Gear-rack type semi-active energy-feedback suspension actuator and energy recovery control method thereof
阅读说明：本技术 齿轮齿条式半主动馈能悬架作动器及其能量回收控制方法 (Gear-rack type semi-active energy-feedback suspension actuator and energy recovery control method thereof ) 是由 寇发荣 孙凯 李冬 于 2019-10-19 设计创作，主要内容包括：本发明公开了一种齿轮齿条式半主动馈能悬架作动器,包括作动器本体、能量回收电路和能量回收控制电路,作动器本体包括作动器壳体、无刷直流电机、齿轮齿条单元、双向变单向齿轮箱和减振弹簧单元；本发明还公开了一种齿轮齿条式半主动馈能悬架作动器的能量回收控制方法。本发明设通过设置双向变单向齿轮箱,能够将齿轮齿条的双向转动转变为直流无刷电机的单向转动,避免了直流无刷电机反复正反转而导致大量惯量损失,增加了直流无刷电机的转速,从而增加了馈能效率；其能量回收电路及能量回收控制方法的设计,消除了传统馈能减振器的馈能“死区”,提高了能量回收效率,减少了电压剧烈变化对车载蓄电池的冲击,延长了车载蓄电池的的寿命。(The invention discloses a rack and pinion type semi-active energy-regenerative suspension actuator, which comprises an actuator body, an energy recovery circuit and an energy recovery control circuit, wherein the actuator body comprises an actuator shell, a brushless direct current motor, a rack and pinion unit, a bidirectional-to-unidirectional gear box and a damping spring unit; the invention also discloses an energy recovery control method of the rack and pinion type semi-active energy-regenerative suspension actuator. According to the invention, the bidirectional-to-unidirectional gear box is arranged, so that bidirectional rotation of the gear rack can be converted into unidirectional rotation of the direct-current brushless motor, a large amount of inertia loss caused by repeated forward and reverse rotation of the direct-current brushless motor is avoided, the rotating speed of the direct-current brushless motor is increased, and the energy feedback efficiency is increased; the design of the energy recovery circuit and the energy recovery control method eliminates the energy feedback 'dead zone' of the traditional energy feedback shock absorber, improves the energy recovery efficiency, reduces the impact of the violent voltage change on the vehicle-mounted storage battery, and prolongs the service life of the vehicle-mounted storage battery.)
1. A rack and pinion type semi-active energy-regenerative suspension actuator is characterized in that: the actuator comprises an actuator body, an energy recovery circuit and an energy recovery control circuit, wherein the actuator body comprises an actuator shell, a brushless direct current motor (40), a gear and rack unit, a bidirectional-to-unidirectional gear box and a damping spring unit;
the actuator shell comprises an actuator upper lifting lug (1), an actuator upper shell (11), an actuator lower shell (16) and an actuator lower lifting lug (18) which are sequentially arranged from top to bottom, the actuator upper shell (11) is fixedly connected to the top of the actuator lower shell (16), the actuator lower lifting lug (18) is fixedly connected to the bottom of the actuator lower shell (16), a guide slider (14) is arranged in a space defined by the actuator lower shell (16) and the actuator upper shell (11), the upper half part of the guide slider (14) is fixedly connected with the actuator upper shell (11), and the lower half part of the guide slider (14) is fixedly connected with the actuator lower shell (16);
the gear rack unit comprises a gear (12) and a rack (9) meshed with the gear (12), and the gear (12) is fixedly connected to a gear shaft (13); the rack (9) is inserted into the guide sliding block (14);
the bidirectional-to-unidirectional gearbox comprises a gearbox shell (24) and a gearbox shell cover (25), wherein a gearbox input shaft (27), a gearbox input shaft gear (28), an intermediate shaft (30), an intermediate shaft first gear (32), an intermediate shaft second gear (31), a steering shaft (33), a steering shaft gear (34), a gearbox output shaft (35), an output shaft first gear (38) and an output shaft second gear (36) are arranged in the gearbox shell (24); one end of the gear box input shaft (27) is supported and mounted on a gear box shell cover (25) through a bearing, the gear shaft (13) is connected with the other end of the gear box input shaft (27) through a gear box coupler (22), and a gear (28) of the gear box input shaft is fixedly connected to the gear box input shaft (27); one end of the intermediate shaft (30) is supported and mounted on a gear box shell cover (25) through a bearing, the other end of the intermediate shaft (30) is supported and mounted on a gear box shell (24) through a bearing, the intermediate shaft first gear (32) is connected with the intermediate shaft (30) through an intermediate shaft ratchet wheel (29), and the intermediate shaft second gear (31) is fixedly connected to the intermediate shaft (30); one end of the steering shaft (33) is supported and mounted on the gear box shell (24) through a bearing, and the steering shaft gear (34) is fixedly connected to the steering shaft (33); one end of the output shaft (35) of the gear box is supported and mounted on the shell cover (25) of the gear box through a bearing, the other end of the output shaft (35) of the gear box is supported and mounted on the shell (24) of the gear box through a bearing, the first output shaft gear (38) is connected with the output shaft (35) of the gear box through an output shaft ratchet wheel (37), and the second output shaft gear (36) is fixedly connected to the output shaft (35) of the gear box; the intermediate shaft first gear (32) is meshed with a gear box input shaft gear (28), the output shaft first gear (38) is meshed with the intermediate shaft first gear (32), the steering shaft gear (34) is meshed with an intermediate shaft second gear (31), and the output shaft second gear (36) is meshed with the steering shaft gear (34);
the shaft of the brushless direct current motor (40) is connected with the output shaft (35) of the gear box through a motor coupler (41), and the bottom of the brushless direct current motor (40) is fixedly connected to the shell (24) of the gear box;
