阅读说明：本技术 空气弹簧座椅减振控制方法、装置、设备及车辆 (Air spring seat vibration damping control method, device and equipment and vehicle ) 是由 兰靛靛 黄玉辉 薛清 林祖胜 于 2019-12-11 设计创作，主要内容包括：本发明公开了一种空气弹簧座椅减振控制方法、装置、设备及车辆,方法包括：在检测到车速信号时,获取路况信息、乘员自身重量及车速信息；根据车速信息、路况信息及乘员自身重量,从预先建立的节流阀最佳开度数据库中搜寻匹配节流阀最佳开度值；根据最佳开度值生成最佳开度指令,并发送至步进电机,使步进电机根据最佳开度指令,将节流阀开度调节至最佳开度指令下的开度,动态调节空气弹簧座椅的刚度和阻尼,使空气弹簧座椅处于最佳减振状态。本发明能够不需要加装额外的传感器,同时又能自动调节空气弹簧座椅的刚度和阻尼,使空气弹簧座椅时刻处于最佳的减振状态,从而保持乘员健康并提高乘员的乘坐舒适性。(The invention discloses an air spring seat vibration damping control method, device, equipment and a vehicle, wherein the method comprises the following steps: when a vehicle speed signal is detected, acquiring road condition information, the self weight of a passenger and vehicle speed information; searching and matching the optimal opening degree value of the throttle valve from a pre-established optimal opening degree database of the throttle valve according to the vehicle speed information, the road condition information and the weight of the passenger; and generating an optimal opening instruction according to the optimal opening value, and sending the optimal opening instruction to the stepping motor, so that the stepping motor adjusts the opening of the throttle valve to the opening under the optimal opening instruction according to the optimal opening instruction, and dynamically adjusts the rigidity and the damping of the air spring seat, so that the air spring seat is in an optimal vibration damping state. The invention can automatically adjust the rigidity and the damping of the air spring seat without additionally arranging an additional sensor, so that the air spring seat is in the optimal vibration damping state all the time, thereby keeping the health of passengers and improving the riding comfort of the passengers.)

1. An air spring seat damping control method is characterized by comprising the following steps:

s101, when a vehicle speed signal is detected, acquiring the road condition information of vehicle running, selected by a passenger on a central control screen, the self weight of the passenger and the current vehicle speed information of the vehicle running, read through a vehicle CAN line;

s102, searching a matched optimal throttle opening value from a pre-established optimal throttle opening database according to the vehicle speed information, the road condition information and the weight of passengers; the optimal throttle opening database is established based on road condition information, vehicle running speed information and optimal throttle opening corresponding to different passenger weights;

and S103, generating an optimal opening instruction according to the optimal opening value, and sending the optimal opening instruction to a stepping motor, so that the stepping motor adjusts the opening of the throttle valve to the opening under the optimal opening instruction according to the optimal opening instruction, and dynamically adjusts the rigidity and the damping of the air spring seat, so that the air spring seat is in an optimal vibration damping state.

2. The air spring seat cushioning control method of claim 1, further comprising:

receiving an execution completion operation instruction sent by the stepping motor; the execution finishing operation instruction is generated after the opening degree of the throttle valve is adjusted to the opening degree under the optimal opening degree instruction by the stepping motor;

detecting whether a vehicle speed signal exists at present or not according to the execution operation finishing instruction;

when the vehicle speed signal is detected to exist currently, turning to the step S101;

when it is detected that the vehicle speed signal is not currently present or the vehicle speed is zero, no operation is performed.

3. The air spring seat damping control method according to claim 1, characterized in that the vehicle speed information includes a traveling vehicle speed of the vehicle; the road condition information comprises road condition types and road surface unevenness coefficients of different road condition types. Searching and matching the optimal opening degree value of the throttle valve from a pre-established optimal opening degree database of the throttle valve according to the vehicle speed information, the road condition type and the weight of the passenger, wherein the method specifically comprises the following steps:

according to the running speed of the vehicle and the road surface unevenness coefficients of different types of road surfaces, obtaining a road surface displacement random excitation signal acting on the wheels based on a filtering white noise method;

obtaining a displacement random excitation signal acting on a seat bottom plate based on a wheel-body two-degree-of-freedom model according to the road surface displacement random excitation signal, the unsprung mass of the vehicle, the sprung mass of the vehicle and the damping and rigidity of the vehicle suspension;

obtaining the minimum acceleration of the air spring seat based on a seat dynamics simulation model according to the displacement random excitation signal;

and searching the optimal opening value of the throttle valve matched with the minimum acceleration from a pre-established optimal opening database of the throttle valve.

