CN102616104A - Electronic control semi-active suspension ECU (electronic control unit) system based on magnetorheological fluid shock absorber - Google Patents
Electronic control semi-active suspension ECU (electronic control unit) system based on magnetorheological fluid shock absorber Download PDFInfo
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Abstract
The invention relates to an electronic control semi-active suspension ECU (electronic control unit) system based on a magnetorheological fluid shock absorber. An ECU power management module and a fault diagnosis and safety processing module are connected with a processor, a signal acquisition module consists of an acceleration sensor and a signal conditioning circuit, signals of the sensor are inputted to the processor after being amplified and filtered, a magnetorheological fluid shock absorber driving control module consists of an actuator power management, PWM (pulse-width modulation) driving output control and actuator current feedback circuit and used for amplifying PWM waveforms outputted by the processor, outputting target current to control electromagnetic coils of the magnetorheological fluid shock absorber, and feeding actual current of the electromagnetic coils to the processor, and the outputted current is controlled and compensated in a closed-loop manner so that the actual working current is close to a target value. The electronic control semi-active suspension ECU system has the advantages that the electronic control semi-active suspension ECU system based on the magnetorheological fluid shock absorber is high in response speed and output precision and low in power consumption, has a communication function and is adaptive to automobile-level complicated working conditions and environments.
Description
Technical field
The present invention relates to a kind of automatically controlled half initiatively or the ECU controller of active suspension, mainly is a kind of automatically controlled semi-active suspension ECU system based on the magnetic flow liquid bumper.
Background technology
Magnetic flow liquid (Magnetorheological Fluid is called for short the MR fluid) is by high magnetic permeability, the small soft magnetic particles of low magnetic hysteresis property and a kind of intellectual material that the non-magnetic liquid mixing forms.Under the externally-applied magnetic field effect, the rheological behavior of magnetic flow liquid changes, and changes along with the variation of externally-applied magnetic field intensity.Because magnetic flow liquid is that shear yield strength and magnetic-field intensity after moment, reversible and its rheology has stable corresponding relation in magnetic field effect rheology down, so is widely used in fields such as automobile, building, bridge, machinery and military project.
Automotive suspension is meant by spring between vehicle body and tire and bumper forms whole supporting system.Its effect is the power of transfer function between wheel and vehicle frame, cushions the impulsive force of being passed to vehicle frame or vehicle body by uneven road surface, and the vibrations that decay and cause thus, can go to guarantee automobile smooth-goingly.Therefore suspension system is determining stability, traveling comfort and the safety of car, is one of very crucial parts of Modern Car.Whether adjustable according to axle spring stiffness coefficient and bumper damping coefficient, that automotive suspension can be divided into is passive, half initiatively and active suspension.Semi-active suspension system generally is made up of sensor, controller, actuator and actr, has within the specific limits the function that bumper damping coefficient or spring stiffness system are regulated.
Auto magnetorheological liquid bumper is the magnetic-field intensity through the size adjustment bumper damp channel that changes drive current, makes that the magnetic rheological liquid in the damp channel produces magnetic rheology effect.Increase along with magnetic-field intensity; Magnetic rheology effect is remarkable more; Therefore just can reach purpose as long as regulate the electric current of magnetorheological bumper to damping force of vibration damper control, have invertibility (magnetic field is eliminated the magnetorheological fluid power in back and recovered virgin state), dynamic range wide (it is obvious to export the dumping force size variation), stepless adjustable, response frequency is high (ms Millisecond), characteristics such as low in energy consumption and simple in structure.
How to make the magnetic flow liquid bumper be based on the core technology of the semi-active suspension of magnetic flow liquid bumper with the optimal effectiveness that reaches automobile ride and road-holding property along with the variation Sustainable Control bumper dynamic response of running conditions of vehicle and the accurate output of regulating dumping force.8 micro controller systems of available technology adopting are as the ECU controller; Have that the incoming signal sampling resolution is not high, treater is little because of loading and unloading capacity, dominant frequency is low and cause that speed of response is low, PWM drive controlling precision is not high and can't realize trouble diagnosing and the security of system surveillance and control measure that software and hardware combines.