the damping spring unit comprises an upper spring clamping seat (5), a lower spring clamping seat (10) and a damping spring (7) fixedly connected between the upper spring clamping seat (5) and the lower spring clamping seat (10); the top end of the rack (9) is fixedly connected with the upper spring clamping seat (5), the bottom of the upper spring clamping seat (5) is fixedly connected with an upper dust cover (6) covering the periphery of the rack (9), the top of the lower spring clamping seat (10) is fixedly connected with a lower dust cover (8) covering the periphery of the guide sliding block (14), and the vibration reduction spring (7) is arranged on the periphery of the upper dust cover (6) and the lower dust cover (8);
the energy recovery circuit comprises a DC-DC boosting module, a first super capacitor charging module, a second super capacitor charging module, a third super capacitor charging module and a vehicle-mounted storage battery (65), wherein the DC-DC boosting module comprises a first MOS switch trigger driving module (45), an inductor (46), a full-control type MOS switch trigger driving module (48) and a first one-way diode (47), and the first MOS switch trigger driving module (45), the inductor (46), the first one-way diode (47) and the third MOS switch trigger driving module (50) are connected in series and then connected in parallel with a second MOS switch trigger driving module (49); the first super capacitor charging module comprises a first super capacitor (51), a second one-way diode (52), a fourth MOS switch trigger driving module (53) and a fifth MOS switch trigger driving module (54), wherein the first super capacitor (51) is connected in series with the second one-way diode (52) and the fourth MOS switch trigger driving module (53) and then connected in parallel with the fifth MOS switch trigger driving module (54); the second super capacitor charging module comprises a second super capacitor group (56), a third one-way diode (57), a sixth MOS switch trigger driving module (58) and a seventh MOS switch trigger driving module (55), wherein the second super capacitor group (56) is connected in series with the third one-way diode (57) and the sixth MOS switch trigger driving module (58) and then connected in parallel with the seventh MOS switch trigger driving module (55); the third super capacitor charging module comprises a third super capacitor bank (59), a fourth one-way diode (60), an eighth MOS switch trigger driving module (61) and a ninth MOS switch trigger driving module (62) which are connected in series, wherein the third super capacitor bank (59) is connected in parallel with the ninth MOS switch trigger driving module (62) after being connected in series with the fourth one-way diode (60) and the eighth MOS switch trigger driving module (61); the brushless direct current motor (40) is connected with a motor equivalent internal resistance (66) at one end and a motor equivalent inductor (43) at the other end, the motor equivalent inductor (43) is connected with a motor external load (44), the connecting ends of the first MOS switch trigger driving module (45) and the second MOS switch trigger driving module (49) are connected with the motor external load (44), the connecting ends of the first super capacitor (51) and the fifth MOS switch trigger driving module (54) are connected with the connecting ends of the third MOS switch trigger driving module (50) and the second MOS switch trigger driving module (49), the connecting ends of the seventh MOS switch trigger driving module (55) and the second super capacitor set (56) are connected with the connecting ends of the fourth MOS switch trigger driving module (53) and the fifth MOS switch trigger driving module (54), and the connecting ends of the ninth MOS switch trigger driving module (62) and the third super capacitor set (59) are connected with the connecting end of the sixth MOS switch trigger driving module (53) The connecting end of the movable module (58) is connected with the connecting end of a seventh MOS switch trigger driving module (55), the vehicle-mounted storage battery (65) is connected with an eleventh MOS switch trigger driving module (64) in series and then connected with a tenth MOS switch trigger driving module (63) in parallel, the vehicle-mounted storage battery (65) is connected with the equivalent internal resistance (66) of the motor, the tenth MOS switch trigger driving module (63) is connected with a full-control type MOS switch trigger driving module (48), and the connecting end of the eleventh MOS switch trigger driving module (64) and the tenth MOS switch trigger driving module (63) is connected with the connecting end of an eighth MOS switch trigger driving module (61) and the connecting end of a ninth MOS switch trigger driving module (62);
the energy recovery control circuit comprises a sensing unit and an energy recovery controller (67), wherein the sensing unit comprises a sprung mass acceleration sensor (3) and an unsprung mass acceleration sensor (68), the sprung mass acceleration sensor (3) is fixedly connected to the top of an upper spring clamping seat (5), an upper lifting lug (1) of the actuator is fixedly connected to the top of the sprung mass acceleration sensor (3), the sprung mass acceleration sensor (3) and the unsprung mass acceleration sensor (68) are connected with the input end of the energy recovery controller (67), and the first MOS switch trigger driving module (45), the second MOS switch trigger driving module (49), the third MOS switch trigger driving module (50), the fourth MOS switch trigger driving module (53), the fifth MOS switch trigger driving module (54), the sixth MOS switch trigger driving module (58), And the seventh MOS switch trigger driving module (55), the eighth MOS switch trigger driving module (61), the ninth MOS switch trigger driving module (62), the tenth MOS switch trigger driving module (63), the eleventh MOS switch trigger driving module (64) and the full-control type MOS switch trigger driving module (48) are all connected with the output end of the energy recovery controller (67).
