CN-122008761-A - Multi-mode servo suspension system of high-rigidity wheeled vehicle and regulation and control method

CN122008761ACN 122008761 ACN122008761 ACN 122008761ACN-122008761-A

Abstract

The invention provides a multimode servo suspension system and a regulating method of a high-rigidity wheeled vehicle suitable for a new energy automobile, which relate to the technical field of multimode suspensions, wherein the system comprises a chassis, a suspension structure connected to the chassis and wheels connected to the suspension structure, and the suspension structure comprises a hydraulic actuator; the hydraulic system comprises an inertial container assembly, a hydraulic oil circuit system, a pneumatic system and a control system, wherein two damping oil circuits are further connected between two-position three-way valves in the two hydraulic oil circuits, and each damping oil circuit is internally connected with a variable damper and a pneumatic one-way valve. According to the invention, by adjusting the valve position and the on-off condition of the hydraulic element and combining with adjusting the damping size of the variable damper, the rapid switching of the suspension system in the passive, semi-active and active modes is realized, the control system can pretighten the elevation information of the road surface, the vehicle body posture information and the vehicle running state, and the information is fed back to the central controller, so that a proper suspension mode is selected, and the full road condition working performance of the suspension system is further improved.

Inventors

ZHENG HAIWU
XIONG HAO
HUANG ZIQI
Zhou Zhuangding
ZHAO LIQIANG
LI LIANGPENG

Assignees

燕山大学

Dates

Publication Date: 20260512
Application Date: 20260327

Claims (10)

