting seat, the output end of the steering mechanism is connected with the upper mounting seat to drive the steering knuckle to steer and further drive the wheel assembly to rotate, and the lower control arm comprises a lower control arm body, a first connecting part, a second connecting part and a third connecting part. The torsion bar spring mechanism comprises a driving device and a torsion bar spring, wherein the torsion bar spring penetrates through the second connecting portion and the third connecting portion, one end of the torsion bar spring is in torque transmission connection with the second connecting portion, the other end of the torsion bar spring is connected with the driving device, and the driving device is connected with a frame to drive the torsion bar spring to rotate. Further, the torsion bar spring is arranged along the longitudinal direction of the vehicle, the torsion bar spring is in running fit with the third connecting part, a spline is arranged at one end of the torsion bar spring, a spline hole matched with the spline is arranged on the second connecting part, and the spline is in fit connection with the spline hole. Further, the relationship among the diameter, length and torsional rigidity of the torsion bar spring is: ; ; Wherein d represents the diameter of the torsion bar spring, k_t represents the torsional rigidity of the torsion bar spring, lt represents the effective working length of the torsion bar spring, G represents the shear modulus of the torsion bar spring material, k represents the vertical linear rigidity of the single wheel, L represents the effective moment arm of the lower control arm, and alpha represents the angle between the rotation plane of the lower control arm and the horizontal plane. Further, the steering mechanism comprises a steering motor, a first speed reducer and an adapter, wherein the output end of the steering motor is connected with the input end of the f