2. The rack and pinion semi-active regenerative suspension actuator of claim 1, wherein: the actuator upper shell (11) is fixedly connected to the top of the actuator lower shell (16) through an actuator shell assembling bolt (15), the actuator lower lifting lug (18) is welded to the bottom of the actuator lower shell (16), and the gear (12) is fixedly connected to the gear shaft (13) through an internal spline; the top end of the rack (9) is welded with the upper spring clamping seat (5), the upper dust cover (6) is welded with the bottom of the upper spring clamping seat (5), and the lower dust cover (8) is welded with the top of the lower spring clamping seat (10); the bottom of the direct current brushless motor (40) is fixedly connected to the gearbox shell (24) through a motor assembling bolt (42), and the lifting lug (1) on the actuator is welded to the top of the sprung mass acceleration sensor (3).
3. The rack and pinion semi-active regenerative suspension actuator of claim 1, wherein: the gearbox shell cover (25) is connected with the gearbox shell (24) through a gearbox assembling bolt (39), the gearbox input shaft gear (28) is fixedly connected to the gearbox input shaft (27) through a key, the intermediate shaft second gear (31) is fixedly connected to the intermediate shaft (30) through a key, the steering shaft gear (34) is fixedly connected to the steering shaft (33) through a key, and the output shaft second gear (36) is fixedly connected to the gearbox output shaft (35) through a key.
4. The rack and pinion semi-active regenerative suspension actuator of claim 1, wherein: the middle shaft ratchet wheel (29) is arranged on the middle shaft (30) through an internal spline, and the middle shaft first gear (32) is sleeved on the middle shaft ratchet wheel (29) in an empty mode; the output shaft ratchet wheel (37) is mounted on the output shaft (35) of the gear box through an internal spline, and the output shaft first gear (38) is sleeved on the output shaft ratchet wheel (37) in an empty mode.
5. The rack and pinion semi-active regenerative suspension actuator of claim 1, wherein: the gear box input shaft gear (28) has 40 teeth, 3.14mm tooth pitch, 40mm reference circle diameter, 2.5mm addendum coefficient, 13mm gear thickness, 0.38mm tooth root transition circle radius and 20 degrees reference circle pressure angle; the number of teeth of the first gear (32) of the intermediate shaft is 50, the tooth pitch is 3.14mm, the diameter of a reference circle is 50mm, the crest coefficient is 2.5mm, the thickness of the gear is 13mm, the radius of a tooth root transition circle is 0.38mm, and the pressure angle of the reference circle is 20 degrees; the number of teeth of the second gear (31) of the intermediate shaft is 25, the tooth pitch is 3.14mm, the diameter of a reference circle is 25mm, the crest coefficient is 2.5mm, the thickness of the gear is 13mm, the radius of a tooth root transition circle is 0.38mm, and the pressure angle of the reference circle is 20 degrees; the steering shaft gear (34) has 25 teeth, 3.14mm pitch, 25mm reference circle diameter, 2.5mm addendum coefficient, 13mm gear thickness, 0.38mm tooth root transition circle radius and a reference circle pressure angle of 20 degrees; the number of teeth of the first gear (38) of the output shaft is 70, the tooth pitch is 3.14mm, the diameter of a reference circle is 70mm, the crest coefficient is 2.5mm, the thickness of the gear is 13mm, the radius of a tooth root transition circle is 0.38mm, and the pressure angle of the reference circle is 20 degrees; the number of teeth of the second output shaft gear (36) is 35, the tooth pitch is 3.14mm, the diameter of a reference circle is 35mm, the crest coefficient is 2.5mm, the thickness of the gear is 13mm, the radius of a tooth root excessive circle is 0.38mm, and the pressure angle of the reference circle is 20 degrees.
