阅读说明：本技术 一种多功能减振器及其工作方法 (Multifunctional shock absorber and working method thereof ) 是由 陈星� 韩森 于 2020-12-16 设计创作，主要内容包括：本发明提供了一种多功能减振器及其工作方法,其中,所述多功能减振器包括：电池系统、悬架减振部、状态采样部、控制计算输出部和控制电路部,所述状态采样部与悬架减振部信号采样连接,所述控制计算输出部分别与状态采样部和控制电路部控制信号连接,所述电池系统、控制电路部与悬架减振部依次电能连接,且流经所述控制电路部的电流与所述状态采样部信号采样连接。本发明可以实现悬架多模式控制效果,通过选择合适的电路参数和控制参数可以精确地跟踪理想控制电流,并能够完成控制模式切换。如果合理的切换控制模式,可以减少能耗甚至能够实现能量自供给。为多模式悬架控制提供了硬件基础,后面可以结合该控制器的特点提出更好的控制策略,极大地提高了悬架的综合性能。(The invention provides a multifunctional vibration absorber and a working method thereof, wherein the multifunctional vibration absorber comprises the following components: battery system, suspension damping portion, state sampling portion, control calculation output portion and control circuit portion, state sampling portion is connected with suspension damping portion signal sampling, control calculation output portion is connected with state sampling portion and control circuit portion control signal respectively, battery system, control circuit portion and suspension damping portion electric energy connection in proper order, and flow through the electric current of control circuit portion with state sampling portion signal sampling connects. The invention can realize the multi-mode control effect of the suspension, can accurately track the ideal control current by selecting proper circuit parameters and control parameters, and can complete the control mode switching. If the control mode is reasonably switched, the energy consumption can be reduced and even the energy self-supply can be realized. Hardware basis is provided for multi-mode suspension control, a better control strategy can be provided by combining the characteristics of the controller, and the comprehensive performance of the suspension is greatly improved.)

1. A multi-function shock absorber, comprising: battery system, suspension damping portion, state sampling portion, control calculation output portion and control circuit portion, state sampling portion is connected with suspension damping portion signal sampling, control calculation output portion is connected with state sampling portion and control circuit portion control signal respectively, battery system, control circuit portion and suspension damping portion electric energy connection in proper order, and flow through the electric current of control circuit portion with state sampling portion signal sampling connects.

2. The multi-functional shock absorber of claim 1, wherein said suspension damper includes a permanent magnet linear motor and a suspension spring.

3. The multi-functional shock absorber of claim 1, wherein the control circuit portion comprises a dc converter and a full-bridge rectifier, and the battery system, the dc converter, the full-bridge rectifier and the suspension damping portion are sequentially connected in current.

4. The multi-functional shock absorber of claim 3, wherein the full-bridge rectifier is a full-wave rectifier and the DC converter is a bi-directional buck-boost circuit; the control circuit part consists of a full-wave rectifier and a bidirectional buck-boost circuit, and can realize the control of the motor current and the mode switching by changing the on and off of the control switch.

5. The multi-functional shock absorber of claim 4, wherein said full wave rectifier comprises a first switch S₁A second switch S₂And a third switch S₃And a fourth switch S₄(ii) a The bidirectional buck-boost circuit comprises an inductor L and a capacitor C₁Capacitor C₂The fifth switch S₅And a sixth switch S₆(ii) a The permanent magnet linear motor comprises an induced electromotive force E and an inductor L_mAnd a resistance R_m(ii) a The power supply system comprises a seventh switch S₇A power supply voltage E_cAnd a power supply internal resistance R.

6. The multi-functional shock absorber of claim 5, wherein the first switch S₁And a third switch S₃In series, a second switch S₂And a fourth switch S₄In series, and the first switch S₁And a third switch S₃And a second switch S₂And a firstFour-switch S₄And are connected in parallel to form a full-wave rectifier.

7. The multi-functional shock absorber of claim 6, wherein said capacitor C₁And a fifth switch S₅In series, said capacitor C₂And a sixth switch S₆In series, and a capacitor C₁And a fifth switch S₅Series connection and capacitor C₂And a sixth switch S₆After being connected in parallel, the inductor L is connected in series to form a bidirectional buck-boost circuit.

8. The multi-functional shock absorber of claim 7, wherein the seventh switch S7 is connected to a power supply control voltage E_cIs connected with a resistor R in series; the induced electromotive force E and the inductor L_mAnd a resistance R_mAre connected in series.

9. The multi-functional shock absorber according to claim 3, wherein the state sampling portion comprises a current sensor, a state sensor and an analog-to-digital conversion module; the current sensor and the state sensor are respectively connected with the analog-digital conversion module in a signal sampling way, and the control calculation output part comprises a suspension control strategy module, a current controller and a PWM generator; the analog-to-digital conversion module is respectively connected with the suspension control strategy module and the current controller in a signal sampling manner, the suspension control strategy module is respectively connected with the current controller and the full-bridge rectifier in a control signal manner, and the current controller, the PWM generator and the direct current converter are sequentially connected in a control signal manner.