Summary of the invention
To the core technology problem of above-mentioned magnetorheological bumper and the deficiency of prior art, the present invention provides that a kind of speed of response is fast, output accuracy is high, low in energy consumption and have communication function and adapt to the automatically controlled semi-active suspension ECU system based on the magnetic flow liquid bumper of automotive grade complex working condition environment.
The objective of the invention is to accomplish through following technical scheme.This automatically controlled semi-active suspension ECU system based on the magnetic flow liquid bumper comprises ECU hardware and software components of system as directed; Form by ECU power management module, signal acquisition module, processor system module, trouble diagnosing and safe handling module, CAN bus communication module, magnetorheological bumper drive control module and software system module; Wherein software system module is formed the two large divisions by ECU basic software (BSW) and application software (ASW) and is formed.The ECU power management module is connected with treater, is used for 12V storage battery (power supply on vehicle) voltage is carried out linear voltage stabilization and exports the 5V operating voltage of ECU controller, realizes electrification reset and hardware watchdog processing capacity to the ECU monolithic processor simultaneously; Signal acquisition module comprises acceleration pick-up and signal conditioning circuit, and sensor signal carries out inputing to treater after the amplification filtering; Trouble diagnosing is connected with treater with the safe handling module, is used for ECU data monitoring and fault handling; Magnetorheological bumper drive control module is connected with treater; Magnetorheological bumper drive control module drives output control by actr power management, PWM and the actr current feedback circuit is formed; Be used for the PWM waveform of treater output is amplified the magnet coil of the magnetorheological bumper of export target current control; And the actual current that feeds back magnet coil in real time is to treater; Electric current through closed loop control compensation output makes the real work electric current near expected value, to reach accurate adjusting damping force of vibration damper.
Signal acquisition module carries out sensor signal to input to treater after the amplification filtering.ECU controller of the present invention has designed corresponding acquisition process circuit to the sensor type of analog-and digital-formula distinct interface, for analog sensor through behind the amplifying circuit signal amplitude being amplified to the signal of 0～5V and through inputing to the ADC interface of treater after the low-pass filter filtering; Digital SPI interface sensor is connected to treater according to the SPI interface standard, and software is realized the data-signal of SPI interface drive program and read sensor.Need calculate the vertical vibration absolute velocitye of vehicle spring carried mass and the relative vibration velocity between spring carried mass and the nonspring carried mass owing to the present invention is based on the automatically controlled semi-active suspension ECU systematic control algorithm of magnetic flow liquid bumper, through normal acceleration sensor acquisition vibration acceleration signal that is installed in bumper top and back seat bottom and the inputted vibration signal that passes through the controlled algorithm of computed in software.
The processor system module mainly is made up of hardware and software; Its hardware is the minimum system of realizing the automotive grade monolithic processor; External system clock signal accurately mainly is provided, the accurate power supply of reliable treatment device reset signal and guarantee treater normal operation and correct input and output I/O mouth configuration.Software is the core of ECU controller system of the present invention, and the processing of incoming signal is calculated, and the enforcement of control algorithm, control compensation calculating all are to realize through software with the output of PWM dutycycle, ECU trouble diagnosing and security monitoring, CAN communications applications etc.
Trouble diagnosing and safe handling module mainly realize ECU data monitoring and fault handling, guarantee the function of security of system reliable operation, are made up of trouble diagnosing and two modules of safe handling.Fault diagnosis functions can be monitored ECU running condition in real time; Can failure judgement information when ECU breaks down and be stored in the ECU in-to-in memory device with diagnostic code, service personnel can the read failure sign indicating number through diagnostic tool and the failure message failure judgement reason through demonstration.Fault detection of the present invention comprises that mainly incoming signal (sensor) Function detection, monolithic processor Function detection, actr power supply and flash smart power switch Function detection, low limit drive the monitoring of intelligent device detection and each blocks current of ECU and temperature.The safe handling module prevents harm such as electromagnetic interference, electrostatic defending, surge impact through the hardware redundancy design, realizes ECU security of system reliability service through software cryptography and trap implanted prosthetics, and prevents software illegal copies and process software operation irregularity.