6. The rack and pinion semi-active regenerative suspension actuator of claim 1, wherein: the first super capacitor (51) is composed of a 120F and 2.7V super capacitor, and the charging voltage is 2.2V; the second super capacitor group (56) is formed by connecting two super capacitors of 120F and 2.7V in series, and the charging voltage is 4.4V; the third super capacitor group (59) is formed by connecting three 120F and 2.7V super capacitors in series, and the charging voltage is 6.6V.
7. A method of controlling the recovery of energy from a rack and pinion semi-active regenerative suspension actuator as defined in claim 1, the method comprising the steps of:
step one, data acquisition and synchronous transmission: the sprung mass acceleration sensor (3) and the unsprung mass acceleration sensor (68) respectively carry out periodic detection on the sprung mass acceleration and the unsprung mass acceleration, and transmit detected data to the energy recovery controller (67) in real time; wherein the unsprung mass acceleration obtained by the ith sampling is recorded as
step two, the energy recovery controller (67) samples the ith sprung mass acceleration
Step three, the sprung mass speed is converted by the energy recovery controller (67)
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when the voltage among the first super capacitor charging module, the second super capacitor charging module and the third super capacitor charging module is more than 13.5V, the energy recovery controller (67) controls the second MOS switch trigger driving module (49), the fourth MOS switch trigger driving module (53), the sixth MOS switch trigger driving module (58), the eighth MOS switch trigger driving module (61) and the eleventh MOS switch trigger driving module (64) to be conducted, and controls the first MOS switch trigger driving module (45), the third MOS switch trigger driving module (50), the fifth MOS switch trigger driving module (54), the seventh MOS switch trigger driving module (55), the ninth MOS switch trigger driving module (62) and the tenth MOS switch trigger driving module (63) to be disconnected, the first super capacitor (51), the second super capacitor group (56) and the third super capacitor group (59) are connected in series, the battery (65) is charged together with the electric power generated by the DC brushless motor (40).
8. The method of claim 7, wherein:wherein u is the energy-feeding voltage, keD is the pitch circle diameter of the gear (12) for the counter electromotive force coefficient.
9. The method of claim 8, wherein: the above-mentioned
Technical Field
The invention belongs to the technical field of suspension actuators, and particularly relates to a rack and pinion type semi-active energy-regenerative suspension actuator and an energy recovery control method thereof.
Background
When the automobile runs, the relative displacement between the sprung mass and the unsprung mass of the automobile can be caused by the unevenness of the road surface and the operations of acceleration, deceleration, steering and the like of the automobile, so that the automobile vibrates. The suspension system is an important component of the automobile and has a great influence on the steering stability and smoothness of the automobile. A lot of researches are carried out on the energy flow of vehicles by foreign environmental protection organizations, the energy consumed by the vehicle idling and the finished vehicle shock absorber accounts for 17.2% of the total energy of the finished vehicle, and the shock absorber in the traditional passive suspension converts the mechanical energy into heat energy in a friction mode to be dissipated. Meanwhile, the traditional parameters such as the rigidity and the damping of the passive suspension are fixed and unchangeable, so that the optimal performance of the automobile can be ensured only under a specific road state and driving speed, and the driving smoothness and the comfort of the automobile can be influenced. The rack and pinion type suspension actuator can convert linear motion into rotary motion, so that the recovery of vibration energy is carried out, the friction loss is small, and the operation is reliable. The common rack and pinion type suspension actuator can enable the generator to continuously rotate positively and negatively, so that not only can a large amount of inertia loss be caused, the energy feedback efficiency be reduced, but also the service life of the generator can be shortened, and the reliability of the system is poor. For example, chinese patent application No. 201310014394.1 discloses a vibration energy conversion device for a vehicle suspension, which uses a rack and pinion actuator for energy recovery, but does not integrate the structure thereof, occupies a large space during installation, and causes a large amount of inertia loss due to the forward and reverse rotation of a motor; for example, chinese patent application No. 201310121651.1 discloses a shock absorber for a vehicle and a device for generating electricity using the same, in which a suspension system is integrated, but the problem of "dead space" generated during energy feeding is not solved, and energy of the suspension in the "dead space" cannot be recovered, and the damping performance of the suspension is deteriorated.
Disclosure of Invention
The invention aims to solve the technical problems that the defects in the prior art are overcome, and the rack-and-pinion type semi-active energy feedback suspension actuator is provided, is novel and reasonable in design and convenient to realize, can convert the bidirectional rotation of a rack and pinion into the unidirectional rotation of a direct-current brushless motor by arranging a bidirectional-to-unidirectional gear box, avoids a great amount of inertia loss caused by repeated forward and reverse rotation of the direct-current brushless motor, increases the rotating speed of the direct-current brushless motor, increases the energy feedback efficiency and prolongs the service life of the direct-current brushless motor; the design of the energy recovery circuit eliminates the energy feedback dead zone of the traditional energy feedback shock absorber, improves the energy recovery efficiency, reduces the impact of the violent voltage change on the vehicle-mounted storage battery, and prolongs the service life of the vehicle-mounted storage battery.