10. A method of operating the multi-function shock absorber according to any one of claims 1-9, comprising the steps of:

(1) sampling the state quantities of acceleration, relative displacement and tire relative motion displacement of the suspension damping part by a state sampling part; meanwhile, sampling the current flowing through the motor winding by the control circuit part;

(2) the control calculation output part calculates the ideal current required by the motor by combining a control strategy according to the suspension state signal collected by the state sampling part;

(3) according to the ideal current and the motor current sampling signal, the current controller and the PWM generator obtain a control PWM wave, and control mode switching is completed, so that energy consumption is reduced, and even energy self-supply can be realized.

Technical Field

The invention belongs to the technical field of shock absorbers, and particularly relates to a multifunctional shock absorber and a working method thereof.

Background

The shock absorber is a key component of the vehicle suspension and is combined with a suspension spring to play a role in filtering vibration of the vehicle when the vehicle runs on a rugged road. Typically, energy from the vibrations is dissipated as heat through hydraulic damper friction. In order to reduce the energy costs of vehicles, the shock absorber recovery potential has been studied. In recent years, more and more researches are being carried out on energy feedback type electromagnetic suspensions, which can make up for the problem of high energy consumption of active suspensions. The energy feedback suspension frame can meet the requirement of riding comfort, and can recover vibration energy to reduce consumption of fossil energy. The energy feedback shock absorber comprises the following parts: the suspension input module, the transmission module, the generator module and the energy storage module are matched with a control strategy to form a complete suspension system.

Types of regenerative suspensions include electromagnetic, hydraulic, and mechanical shock absorbers. The hydraulic energy feedback shock absorber has a huge structure and low recovery efficiency; the mechanical energy feedback shock absorber needs to be designed with an additional mechanical structure to convert reciprocating motion into rotary motion; therefore, the direct current linear motor has attracted wide attention due to the characteristics of simple structure and wide control performance range. However, the design of the linear motor controller generally gives priority to energy feedback semi-active control, cannot realize multi-mode switching, and cannot meet complex working conditions and driving requirements.

Disclosure of Invention

The invention discloses a multifunctional shock absorber and a working method thereof, which make up for the defects of an active suspension and an energy feedback suspension and improve the comprehensive performance of a suspension system by combining different control strategies.

In order to achieve the purpose, the invention adopts the following technical scheme:

a multi-function shock absorber comprising: battery system (Battery pack), suspension damping portion, state sampling portion, control calculation output portion and control circuit portion, state sampling portion is connected with suspension damping portion signal sampling, state sampling portion and control calculation output portion control signal are connected, control calculation output portion and control circuit portion control signal are connected, Battery system, control circuit portion and suspension damping portion electric energy are connected in proper order, and flow through the electric current of control circuit portion with state sampling portion signal sampling connects.

As a further description of the above technical solution:

the suspension damping part comprises a permanent magnet linear motor and a suspension spring, the permanent magnet linear motor is used as an actuating structure to output required control force, and the suspension spring is used for relieving impact.

As a further description of the above technical solution:

the control circuit part comprises a direct current converter and a full-bridge rectifier, and the battery system, the direct current converter, the full-bridge rectifier and the suspension damping part are sequentially in current connection.

As a further description of the above technical solution:

the full-bridge rectifier is a full-wave rectifier, and the direct-current converter is a bidirectional buck-boost circuit; the control circuit part consists of a full-wave rectifier and a bidirectional buck-boost circuit, and can realize the control of the motor current and the mode switching by changing the on and off of the control switch.

As a further description of the above technical solution:

the full wave rectifier comprises a first switch S₁A second switch S₂And a third switch S₃And a fourth switch S₄(ii) a The bidirectional buck-boost circuit comprises an inductor L and a capacitor C₁Capacitor C₂The fifth switch S₅And a sixth switch S₆(ii) a The permanent magnet linear motor comprises an induced electromotive force E and an inductor L_mAnd a resistance R_m(ii) a The power supply system comprises a seventh switch S₇A power supply voltage E_cAnd a resistance R.

As a further description of the above technical solution:

the first switch S₁And a third switch S₃In series, a second switch S₂And a fourth switch S₄In series, and the first switch S₁And a third switch S₃And a second switch S₂And a fourth switch S₄And are connected in parallel to form a full-wave rectifier.

As a further description of the above technical solution:

the capacitor C₁And a fifth switch S₅In series, said capacitor C₂And a sixth switch S₆In series, and a capacitor C₁And a fifth switch S₅Series connection and capacitor C₂And a sixth switch S₆After being connected in parallel, the inductor L is connected in series to form a bidirectional buck-boost circuit.