CAN bus communication module is made up of CAN EBI and CAN2.0 standard drive program, and the CAN EBI is made up of with the CAN2.0 standard transceiver the CAN2.0 controller of treater, by the differential data line access CAN network of CAN2.0 standard transceiver.Can realize functions such as the information of sharing between ECU parameter calibration, trouble diagnosing, software upgrading and maintenance, the ECU through the CAN bus.
Magnetorheological bumper drive control module drives output control by actr power management, PWM and the actr current feedback circuit is formed.Radical function is the magnet coil that the PWM waveform of treater output is amplified the magnetorheological bumper of export target current control; And the actual current that feeds back magnet coil in real time is to treater; Electric current through closed loop control compensation output makes the real work electric current near expected value, to reach the effect of accurate adjusting damping force of vibration damper.
Software system module is on ECU controller hardware flat-bed basis, development and Design under IDE, and finally be embedded in the operation of ECU controller hardware platform.Software system are divided into basic software and mission application software; Form by hardware interface layer, hardware driving layer and task application layer; Wherein basic software comprises interface and Drive Layer part, and mainly accomplishing to the initialization of ECU hardware platform with for application software provides running environment such as guiding, driving, clock, interruption and scheduling to prepare.Application software then is made up of task module independently of one another and that connect each other, and Real-Time Scheduling administrative mechanism that provides through basic software and supporting API driving function are realized the real-time reliable operation such as tasks such as signal acquisition process, control algorithm application, communications applications.The principle of real-time task scheduling administrative mechanism is to interrupt producing respectively 500 microseconds, 1 millisecond and 5 milliseconds of three task level interruptions through timer; And the task of system is divided into 3 regularly interrupt levelss earlier according to priority; Task in each rank is carried out two times scheduling according to dynamic priority through finite state machine simultaneously; The mechanism that this two-stage is dispatched has layer by layer guaranteed that the priority of task of high priority takies hardware resource and operation, makes can real-time ensuring to carry out in 1 second that 1000 times Sustainable Control is regulated and reliable treatments such as acquisition of signal, processing, computing, diagnosis in real time and multitask such as communicate by letter are used based on the automatically controlled semi-active suspension ECU controller system of magnetic flow liquid bumper.
Beneficial effect of the present invention is:
Automatically controlled semi-active suspension ECU system based on the magnetic flow liquid bumper provided by the invention adopts 16 high-speed processor chip of automotive grade, and maximum operation frequency can reach 100Mhz, whole ECU controller hardware system works electric current about 150mA, underproof 1W.Can carry out 1000 times Sustainable Control in 1 second regulates; Not only simplified the circuit layout of ECU; Reduce system power dissipation, speed of response is fast, control accuracy is high, flexibility is strong, inferred-zero drifts about and the characteristics of real-time realizing having in complicated control algorithm and the system applies management simultaneously.
The present invention adopts the acquisition of signal of digital-to-analog formula interface, can compatible simulation or digital sensor interface.Input to the ADC interface of treater after analog sensor is handled through amplification filtering, the ADC interface conversion rate of 12 bit resolutions can reach 100us, can realize fully the vibration acceleration signal about 0～100hz is handled.Adopt the SPI interface can realize the collection to digital acceleration pick-up or temperature sensor signal, the SPI interface can satisfy the collecting sensor signal that baud rate reaches 10Mbps.
The present invention adopts the technology of high-low side smart power device controlling and driving actr; Wherein the flash smart power device is realized the control and management of actr power supply and the function of high polygonal voltage overcurrent, overvoltage, short circuit and monitoring temperature, and low limit smart power device is realized PWM control actr average current and low limit device fault processing capacity.Have 4 tunnel output controls and realize electromagnetic actuator control respectively 4 magnetic flow liquid bumpers before and after the automotive semi-active suspension.It is 10khz that the mode of employing fixed frequency modulated PWM is exported 16 bit periods, the PWM waveform that dutycycle constantly changes, and its dynamic adjustments time is 100us, precision can reach 2
16Close 65536 resolution.Drive controlling processing of the present invention adopts low resistance, high precision, high-power precision resistance to be serially connected in the closed loop control that realizes on the actr magnet coil the actual current value sampling, and employing transient state inversion diode (TVS) is connected in parallel on the reverse transient energy of the driver switch moment inductive load end formation of drawing up on the magnet coil and impacts.