In order to solve the technical problems, the invention adopts the technical scheme that: a rack and pinion type semi-active energy-regenerative suspension actuator comprises an actuator body, an energy recovery circuit and an energy recovery control circuit, wherein the actuator body comprises an actuator shell, a brushless direct current motor, a rack and pinion unit, a bidirectional variable unidirectional gear box and a damping spring unit;
the actuator shell comprises an actuator upper lifting lug, an actuator upper shell, an actuator lower shell and an actuator lower lifting lug which are sequentially arranged from top to bottom, the actuator upper shell is fixedly connected to the top of the actuator lower shell, the actuator lower lifting lug is fixedly connected to the bottom of the actuator lower shell, a guide sliding block is arranged in a space defined by the actuator lower shell and the actuator upper shell, the upper half part of the guide sliding block is fixedly connected with the actuator upper shell, and the lower half part of the guide sliding block is fixedly connected with the actuator lower shell;
the gear rack unit comprises a gear and a rack meshed with the gear, and the gear is fixedly connected to a gear shaft; the rack is inserted into the guide sliding block;
the bidirectional-to-unidirectional gearbox comprises a gearbox shell and a gearbox shell cover, wherein a gearbox input shaft, a gearbox input shaft gear, an intermediate shaft first gear, an intermediate shaft second gear, a steering shaft gear, a gearbox output shaft, an output shaft first gear and an output shaft second gear are arranged in the gearbox shell; one end of the input shaft of the gear box is supported and mounted on the shell cover of the gear box through a bearing, the gear shaft is connected with the other end of the input shaft of the gear box through a gear box coupler, and the gear of the input shaft of the gear box is fixedly connected to the input shaft of the gear box; one end of the intermediate shaft is supported and mounted on the gear box shell cover through a bearing, the other end of the intermediate shaft is supported and mounted on the gear box shell through a bearing, the first gear of the intermediate shaft is connected with the intermediate shaft through an intermediate shaft ratchet wheel, and the second gear of the intermediate shaft is fixedly connected to the intermediate shaft; one end of the steering shaft is supported and mounted on a gearbox shell through a bearing, and a steering shaft gear is fixedly connected to the steering shaft; one end of the output shaft of the gear box is supported and mounted on the shell cover of the gear box through a bearing, the other end of the output shaft of the gear box is supported and mounted on the shell of the gear box through a bearing, a first gear of the output shaft is connected with the output shaft of the gear box through a ratchet wheel of the output shaft, and a second gear of the output shaft is fixedly connected to the output shaft of the gear box; the first gear of the intermediate shaft is meshed with the gear of the input shaft of the gear box, the first gear of the output shaft is meshed with the first gear of the intermediate shaft, the gear of the steering shaft is meshed with the second gear of the intermediate shaft, and the second gear of the output shaft is meshed with the gear of the steering shaft;
the shaft of the brushless direct current motor is connected with the output shaft of the gear box through a motor coupler, and the bottom of the brushless direct current motor is fixedly connected to the shell of the gear box;
the damping spring unit comprises an upper spring clamping seat, a lower spring clamping seat and a damping spring fixedly connected between the upper spring clamping seat and the lower spring clamping seat; the top end of the rack is fixedly connected with an upper spring clamping seat, the bottom of the upper spring clamping seat is fixedly connected with an upper dust cover covering the periphery of the rack, the top of the lower spring clamping seat is fixedly connected with a lower dust cover covering the periphery of the guide sliding block, and the vibration reduction spring is arranged on the periphery of the upper dust cover and the lower dust cover;
the energy recovery circuit comprises a DC-DC boosting module, a first super capacitor charging module, a second super capacitor charging module, a third super capacitor charging module and a vehicle-mounted storage battery, wherein the DC-DC boosting module comprises a first MOS switch trigger driving module, an inductor, a full-control type MOS switch trigger driving module and a first one-way diode, and the first MOS switch trigger driving module, the inductor, the first one-way diode and the third MOS switch trigger driving module are connected in series and then connected in parallel with the second MOS switch trigger driving module; the first super capacitor charging module comprises a first super capacitor, a second one-way diode, a fourth MOS switch trigger driving module and a fifth MOS switch trigger driving module, and the first super capacitor is connected in series with the second one-way diode and the fourth MOS switch trigger driving module and then connected in parallel with the fifth MOS switch trigger driving module; the second super capacitor charging module comprises a second super capacitor group, a third one-way diode, a sixth MOS switch trigger driving module and a seventh MOS switch trigger driving module, and the second super capacitor group is