As a further description of the above technical solution:

the seventh switch S₇Connected in series with the supply voltage Ec and the resistor R; the induced electromotive force E and the inductor L_mAnd a resistance R_mAre connected in series.

As a further description of the above technical solution:

the state sampling part comprises a current sensor, a state sensor and an analog-digital conversion module; the current sensor and the state sensor are respectively connected with the analog-digital conversion module in a signal sampling way, and the control calculation output part comprises a suspension control strategy module, a current controller and a PWM generator; the analog-to-digital conversion module is respectively connected with the suspension control strategy module and the current controller in a signal sampling manner, the suspension control strategy module is respectively connected with the current controller and the full-bridge rectifier in a control signal manner, and the current controller, the PWM generator and the direct current converter are sequentially connected in a control signal manner.

As a further description of the above technical solution:

the current sensor is arranged on the current of the current controller connected with the full-bridge rectifier, and the state sensor is arranged on the suspension damping part.

An operating method of the multifunctional vibration damper comprises the following steps:

(1) sampling the state quantities of acceleration, relative displacement and tire relative motion displacement of the suspension damping part by a state sampling part; meanwhile, sampling the current flowing through the motor winding by the control circuit part;

(2) the control calculation output part calculates the ideal current required by the motor by combining a control strategy according to the suspension state signal collected by the state sampling part;

(3) according to the ideal current and the motor current sampling signal, the current controller and the PWM generator obtain a control PWM wave, and control mode switching is completed, so that energy consumption is reduced, and even energy self-supply can be realized.

The invention has the following beneficial effects:

the invention can realize the multi-mode control effect of the suspension, can accurately track the ideal control current by selecting proper circuit parameters and control parameters, and can complete the control mode switching. If the control mode is reasonably switched, the energy consumption can be reduced and even the energy self-supply can be realized. Hardware basis is provided for multi-mode suspension control, a better control strategy can be provided by combining the characteristics of the controller, and the comprehensive performance of the suspension is greatly improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the multifunctional vibration damper disclosed in the present invention;

FIG. 2 is a circuit diagram of the sequential electrical connection of the battery system, the control circuit portion and the linear motor in the suspension damping portion;

FIG. 3 is a circuit diagram of a fuzzy PID component current controller.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.

As shown in fig. 1, the multi-functional shock absorber includes: battery system (Battery pack), suspension damping portion, state sampling portion, control calculation output portion and control circuit portion, state sampling portion is connected with suspension damping portion signal sampling, state sampling portion and control calculation output portion control signal are connected, control calculation output portion and control circuit portion control signal are connected, Battery system, control circuit portion and suspension damping portion electric energy are connected in proper order, and flow through the electric current of control circuit portion with state sampling portion signal sampling connects.

In some embodiments, the suspension damping portion includes a permanent magnet linear motor that outputs a required control force as an actuating structure, and a suspension spring that functions to alleviate the impact.

In some embodiments, the control circuit portion includes a dc converter and a full-bridge rectifier, and the battery system, the dc converter, the full-bridge rectifier and the suspension damping portion (i.e. the permanent magnet linear motor) are sequentially connected through current; the full-bridge rectifier is a full-wave rectifier, and the direct-current converter is a bidirectional buck-boost circuit; the control circuit part consists of a full-wave rectifier and a bidirectional buck-boost circuit, and can realize the control of the motor current and the mode switching by changing the on and off of the control switch.

As shown in FIG. 2, the full wave rectifier includes a first switch S₁A second switch S₂And a third switch S₃And a fourth switch S₄(ii) a The bidirectional buck-boost circuit comprises an inductor L and a capacitor C₁Capacitor C₂The fifth switch S₅And a sixth switch S₆(ii) a The permanent magnet linear motor comprises an induced electromotive force E and an inductor L_mAnd a resistance R_mThe induced electromotive force E and the inductance L_mAnd a resistor R_mThe permanent magnet linear motors are connected in series to form a permanent magnet linear motor; the power supply system comprises a seventh switch S₇Control voltage E_cAnd a resistance R; the first switch S₁And a third switch S₃In series, a second switch S₂And a fourth switch S₄In series, and the first switch S₁And a third switch S₃And a second switch S₂And a fourth switch S₄Are connected in parallel; the positive and negative induced electromotive force E generated by the linear motor of the full-wave rectifier is converted into unidirectional voltage in an energy feedback mode; the full-wave rectifier is regarded as a direction selector in the energy consumption active mode, and unidirectional control voltage is converted into final required voltage. The capacitor C₁And a fifth switch S₅In series, said capacitor C₂And a sixth switch S₆In series, and a capacitor C₁And a fifth switch S₅Series connection and capacitor C₂And a sixth switch S₆After being connected in parallel, the inductor L is connected in series to form a bidirectional buck-boost circuit; capacitor C₁And a capacitor C₂The functions of the circuit include filtering, energy storage and voltage stabilization, so that the fluctuation of output current and voltage is reduced, and the damage of peak voltage to circuit components is avoided; fifth switch S₅And a sixth switch S₆The switches are complementary switches which receive PWM control signals, and the on-off of the switches controls the current and the voltage of the motor and also controls the switching of the directions of an input end and an output end. The inductor L is the carrier of input and output energy which is the most critical part of the whole circuit, and is matched with the switch S₅And S₆And bidirectional buck-boost conversion is realized. The seventh switch S₇And a supply voltage E_cIn series, a seventh switch S₇The energy consumption caused by the flowing of power supply energy into the circuit during the energy feedback control is avoided.