4. The air spring seat cushioning control method of claim 3,

the expression of the road surface displacement random excitation signal acting on the wheel is as follows:

Z_g＝f(u,g₀,n_d,n₀)；

wherein u is the running speed of the vehicle, g₀Coefficient of road surface irregularity, n, for different road condition types₀At lower cut-off frequency, n_dIs a reference frequency, Z_gRandomly exciting signals for road surface displacement acting on wheels;

the expression of the displacement random excitation signal acting on the seat bottom plate is as follows:

Z₁＝f(Z_g,M₁,M₂,K,C)；

wherein Z is_gFor random excitation of road surface displacement, Z₁For the displacement random excitation signal acting on the seat pan, M₁For vehicle unsprung mass, M₂Sprung mass of the vehicle, C damping of the vehicle suspension, and K stiffness of the vehicle suspension;

the expression for the acceleration response value of the air spring seat is:

a＝f(Z₁,m,k,c)；

wherein a is an acceleration response value, Z₁For displacement random excitation signal, k is seat suspension stiffness, c is seat suspension damping, and m is occupant weight.

5. The method for controlling damping of an air spring seat according to claim 4, wherein the road condition types include: asphalt roads, cement concrete roads, and dirt roads.

6. An air spring seat damping control device, comprising:

the vehicle speed signal detection unit is used for acquiring the road condition information of the running vehicle selected by the passenger on the central control screen, the self weight of the passenger and the current running vehicle speed information of the vehicle read through a vehicle CAN line when the vehicle speed signal is detected;

the optimal throttle opening degree matching unit is used for searching and matching the optimal throttle opening degree from a pre-established optimal throttle opening degree database according to the vehicle speed information, the road condition information and the weight of passengers; the optimal throttle opening database is established on the basis of road condition information, running speed information of each vehicle and optimal throttle opening corresponding to different passenger weights;

and the optimal opening instruction generating unit is used for generating an optimal opening instruction according to the optimal opening value and sending the optimal opening instruction to the stepping motor, so that the stepping motor adjusts the opening of the throttle valve to the opening under the optimal opening instruction according to the optimal opening instruction, and dynamically adjusts the rigidity and the damping of the air spring seat to enable the air spring seat to be in an optimal vibration damping state.

7. The air spring seat cushioning control device of claim 6, further comprising:

the execution completion operation instruction unit is used for receiving an execution completion operation instruction sent by the stepping motor; the execution finishing operation instruction is generated after the opening degree of the throttle valve is adjusted to the opening degree under the optimal opening degree instruction by the stepping motor;

the signal detection unit is used for detecting whether a vehicle speed signal exists at present or not according to the execution operation completion instruction;

and a notification unit for notifying the vehicle speed signal detection unit when the vehicle speed signal is detected.

And an operation non-execution unit for not executing any operation when it is detected that the vehicle speed signal is not currently present or the vehicle speed is zero.

8. The air spring seat cushioning control device of claim 6, comprising:

the vehicle speed information includes the driving vehicle speed of the vehicle, the road condition information includes road condition types, road surface unevenness coefficients of different types of road conditions, and then the optimal opening degree value matching unit of the throttle valve specifically includes:

the road surface displacement random excitation signal acquisition module is used for acquiring road surface displacement random excitation signals acting on wheels based on a filtering white noise method according to the running speed of vehicles and road surface unevenness coefficients of different types of roads;

the displacement random excitation signal acquisition module is used for acquiring a displacement random excitation signal acting on a seat bottom plate based on a wheel and vehicle body two-degree-of-freedom model according to the road surface displacement random excitation signal, the unsprung mass of the vehicle, the sprung mass of the vehicle and the damping and rigidity of a vehicle suspension;

the minimum acceleration acquisition module is used for acquiring the minimum acceleration of the air spring seat based on a seat dynamics simulation model according to the displacement random excitation signal;

and the matching module is used for searching the optimal opening value of the throttle valve matched with the minimum acceleration from a pre-established optimal opening database of the throttle valve.

9. An air spring seat damping control apparatus, characterized by comprising a processor, a memory, and a computer program stored in the memory, the computer program being executable by the processor to implement the air spring seat damping control method according to any one of claims 1 to 5.