connected with the third one-way diode and the sixth MOS switch trigger driving module in series and then connected with the seventh MOS switch trigger driving module in parallel; the third super capacitor charging module comprises a third super capacitor bank, a fourth one-way diode, an eighth MOS switch trigger driving module and a ninth MOS switch trigger driving module, wherein the third super capacitor bank is connected with the fourth one-way diode and the eighth MOS switch trigger driving module in series and then connected with the ninth MOS switch trigger driving module in parallel; one end of the brushless direct current motor is connected with the equivalent internal resistance of the motor, the other end of the brushless direct current motor is connected with the equivalent inductance of the motor, the equivalent inductance of the motor is connected with the external load of the motor, the connecting end of the first MOS switch trigger driving module and the second MOS switch trigger driving module is connected with the external load of the motor, the connecting end of the first super capacitor and the fifth MOS switch trigger driving module is connected with the connecting end of the third MOS switch trigger driving module and the second MOS switch trigger driving module, the connecting end of the seventh MOS switch trigger driving module and the second super capacitor group is connected with the connecting end of the fourth MOS switch trigger driving module and the fifth MOS switch trigger driving module, the connecting end of the ninth MOS switch trigger driving module and the third super capacitor group is connected with the connecting end of the sixth MOS switch trigger driving module and the seventh MOS switch trigger driving module, the vehicle-mounted storage battery is connected with the eleventh MOS switch trigger driving module in series and then connected with the tenth MOS switch trigger driving module in parallel, the vehicle-mounted storage battery is connected with the equivalent internal resistance of the motor, the tenth MOS switch trigger driving module is connected with the full-control type MOS switch trigger driving module, and the connection end of the eleventh MOS switch trigger driving module and the tenth MOS switch trigger driving module is connected with the connection end of the eighth MOS switch trigger driving module and the ninth MOS switch trigger driving module;
the energy recovery control circuit comprises a sensing unit and an energy recovery controller, wherein the sensing unit comprises a sprung mass acceleration sensor and an unsprung mass acceleration sensor, the sprung mass acceleration sensor is fixedly connected to the top of an upper spring clamping seat, an upper lifting lug of an actuator is fixedly connected to the top of the sprung mass acceleration sensor, the sprung mass acceleration sensor and the unsprung mass acceleration sensor are both connected with the input end of the energy recovery controller, and the first MOS switch trigger driving module, the second MOS switch trigger driving module, the third MOS switch trigger driving module, the fourth MOS switch trigger driving module, the fifth MOS switch trigger driving module, the sixth MOS switch trigger driving module, the seventh MOS switch trigger driving module, the eighth MOS switch trigger driving module, the ninth MOS switch trigger driving module, the energy recovery controller, And the tenth MOS switch trigger driving module, the eleventh MOS switch trigger driving module and the full-control type MOS switch trigger driving module are all connected with the output end of the energy recovery controller.
According to the gear-rack type semi-active energy-regenerative suspension actuator, the upper actuator shell is fixedly connected to the top of the lower actuator shell through the actuator shell assembling bolt, the lower actuator lifting lug is welded to the bottom of the lower actuator shell, and the gear is fixedly connected to the gear shaft through the internal spline; the top end of the rack is welded with the upper spring clamping seat, the upper dust cover is welded with the bottom of the upper spring clamping seat, and the lower dust cover is welded with the top of the lower spring clamping seat; the bottom of the direct current brushless motor is fixedly connected to a gearbox shell through a motor assembling bolt, and a lifting lug on the actuator is welded to the top of the sprung mass acceleration sensor.
According to the gear and rack type semi-active energy-regenerative suspension actuator, the gear box shell cover is connected with the gear box shell through the gear box assembling bolt, the gear of the gear box input shaft is fixedly connected onto the gear box input shaft through a key, the second gear of the intermediate shaft is fixedly connected onto the intermediate shaft through a key, the gear of the steering shaft is fixedly connected onto the steering shaft through a key, and the second gear of the output shaft is fixedly connected onto the output shaft of the gear box through a key.
According to the rack-and-pinion type semi-active energy-regenerative suspension actuator, the intermediate shaft ratchet wheel is arranged on the intermediate shaft through the internal spline, and the intermediate shaft first gear is sleeved on the intermediate shaft ratchet wheel in an empty mode; the output shaft ratchet wheel is arranged on the output shaft of the gear box through an internal spline, and the first gear of the output shaft is sleeved on the output shaft ratchet wheel in an empty mode.