1. A multi-modal servo suspension system for a high stiffness wheeled vehicle comprising a chassis (3), a suspension structure connected to the chassis (3) and a plurality of wheels (1) connected to the suspension structure, characterized in that the suspension structure comprises: The top of the hydraulic actuator (4) is fixedly connected to the chassis (3), and the bottom of the hydraulic actuator is rotatably arranged on a connecting structure for connecting the chassis (3) and the wheels (1); the inertial container assembly comprises an upper spring, an inertial container and a lower spring which are sleeved outside the hydraulic actuator (4), wherein the inertial container is arranged between the upper spring and the lower spring and can float up and down; The hydraulic oil way system (5) is arranged on the chassis (3) and comprises an oil tank (501), a hydraulic pump (502) connected with the oil tank, a hydraulic valve block (506) connected with the hydraulic pump (502) and a first energy accumulator (507) connected with the hydraulic valve block (506), wherein the hydraulic valve block (506) is also connected with a servo valve (508), the servo valve (508) is connected with two paths of hydraulic oil ways which comprise two-position two-way valves (509) and two-position three-way valves (510), the two paths of hydraulic oil ways are connected with the hydraulic actuator (4), one path of hydraulic oil ways is connected with a second energy accumulator (513), a liquid cavity and a gas cavity and an elastic diaphragm for separating the liquid cavity and the gas cavity are arranged in the second energy accumulator (513), two damping oil ways are also connected between the two-position three-way valves (510), and each damping oil way is connected with a variable damper (511) and a branch one-way valve (512); the pneumatic system (6) is arranged on the chassis (3) and connected with the second energy accumulator (513) and is used for providing air pressure for the air cavity of the second energy accumulator (513); The control system (10) is arranged on the chassis (3) and comprises a central controller (1003), a road pre-aiming sensor (1001) and a vehicle body attitude sensor (1002), wherein the road pre-aiming sensor (1001) is electrically connected with the central controller (1003), the front end of the bottom of the chassis (3) is used for collecting front road elevation information, the central controller (1003) is electrically connected with the hydraulic oil circuit system (5) and the pneumatic system (6), and the switching among a passive mode, a semi-active mode and an active mode of the vehicle is realized by controlling the hydraulic oil circuit system (5) and the pneumatic system (6).
2. The multi-mode servo suspension system of the high-rigidity wheeled vehicle according to claim 1, wherein the pneumatic system (6) comprises an air pump (601) and a pneumatic valve block (603) connected with the air pump (601), the pneumatic valve block (603) is connected with a plurality of pneumatic branches, an adjustable pressure release valve (604) is arranged in each pneumatic branch, a first end of the adjustable pressure release valve (604) is connected with the pneumatic valve block (603) through a pneumatic one-way valve (602), and a second end of the adjustable pressure release valve is connected with an air cavity of the second energy accumulator (513).
3. The multi-mode servo suspension system of a high rigidity wheeled vehicle according to claim 1, wherein the hydraulic oil path system (5) further comprises a relief valve (503), a hydraulic filter (504) and a main path one-way valve (505), the hydraulic pump (502) is connected with the hydraulic valve block (506) through the hydraulic filter (504) and the main path one-way valve (505), a first end of the relief valve (503) is connected to a pipeline between the hydraulic pump (502) and the hydraulic filter (504), and a second end is connected with the oil tank (501).
4. The multimode servo suspension system of a high-rigidity wheeled vehicle according to claim 1, wherein the suspension structure comprises a front swing arm (2) for connecting a front wheel (1) and a chassis (3) and a rear axle (7) for connecting a rear wheel (1) and the chassis (3), wherein the front swing arm (2) is provided with two groups which are respectively fixedly arranged on two sides of the chassis (3), each group of front swing arm (2) is provided with a hydraulic actuator (4), and the rear axle (7) is provided with two hydraulic actuators (4).
5. A multimode servo suspension system of a high-rigidity wheeled vehicle according to claim 4, wherein the hydraulic actuator (4) in the inertial container assembly on the rear axle (7) is replaced by a telescopic rod (8), the top of the telescopic rod (8) is fixedly connected with the chassis (3), the bottom of the telescopic rod is fixedly arranged on the rear axle (7), the top of the hydraulic actuator (4) arranged on the rear axle (7) is fixedly connected with the chassis (3), and the bottom of the hydraulic actuator is rotatably arranged on the rear axle (7).
6. A method of tuning a multi-modal servo suspension system for a high stiffness wheeled vehicle as claimed in any one of claims 1 to 5 comprising the steps of: The method comprises the following steps of S1, initializing a suspension system and collecting data, wherein a central controller (1003) controls a hydraulic pump (502) to continuously supply oil to a first energy accumulator (507) until the internal pressure of the first energy accumulator (507) reaches a set threshold value, and once the internal pressure does not reach the set threshold value, the hydraulic pump (502) continuously supplies oil to carry out pressure compensation; A road surface pre-aiming sensor (1001) acquires road surface elevation information and acquires the ground clearance of a chassis (3), and a vehicle body posture sensor (1002) acquires vehicle body posture information; S2, the central controller (1003) receives the collected road surface elevation information, the ground clearance information of the chassis (3) and the vehicle body posture information, and acquires the vehicle basic data information and the vehicle running state information; S3, calculating the height above the ground suitable for vehicle running according to the information obtained in the S2, selecting a suspension mode, controlling a pneumatic system (6) to change the air pressure in the air cavity of the second energy accumulator (513), and adjusting the height above the ground of the chassis (3) through a hydraulic actuator (4); the central controller (1003) enables the vehicle to enter a corresponding suspension mode by controlling the hydraulic oil circuit system (5) and the pneumatic system (6); s4, in the running process of the vehicle, the central controller (1003) monitors whether the running state of the vehicle is suddenly changed, and if so, the central controller (1003) controls the vehicle to enter an active mode; S5, after entering the active mode, if the running state of the vehicle does not have abrupt change within the set time, continuing to execute S2; And S6, after the running is completed, the suspension system enters a termination program.
7. The method for tuning a multi-modal servo suspension system of a high stiffness wheeled vehicle as claimed in claim 6 wherein the step of enabling the passive mode comprises: According to the basic data information of the vehicle, the ground clearance information of the chassis (3) and the running state information of the vehicle, the fixed damping sizes of the compression loop and the rebound loop of each hydraulic actuator (4) are respectively determined; the central controller (1003) converts damping values of the compression circuit and the rebound circuit of each hydraulic actuator (4) into control signals of the variable damper (511) and outputs the control signals fixedly.
8. The method for tuning a multi-modal servo suspension system of a high stiffness wheeled vehicle as claimed in claim 6 wherein said step of enabling a semi-active mode comprises: The central controller (1003) combines the vehicle running state information, the road surface elevation information and the vehicle dynamics data, and simultaneously combines a seven-degree-of-freedom dynamics formula of the whole vehicle with the suspension variable damping, brings the vehicle dynamics data into the formula, and reversely solves the formula to calculate and obtain the corresponding damping value of each hydraulic actuator (4); the central controller (1003) respectively converts the corresponding damping values of the hydraulic actuators (4) into control signals of the variable dampers (511), so that continuous regulation and control of the damping values of the hydraulic actuators (4) are realized.
9. The method for tuning a multi-modal servo suspension system of a high stiffness wheeled vehicle as claimed in claim 6 wherein the step of enabling the active mode comprises: the central controller (1003) combines the vehicle running state information, the road surface elevation information and the vehicle body attitude information, and reversely pushes to obtain the expansion and contraction amount of each hydraulic actuator (4) according to the vehicle body attitude information and the vehicle suspension kinematic relationship; The telescopic quantity of each hydraulic actuator (4) is used as a reference signal for controlling each hydraulic actuator (4) by a servo valve (508), the actual telescopic displacement of each hydraulic actuator (4) is used as an output signal, and a central controller (1003) calculates and outputs a control signal of the servo valve (508) by improving an error tracking model-free self-adaptive control algorithm, so that closed-loop control of each hydraulic actuator (4) is realized: Represent the first A time servo valve (508) control signal, Represent the first The actual telescopic displacement of the hydraulic actuator (4) at the moment, Represent the first The reference signal of the moment in time, Represent the first A time servo valve (508) control signal, Represent the first The actual telescopic displacement of the hydraulic actuator (4) at the moment, Represent the first A reference signal of time; ; Wherein, the As the weight coefficient of the light-emitting diode, As a step-size factor, As the weight factor of the weight factor, As a result of the weighting factor(s), Is the first in the actual control process The time-varying parameters of the time of day, Is the first The time-varying parameters of the time of day, Is that Is used for the estimation of the (c), Is that Is used for the estimation of the (c), As the time-varying weight coefficient, an estimation algorithm of the time-varying parameter: ; Wherein, the Is the actual telescopic displacement variation of the hydraulic actuator (4) at the adjacent moment, ; In order to make the estimation algorithm have stronger tracking ability to the time-varying parameters, a reset condition is designed: When (when) Or (b) Or (b) ; Wherein, the The step size coefficient is represented as such, Is a very small positive number, and the number of the positive numbers is very small, Is that Is set to be a constant value.
10. The method of controlling a multi-modal servo suspension system of a high stiffness wheeled vehicle as claimed in claim 6 wherein after the active mode is enabled, the hydraulic pump (502) is no longer limited by a set threshold value of the internal pressure of the first accumulator (507) and continues to operate to supply oil to the suspension system.