10. A vehicle comprising the air spring seat damping control apparatus of claim 9 and an air spring seat; the air spring seat comprises an air spring, a damper and an additional air chamber throttle valve; and the air spring seat vibration reduction control equipment is electrically connected with the air spring, the damper and the additional air chamber throttle valve respectively.

Technical Field

The invention relates to the field of vehicle seats, in particular to an air spring seat vibration reduction control method, device and equipment and a vehicle.

Background

When the vehicle is normally driven on a road surface, vibrations generated by the unevenness of the road surface will be transmitted to the seat through the wheels, the suspension, the body system and affect the occupant. If the occupant is in a vibrating state for a long time, the riding comfort of the occupant is reduced and the physical health is affected. The seat is the last link of vibration transmission, and the vibration of the seat on the passenger is directly influenced by the strength of the vibration damping capacity of the seat, so that the improvement of the vibration damping performance of the seat has important significance. The existing vehicle seats are various in types and can be divided into an active seat, a semi-active seat and a passive seat from the aspect of vibration reduction. The passive seat is mainly a traditional seat, is directly fixed on a vehicle body, has poor self vibration damping effect, but has the advantages of simple structure, reliable work and low cost. The semi-active seat is additionally provided with vibration reduction equipment on the seat, and parameters such as rigidity and damping of the vibration reduction equipment can be changed according to working conditions so as to improve the vibration reduction performance of the seat. The active seat monitors the vehicle running condition in real time through related sensors, processes and analyzes sensor data in real time through a computer control system, sends an instruction according to a processing result to enable an execution mechanism to generate active control force in real time, so that the vibration damping performance of the seat is improved, the vibration damping effect of the active seat is the best, but the complex system structure of the active seat can cause the problem of the working reliability of the seat, meanwhile, the extra sensors can also increase the manufacturing cost of the seat, and the air spring seat with the additional air chamber belongs to a semi-active seat.

An existing air spring seat with an additional air chamber is mainly characterized in that an air spring, a damping rod and the like are installed between an upper plate and a lower plate of the seat and are used as vibration damping components, elastic force is provided by utilizing the nonlinear stiffness characteristic of the air spring, and the damping rod provides damping force, so that vibration damping control equipment is formed. Therefore, the rigidity and the damping of the air spring can be changed by charging and discharging the air spring to change the rigidity of the spring, or by additionally arranging an additional air chamber connected with the air spring through a throttle valve between the air spring and the additional air chamber, so that the vibration damping performance of the seat is improved. Specifically, the control technical principle of the method can be mainly divided into two categories, one category is that the rigidity and the damping of vibration damping control equipment of the seat are manually adjusted according to subjective feelings of a driver, so that the dynamic adjustment of vibration damping parameters of the seat under different working conditions is realized, and the vibration damping performance of the seat is improved. The other type is that a corresponding sensor is additionally arranged on the seat, and the vibration damping control device automatically adjusts the rigidity and the damping of the seat vibration damping control device according to signals transmitted by the sensor, so that the seat can keep good vibration damping performance under different working conditions.

The known patent application 201610687308.7 discloses a control system for an air suspension seat and an air suspension seat, which monitors the change of the seat position in real time by adding a position sensor on the seat. The seat system charges and discharges air to the air spring through the ECU control solenoid valve according to the displacement sensor signal to control the seat to go up and down to improve the damping performance of the seat. The control strategy needs to be additionally provided with additional sensors, the requirements on the accuracy and the reliability of the sensors are high, and once the sensors break down, the whole control system cannot work normally. And meanwhile, the additional sensor is introduced, so that the product cost is increased, and the product profit is reduced.

The known patent application 201910012564.X discloses a vehicle seat suspension control method based on electrorheological fluid, wherein an acceleration sensor is additionally arranged on a seat to monitor the vibration condition of the seat, the voltage of the electrorheological fluid is dynamically adjusted according to an acceleration signal to change the system damping, and the air spring is inflated and deflated to adjust the rigidity of the air spring. Such control methods also require additional sensors and the additional introduction of an ERF damper also increases the cost of the system.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a method, an apparatus, a device and a vehicle for controlling vibration damping of an air spring seat, which can automatically adjust parameters of a seat system according to actual working conditions of the air spring seat without additionally installing an additional sensor, so that the air spring seat is constantly in an optimal vibration damping state.