According to the gear and rack type semi-active energy feedback suspension actuator, the gear number of an input shaft of the gear box is 40, the tooth pitch is 3.14mm, the diameter of a reference circle is 40mm, the tooth crest coefficient is 2.5mm, the thickness of a gear is 13mm, the radius of a tooth root transition circle is 0.38mm, and the pressure angle of the reference circle is 20 degrees; the first gear of the intermediate shaft has 50 teeth, 3.14mm pitch, 50mm pitch circle diameter, 2.5mm addendum coefficient, 13mm gear thickness, 0.38mm tooth root transition circle radius and a pitch circle pressure angle of 20 degrees; the number of teeth of a second gear of the intermediate shaft is 25, the pitch is 3.14mm, the diameter of a reference circle is 25mm, the crest coefficient is 2.5mm, the thickness of the gear is 13mm, the radius of a tooth root transition circle is 0.38mm, and the pressure angle of the reference circle is 20 degrees; the steering shaft has 25 gear teeth, 3.14mm pitch, 25mm reference circle diameter, 2.5mm addendum coefficient, 13mm gear thickness, 0.38mm tooth root transition circle radius and 20 degrees reference circle pressure angle; the first gear of the output shaft has 70 teeth, 3.14mm pitch, 70mm pitch circle diameter, 2.5mm addendum coefficient, 13mm gear thickness, 0.38mm tooth root transition circle radius and a pitch circle pressure angle of 20 degrees; the output shaft second gear tooth number 35, the tooth pitch 3.14mm, reference circle diameter 35mm, the addendum coefficient 2.5mm, gear thickness 13mm, the tooth root transition circle radius 0.38mm, reference circle pressure angle 20.
In the rack-and-pinion semi-active energy-regenerative suspension actuator, the first super capacitor is composed of a 120F and 2.7V super capacitor, and the charging voltage is 2.2V; the second super capacitor group is formed by connecting two super capacitors of 120F and 2.7V in series, and the charging voltage is 4.4V; the third super capacitor group is formed by connecting three 120F and 2.7V super capacitors in series, and the charging voltage is 6.6V.
The invention also discloses an energy recovery control method of the rack and pinion type semi-active energy-regenerative suspension actuator, which has simple steps and convenient realization, changes energy regenerative voltage under different working modes, provides different electromagnetic damping forces for a suspension system, increases the vibration reduction effect of the semi-active suspension, reduces the impact of drastic voltage change on a vehicle-mounted storage battery, and prolongs the service life of the vehicle-mounted storage battery, and comprises the following steps:
step one, data acquisition and synchronous transmission: the sprung mass acceleration sensor and the unsprung mass acceleration sensor respectively carry out periodic detection on the sprung mass acceleration and the unsprung mass acceleration, and transmit detected data to the energy recovery controller in real time; wherein the unsprung mass acceleration obtained by the ith sampling is recorded as
step two, the energy recovery controller samples the ith sprung mass acceleration obtained by sampling
Step three, the energy recovery controller adjusts the spring load mass speed
when in use
when in use
when in use
when in use
when in use
when in useThe energy recovery controller controls the second MOS switch trigger driving module, the fifth MOS switch trigger driving module, the sixth MOS switch trigger driving module, the eighth MOS switch trigger driving module and the tenth MOS switch trigger driving module to be connected and controls the first MOS switch trigger driving module, the third MOS switch trigger driving module, the fourth MOS switch trigger driving module, the seventh MOS switch trigger driving module, the ninth MOS switch trigger driving module and the eleventh MOS switch trigger driving module to be disconnected, the second super capacitor is connected with the third super capacitor group in series, and electric energy generated by the direct-current brushless motor directly charges the second super capacitor and the third super capacitor group together;
when in use
when the voltage between the first super capacitor charging module, the second super capacitor charging module and the third super capacitor charging module is larger than 13.5V, the energy recovery controller controls the second MOS switch trigger driving module, the fourth MOS switch trigger driving module, the sixth MOS switch trigger driving module, the eighth MOS switch trigger driving module and the eleventh MOS switch trigger driving module to be switched on and controls the first MOS switch trigger driving module, the third MOS switch trigger driving module, the fifth MOS switch trigger driving module, the seventh MOS switch trigger driving module, the ninth MOS switch trigger driving module and the tenth MOS switch trigger driving module to be switched off, and the first super capacitor, the second super capacitor group and the third super capacitor group are connected in series and charge the brushless storage battery together with the electric energy generated by the direct-current motor.
In the above-mentioned method, the first step,
The method as described above, the
compared with the prior art, the invention has the following advantages:
1. the rack-and-pinion semi-active energy-regenerative suspension actuator is novel and reasonable in design, high in integration degree, compact in structure, simple in structure, convenient to implement and low in cost, and greatly saves the installation space of the suspension actuator.
2. According to the rack-and-pinion type semi-active energy feedback suspension actuator, the bidirectional rotation of the rack and pinion can be converted into the unidirectional rotation of the direct current brushless motor by arranging the bidirectional-to-unidirectional gear box, so that a large amount of inertia loss caused by repeated positive and negative rotation of the direct current brushless motor is avoided, the rotating speed of the direct current brushless motor is increased, the energy feedback efficiency is increased, and the service life of the direct current brushless motor is prolonged.