The present invention adopts the communication interface of CAN2.0 standard agreement to realize the high-speed CAN bus communication function, and traffic rate can reach 1Mbps, can realize the integrated and compatibility of ECU controller in the automobile CAN-bus network.
Description of drawings
Fig. 1 is the automatically controlled semi-active suspension ECU system hardware functional block diagram based on the magnetic flow liquid bumper.
Fig. 2 is the automatically controlled semi-active suspension ECU system controller software architecture diagram based on the magnetic flow liquid bumper.
Fig. 3 is the automatically controlled semi-active suspension ECU system controller software flow pattern based on the magnetic flow liquid bumper.
The specific embodiment
To combine accompanying drawing that the present invention is done detailed introduction below:
Be illustrated in figure 1 as a kind of ECU controller hardware system principle diagram that preferred embodiment according to the invention provides.Form by modules such as signal condition, power supply and system management, processor unit, actuator driven control, trouble diagnosing and safe handling, CAN communication interfaces.The MC9S12XET256 singlechip chip of the dual microprocessors of new generation of the preferred Freescale of said invention ECU controller embodiment company; This monolithic processor has all advantages and the effect of 32 performances and 16 MCU; Having kept existing 16 S12 of Freescale and S12X kernel low cost, low-power consumption, EMC and characteristics such as code rate efficiently simultaneously, is the processor chips of specialized application in car chassis safety and Body Control.The BDM interface is the software debugging simulation hardware interface of MC9S12XET256 processor chips, under the IDE IDE to the ECU software based on the MC9S12XET256 treater debug, emulation and programming.The MC9S12XET256 treater realizes that the incoming signal collection of ECU control system and processing, the computing of control algorithm, actr PWM control functions such as output, trouble diagnosing and security of system monitoring, CAN bus communication.
Analog normal acceleration sensor is selected in the signal input of the preferred embodiment of the present invention for use; Can export 0～5V, amplitude for+/-3g, frequency response (0～200hz scope), nonlinearity erron+/-vertical shake signal about 50mg, through ADC (analog-to-digital converters) sampling processing that is directly inputted into monolithic processor behind the low-pass filter.The ADC passage of monolithic processor also is responsible for the current feedback signal to the actr power control unit, the sampling processing of the temperature signal of actr current feedback signal and ECU control system temperature sensor.
The drive controlling output of the preferred embodiment of the present invention is made up of the control of actr power supply, actuator driven control and actr inspection stream feedback, can control the current control of 2 to No. 4 bumper magnet coils.Treater I/O mouth connection of intelligent high side power binistor; Control is to the safety management of actr magnet coil power supply; The low limit of processor PWM signal output channels connection of intelligent master cock device is to realize the frequent break-make of actr magnet coil current supply circuit is reached the purpose of control magnet coil working current.Low resistance, high-precision sampling resistor are serially connected on the magnet coil loop of actr, and the voltage difference at sampling resistor two ends passes through to realize the feedback to actr loop real work electric current through the ADC that inputs to treater after the amplification filtering.
Be illustrated in figure 2 as the ECU software architecture diagram of the embodiment of the invention.ECU controller hardware platform is the basis of running software, and software source code is worked under ECU controller hardware system normal circumstances behind monolithic processor by programming through the binary code file that compiling-link-comprehensive back forms.The IDE IDE is a SDK, is only debugging, revising work such as optimization, map file configuration, emulation monitoring, testing evaluation to the compiling that could accomplish software source code under the IDE of MC9S12XET256 treater.ECU software has the general hierarchical structure of embedded software, is made up of basic software and application software.Wherein basic software is accomplished the work of hardware abstraction layer and Drive Layer, and application software realizes the function of each application task of ECU on the basis of basic software.Hardware abstraction layer is mainly realized initial configuration, register address and the functional definition of treater and ECU hardware, the initial configuration of Peripheral Interface, makes software can break away from the hardware electrical specification and directly realizes driving and control to hardware through logic state.Drive Layer mainly is for application layer provides running environment, makes the task component of application layer can thoroughly break away from hardware system, realizes task function.The function of the guiding of mainly realization system of Drive Layer, driven management, call management, Clock management, store management and task scheduling management.