Description

Multi-mode servo suspension system of high-rigidity wheeled vehicle and regulation and control method Technical Field The invention relates to the technical field of multi-mode suspensions of new energy automobiles, in particular to a multi-mode servo suspension system of a high-rigidity wheeled vehicle and a regulating and controlling method. Background With the increasing development and increasing usage ratio of new energy automobiles, the demands of people on the new energy automobiles are not limited to the directions of environmental protection, energy conservation, low use cost and the like, and meanwhile, higher-quality driving experience, riding comfort and longer service life of vehicles are pursued gradually. It has been found that the battery life of a new energy automobile is closely related to the running stability and damping effect of the vehicle. The conventional pneumatic tire provides riding comfort while also giving adverse effects to running safety and steering stability. According to statistics of traffic management departments, most traffic accidents caused by tires are related to run-flat and tire burst. In addition, the pneumatic tire is limited in tire pressure and tire ground contact footprint characteristics, and has limited bearing capacity, so that the overload is easy to cause tire burst. Therefore, in military and special transportation, pneumatic tires are rarely used for on-line work, and crawler vehicles are often used. However, tracked vehicles have insufficient flexibility, affecting their mobility. In order to achieve both flexibility and explosion-proof performance, high-rigidity wheels are continuously and intensively studied. In recent years, as the automobile industry advances, more and more vehicles employ wheels having higher rigidity, such as solid non-gaseous wheels and the like. The wheels have explosion-proof characteristics and flexibility of wheeled vehicles, and are widely focused. However, the tire rigidity of the high-rigidity wheel is significantly higher than that of a conventional pneumatic tire, and vibration transmission is more direct in the face of road impact, resulting in an increase in vibration of the vehicle body. Conventional suspension systems are difficult to effectively adapt to high stiffness wheels, limiting their further application. Therefore, developing a high performance suspension system becomes a key to generalizing a high stiffness wheel. Automotive suspension systems are a core component that affects ride comfort and handling performance. Existing suspension systems are mainly divided into three types, namely passive suspension, semi-active suspension and active suspension. The active suspension actively outputs actuating force through the hydraulic actuator, so that road vibration can be effectively isolated, the optimal vibration damping performance is achieved, but the problems of high energy consumption, limited response speed, difficulty in continuously adapting to high-load working conditions and the like exist, and the application of the active suspension is limited; the semi-active suspension relieves vibration conduction by adjusting damping force, has high requirements on the reliability of a variable damping element and limited damping effect under severe road conditions, is not popularized on a large scale, has a simple structure and low cost, has fixed damping parameters, is difficult to adapt to limit working conditions, and restricts the safety and the operation performance of a vehicle. In view of the above, the existing suspension systems still have a number of disadvantages, which further prevent the wide application of high stiffness wheels. In particular, the existing vehicles commonly adopt a single type of suspension system, and various suspensions have obvious defects. The low-end vehicle type multi-configuration passive suspension, part of high-end vehicle type semi-active suspension can be selected, but the vibration reduction performance is still insufficient, and the active suspension has not been applied to large-scale loading. At present, a system scheme integrating three suspension modes is not available, so that the vibration reduction requirement of diversified driving scenes of a high-rigidity wheeled vehicle cannot be fully met. Meanwhile, a regulation and control method capable of effectively coordinating multiple suspension modes is lacking, so that rapid switching and scene adaptation are realized, and in addition, the existing system does not systematically evaluate the applicable boundaries of various suspension modes, so that the loading performance of the system is limited. Disclosure of Invention In order to solve the defects in the prior art, the invention aims to provide a multi-mode servo suspension system and a regulation method of a high-rigidity wheeled vehicle, which can realize the rapid switching of the suspension system among passive, semi-active and active modes and switch the