3. According to the gear-rack type semi-active energy-feedback suspension actuator, the vibration energy recovered by the suspension actuator in an energy feedback mode is stored in the vehicle-mounted storage battery through the energy recovery circuit, so that the energy is used by other electrical equipment of a vehicle, and the effects of energy conservation and emission reduction are achieved.
4. The energy recovery circuit eliminates the energy feedback dead zone of the traditional energy feedback shock absorber, improves the energy recovery efficiency, provides different electromagnetic damping forces for a suspension system by changing the energy feedback voltage in different working modes, increases the shock absorption effect of the semi-active suspension, reduces the impact of severe voltage change on a vehicle-mounted storage battery by recovering the voltage of a low-voltage section through the three super capacitor groups, and prolongs the service life of the vehicle-mounted storage battery.
5. The damping force of the rack-and-pinion type semi-active energy-regenerative suspension actuator is the damping force of the rack-and-pinion actuator and the electromagnetic damping force of the direct-current brushless motor, so that the rack-and-pinion type semi-active energy-regenerative suspension actuator is not easy to break down, does not need frequent maintenance and repair, is simple to maintain, prevents the breakdown of a damping system caused by system failure from deteriorating the running smoothness and the operation stability of a vehicle, and has high working stability and reliability.
6. The energy recovery control method of the rack-and-pinion semi-active energy-feedback suspension actuator is simple in steps and convenient to achieve, the working mode of the energy recovery circuit is judged by comparing the difference value of the sprung mass speed and the unsprung mass speed with the preset sprung mass acceleration threshold, the energy recovery controller is used for controlling the energy recovery circuit to recover energy, energy feedback voltage is changed in different working modes, different electromagnetic damping forces are provided for a suspension system, the vibration attenuation effect of the semi-active suspension is improved, meanwhile, the three super capacitor groups are used for recovering the voltage of a low-voltage section, the impact of severe voltage change on a vehicle-mounted storage battery is reduced, and the service life of the vehicle-mounted storage battery is prolonged.
7. The suspension system has the advantages of strong practicability, good use effect, capability of meeting the current use requirements, capability of realizing better vibration reduction and recovering energy consumed by the suspension system, energy conservation and emission reduction, wide use prospect and convenience in popularization and use.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic structural diagram of a rack and pinion type semi-active energy-regenerative suspension actuator according to the present invention;
FIG. 2 is a schematic circuit diagram of the energy recovery circuit of the present invention;
fig. 3 is a circuit block diagram of the energy recovery control circuit of the present invention.
Description of reference numerals:
1, lifting lugs on an actuator; 2, mounting holes for upper lifting lugs; 3-sprung mass acceleration sensor;
5, mounting a spring clamping seat; 6, arranging a dustproof cover; 7-damping spring;
8, lower dust cover; 9-a rack; 10-lower spring clamp seat;
11 — an actuator upper housing; 12-a gear; 13-gear shaft;
14, a guide slide block; 15-actuator housing assembly bolts; 16-actuator lower shell;
18-lower lifting lug of actuator; 19-lower lifting lug assembly hole; 22-gearbox coupling;
24-gearbox housing; 25-gearbox housing cover; 27-gearbox input shaft;
28-gearbox input shaft gear; 29-intermediate shaft ratchet; 30-an intermediate shaft;
31 — countershaft second gear; 32-countershaft first gear; 33-a steering shaft;
34-steering shaft gear; 35-gearbox output shaft; 36 — output shaft second gear;
37-output shaft ratchet; 38 — output shaft first gear; 39-gear box assembling bolts;
40-brushless dc motor; 41-motor coupling; 42-motor assembling bolts;
43-motor equivalent inductance; 44-external load of motor;
45, triggering a driving module by a first MOS switch; 46-an inductance;
47 — a first unidirectional diode; 48-a full-control MOS switch trigger driving module;
49-second MOS switch trigger driving module; 50-a third MOS switch triggers a driving module;
51 — a first supercapacitor; 52-a second unidirectional diode;
53-fourth MOS switch trigger drive module; 54-a fifth MOS switch trigger driving module;
55-a seventh MOS switch trigger driving module; 56-second supercapacitor group;
57-a third unidirectional diode; 58-sixth MOS switch trigger driving module;
59-third supercapacitor group; 60-a fourth unidirectional diode;
61-eighth MOS switch trigger drive module; 62-ninth MOS switch trigger driving module;
63-a tenth MOS switch triggering driving module; 64-an eleventh MOS switch trigger driving module;
65-vehicle mounted storage battery; 66-motor equivalent internal resistance;
67-energy recovery controller; 68-unsprung mass acceleration sensor.
Detailed Description
As shown in fig. 1, the rack-and-pinion semi-active energy-regenerative suspension actuator of the embodiment includes an actuator body, an energy recovery circuit, and an energy recovery control circuit, where the actuator body includes an actuator housing, a
the actuator shell comprises an actuator upper lifting lug 1, an actuator upper shell 11, an actuator
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