In either mode, the circuit will have both on and off states. In the energy feedback mode, the linear motor generates induced electromotive force E due to relative displacement, and then the induced electromotive force E is converted into single-phase voltage through a full-wave rectifier structure. When in the period from 0 to DT, the fifth switch S₅On, the sixth switch S₆And closing. The induced electromotive force of the motor can be regarded as stable because the time of one switching period is small due to the high switching frequency. Due to the capacitance C₁The voltage at the end of the last switching period is greater than E, so that during the period from 0 to DT, the induced electromotive force of the linear motor and the capacitance C₁The inductor L is charged. And in the recovery circuit part, a capacitor C₂Storing the voltage at the last moment if the capacitor C₂Is higher than the recovery voltage E_cWhen it is, the seventh switch capacitor C is turned on₂The battery is charged. If the condition is not met, the switch S is closed₇So as not to consume the electric energy of the recovery battery. When the circuit is in the DT-T period, the fifth switch S₅Off, sixth switch S₆On the input end due to the inductance L_mThe current can not drop to 0 suddenly, so the current continues to flow to the currentContainer C₁Charging is carried out, resulting in a capacitance C₁The voltage across the terminals gradually rises. At the recycling end, the current of the inductor L is supplied to the capacitor C₂And battery E_cAnd charging is carried out.

In the active mode, the seventh switch S₇In this mode, the sixth switch S is always on₆Acts like a diode. During the period from 0 to DT, the sixth switch S₆On, the fifth switch S₅Open, capacitance C₂Due to and control of the voltage E_cAnd so the battery charges the inductor L primarily. At the output terminal, a capacitor C₁Forming a loop with the motor, inductor L_mThe original current is initially maintained and then gradually decreased. When the sixth switch S₆Open, the fifth switch S₅When conducting, the inductor L gives the inductor L_mAnd a capacitor C₁Charging, and the input end is due to the capacitor C₂Voltage and battery voltage E_cEqual, no current flows.

As shown in fig. 3, the current of the linear motor flows through L regardless of the mode_mThe magnitude of the current directly influences the magnitude of the electromagnetic force of the motor. Due to the inductance L of the motor_mThe value of the voltage is far larger than L, so that the fluctuation of the current of the direct current motor is small, and the output electromagnetic force is stable. However, since the proposed dc transformer is a nonlinear system and cannot use an accurate mathematical expression, a current control needs to be designed in order to ensure that the ideal current is consistent with the output current. The invention utilizes the fuzzy PID controller to track the current, thereby improving the effect speed and the adaptability.

In some embodiments, the state sampling portion comprises a current sensor, a state sensor, and an analog-to-digital conversion module; the current sensor and the state sensor are respectively connected with the analog-digital conversion module in a signal sampling way, and the control calculation output part comprises a suspension control strategy module, a current controller and a PWM generator; the analog-to-digital conversion module is respectively connected with the suspension control strategy module and the current controller in a signal sampling manner, the suspension control strategy module is respectively connected with the current controller and the full-bridge rectifier in a control signal manner, and the current controller, the PWM generator and the DC converter are sequentially connected in a control signal manner; the current sensor is arranged on the current of the current controller connected with the full-bridge rectifier, and the state sensor is arranged on the suspension damping part.

An operating method of the multifunctional vibration damper comprises the following steps:

(1) sampling the state quantities of acceleration, relative displacement and tire relative motion displacement of the suspension damping part by a state sampling part; meanwhile, sampling the current flowing through the motor winding by the control circuit part;

(2) the control calculation output part calculates the ideal current required by the motor by combining a control strategy according to the suspension state signal collected by the state sampling part;

(3) according to the ideal current and the motor current sampling signal, the current controller and the PWM generator obtain a control PWM wave, and control mode switching is completed, so that energy consumption is reduced, and even energy self-supply can be realized. Meanwhile, a hardware basis is provided for multi-mode suspension control, a better control strategy can be provided by combining the characteristics of the controller, and the comprehensive performance of the suspension is greatly improved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.