Be illustrated in figure 3 as software workflow figure of the present invention, realized comprising the real-time of eventful things such as signal conditioning, algorithm process, communication process and diagnostic process, the collaborative work of reliability through two-stage task scheduling control algorithm.Software system are made up of system initialization, ECU hardware check and main program circulation.
The configuration of software initial condition after system reset completion hardware powers on and starts shooting; System initialization mainly comprises the program pointer guiding, the clock frequency of processor cores, power safety Energy Saving Control management initialization; The initial work of interfaces such as treater I/O mouth, SPI interface, ADC conv, CAN interface controller, PWM controller is accomplished in the peripheral hardware initialization; The global variable of software and the initial configuration of data structure body are accomplished in the system variable initialization; The configuration-system parameter is through reading system parameter and initialization corresponding configuration from eeprom memory; The initialization to the priority of system applies task component and temporary configuration is accomplished in the task scheduling initialization.The ECU hardware check is accomplished the abnormal monitoring to the core devices of ECU controller hardware system; The normal operation of acquisition of signal end, actr power end, control output end is judged in main inspection; Occur to change warning and exception handling flow process unusually over to like any position, till unusual eliminating.
Main program on-cycle core is a two-stage task scheduling administrative mechanism, and the first order is provided with 500us, 1ms, three timings of 5ms interrupt levels.Short task of fast processing time of responses such as incoming signal collection and feedback signal acquisition process is classified as 500us interrupt task level; Data operation, algorithm process, error compensation and these core missions of PWM output are classified as 1ms interrupt task level, guarantee that system can realize 1000 times dynamic adjustments in 1 second; Simultaneously that the processing times such as system calibrating, diagnosis, software maintenance and communications applications is long task is classified as regularly interrupt task level of 5ms.And each changes the flow process of respective interrupt task level when regularly interrupting arriving over to; Simultaneously in the interrupt task level then through the mode dynamic dispatching different application task executions of finite state machine, whole ECU controller software like this system is with the operation scheme work of infinite loop.
Except that the foregoing description, all employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of requirement of the present invention.
Claims (3)
1. automatically controlled semi-active suspension ECU system based on the magnetic flow liquid bumper; It is characterized in that: mainly comprise treater; The ECU power management module is connected with treater; Be used for 12V power supply on vehicle voltage is carried out linear voltage stabilization and exports the 5V operating voltage of ECU controller, realize electrification reset and hardware watchdog processing capacity simultaneously the ECU monolithic processor; Signal acquisition module comprises acceleration pick-up and signal conditioning circuit, and sensor signal carries out inputing to treater after the amplification filtering; Trouble diagnosing is connected with treater with the safe handling module, is used for ECU data monitoring and fault handling; Magnetorheological bumper drive control module is connected with treater; Magnetorheological bumper drive control module drives output control by actr power management, PWM and the actr current feedback circuit is formed; Be used for the PWM waveform of treater output is amplified the magnet coil of the magnetorheological bumper of export target current control; And the actual current that feeds back magnet coil in real time is to treater; Electric current through closed loop control compensation output makes the real work electric current near expected value, to reach accurate adjusting damping force of vibration damper.
2. the automatically controlled semi-active suspension ECU system based on the magnetic flow liquid bumper according to claim 1 is characterized in that: for analog sensor through behind the amplifying circuit signal amplitude being amplified to the signal of 0～5V and through inputing to the ADC interface of treater after the low-pass filter filtering; Digital SPI interface sensor is connected to treater according to the SPI interface standard, realizes the data-signal of SPI interface drive program and read sensor.
3. the automatically controlled semi-active suspension ECU system based on the magnetic flow liquid bumper according to claim 1 is characterized in that: on the bumper top with the back seat bottom is equipped with normal acceleration sensor acquisition vibration acceleration signal and through calculating the inputted vibration signal of control algorithm.
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