The embodiment of the invention provides an air spring seat vibration reduction control method, which comprises the following steps:

s101, when a vehicle speed signal is detected, acquiring the road condition information of vehicle running, selected by a passenger on a central control screen, the self weight of the passenger and the current vehicle speed information of the vehicle running, read through a vehicle CAN line;

s102, searching and matching the optimal opening degree value of the throttle valve from a pre-established optimal opening degree database of the throttle valve according to the vehicle speed information, the road condition information and the weight of passengers; the optimal opening database of the throttle valve opening is a database established based on road condition information, running speed information of each vehicle and the optimal opening of the throttle valve corresponding to different passenger weights;

and S103, generating an optimal opening instruction according to the optimal opening value, and sending the optimal opening instruction to a stepping motor, so that the stepping motor adjusts the opening of the throttle valve to the opening under the optimal opening instruction according to the optimal opening instruction, and dynamically adjusts the rigidity and the damping of the air spring seat, so that the air spring seat is in an optimal vibration damping state.

Preferably, the method further comprises the following steps:

receiving an execution completion operation instruction sent by the stepping motor; the execution finishing operation instruction is generated after the opening degree of the throttle valve is adjusted to the opening degree under the optimal opening degree instruction by the stepping motor;

detecting whether a vehicle speed signal exists at present or not according to the execution operation finishing instruction;

when the vehicle speed signal is detected to exist currently, turning to the step S101;

when it is detected that the vehicle speed signal is not currently present or the vehicle speed is zero, no operation is performed.

Preferably, the vehicle speed information includes a running vehicle speed of the vehicle; the road condition information comprises road condition types and road surface unevenness coefficients of different road condition types, and then the optimal opening degree value of the throttle valve is searched and matched from a pre-established optimal opening degree database of the throttle valve according to the vehicle speed information, the road condition types and the self weight of passengers, and the method specifically comprises the following steps:

according to the running speed of the vehicle and the road surface unevenness coefficients of different types of road surfaces, obtaining a road surface displacement random excitation signal acting on the wheels based on a filtering white noise method;

obtaining a displacement random excitation signal acting on a seat bottom plate based on a wheel-body two-degree-of-freedom model according to the road surface displacement random excitation signal, the unsprung mass of the vehicle, the sprung mass of the vehicle and the damping and rigidity of the vehicle suspension;

obtaining the minimum acceleration of the air spring seat based on a seat dynamics simulation model according to the displacement random excitation signal;

and searching the optimal opening value of the throttle valve matched with the minimum acceleration from a pre-established optimal opening database of the throttle valve.

Preferably, the expression of the road surface displacement random excitation signal acting on the wheel is:

Z_g＝f(u,g₀,n_d,n₀)；

wherein u is the running speed of the vehicle, g₀Coefficient of road surface irregularity, n, for different road condition types₀At lower cut-off frequency, n_dIs a reference frequency, Z_gRandomly exciting signals for road surface displacement acting on wheels;

the expression of the displacement random excitation signal acting on the seat bottom plate is as follows:

Z₁＝f(Z_g,M₁,M₂,K,C)；

wherein Z is_gFor random excitation of road surface displacement, Z₁For the displacement random excitation signal acting on the seat pan, M₁For vehicle unsprung mass, M₂Sprung mass of the vehicle, C damping of the vehicle suspension, and K stiffness of the vehicle suspension;

the expression for the acceleration response value of the air spring seat is:

a＝f(Z₁,m,k,c)；

wherein the content of the first and second substances,a is an acceleration response value, Z₁For displacement random excitation signal, k is seat suspension stiffness, c is seat suspension damping, and m is occupant weight.

Preferably, the road condition types include: asphalt roads, cement concrete roads, and dirt roads.

The invention also provides an air spring seat damping control device, which comprises:

the vehicle speed signal detection unit is used for acquiring the road condition information of the running vehicle selected by the passenger on the central control screen, the self weight of the passenger and the current running vehicle speed information of the vehicle read through a vehicle CAN line when the vehicle speed signal is detected;

the optimal throttle opening degree matching unit is used for searching and matching the optimal throttle opening degree from a pre-established optimal throttle opening degree database according to the vehicle speed information, the road condition information and the weight of passengers; the optimal opening database of the throttle valve opening is a database established based on road condition information, running speed information of each vehicle and the optimal opening of the throttle valve corresponding to different passenger weights;

and the optimal opening instruction generating unit is used for generating an optimal opening instruction according to the optimal opening value and sending the optimal opening instruction to the stepping motor, so that the stepping motor adjusts the opening of the throttle valve to the opening under the optimal opening instruction according to the optimal opening instruction, and dynamically adjusts the rigidity and the damping of the air spring seat to enable the air spring seat to be in an optimal vibration damping state.

Preferably, the method further comprises the following steps:

the execution completion operation instruction unit is used for receiving an execution completion operation instruction sent by the stepping motor; the execution finishing operation instruction is generated after the opening degree of the throttle valve is adjusted to the opening degree under the optimal opening degree instruction by the stepping motor;

the signal detection unit is used for detecting whether a vehicle speed signal exists at present or not according to the execution operation completion instruction;

and a notification unit for notifying the vehicle speed signal detection unit when the vehicle speed signal is detected.

And an operation non-execution unit for not executing any operation when it is detected that the vehicle speed signal is not currently present or the vehicle speed is zero.

Preferably, the method comprises the following steps:

the vehicle speed information comprises the running vehicle speed of the vehicle; the road condition information includes road condition types and road surface unevenness coefficients of different road condition types, and the optimal opening degree value matching unit of the throttle valve specifically includes:

the road surface displacement random excitation signal acquisition module is used for acquiring road surface displacement random excitation signals acting on wheels based on a filtering white noise method according to the running speed of vehicles and road surface unevenness coefficients of different types of roads;

the displacement random excitation signal acquisition module is used for acquiring a displacement random excitation signal acting on a seat bottom plate based on a wheel and vehicle body two-degree-of-freedom model according to the road surface displacement random excitation signal, the unsprung mass of the vehicle, the sprung mass of the vehicle and the damping and rigidity of a vehicle suspension;

the minimum acceleration acquisition module is used for acquiring the minimum acceleration of the air spring seat based on a dynamic simulation model according to the displacement random excitation signal;

and the matching module is used for searching the optimal opening value of the throttle valve matched with the minimum acceleration from a pre-established optimal opening database of the throttle valve.

Preferably, the expression of the road surface displacement random excitation signal acting on the wheel is:

Z_g＝f(u,g₀,n_d,n₀)；

wherein u is the running speed of the vehicle, g₀Coefficient of road surface irregularity, n, for different road condition types₀At lower cut-off frequency, n_dIs a reference frequency, Z_gRandomly exciting signals for road surface displacement acting on wheels;

the expression of the displacement random excitation signal acting on the seat bottom plate is as follows:

Z₁＝f(Z_g,M₁,M₂,K,C)；

wherein Z is_gFor random excitation of road surface displacement, Z₁For the displacement random excitation signal acting on the seat pan, M₁For vehicle unsprung mass, M₂Sprung mass of the vehicle, C damping of the vehicle suspension, and K stiffness of the vehicle suspension;

the expression for the acceleration response value of the air spring seat is:

a＝f(Z₁,m,k,c)；

wherein a is an acceleration response value, Z₁For displacement random excitation signal, k is seat suspension stiffness, c is seat suspension damping, and m is occupant weight.

Preferably, the road condition types include: asphalt roads, cement concrete roads, and dirt roads.

The invention also provides an air spring seat damping control device, which comprises a processor, a memory and a computer program stored in the memory, wherein the computer program can be executed by the processor to realize the air spring seat damping control method.

The invention also provides a vehicle, which comprises the air spring seat damping control equipment and the air spring seat; the air spring seat comprises an air spring, a damper and an additional air chamber throttle valve; and the air spring seat vibration reduction control equipment is electrically connected with the air spring, the damper and the additional air chamber throttle valve respectively.

In the embodiment, the air spring seat vibration damping control device starts to work after detecting the vehicle speed in the vehicle CAN line, and then matches the optimal opening value of the throttle valve from a pre-established database according to three variables of road condition information, passenger weight, vehicle speed information and the like, and transmits the optimal opening instruction to the stepping motor for adjusting the opening of the throttle valve, so that the stepping motor controls the opening of the throttle valve to the opening specified by the instruction, the vibration damping performance of the seat reaches the optimal level of the road condition information, the passenger weight and the vehicle speed information, and the vibration damping effect of the seat is optimal.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of the air spring seat construction of the prior art of the present invention.

Fig. 2 is a schematic flow chart of an air spring seat damping control method according to a first embodiment of the present invention.

Fig. 3 is a graph showing a relationship between throttle opening and acceleration response values corresponding to different vehicle speeds under a certain road condition according to the first embodiment of the present invention.

Fig. 4 is a graph of throttle opening versus acceleration response for different occupant masses provided by the first embodiment of the present invention.

Fig. 5 is a schematic structural diagram of an air spring seat damping control device according to a second embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.

It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.