CN104589949B - A kind of anti-rollover system for automobiles and control method - Google Patents
A kind of anti-rollover system for automobiles and control method Download PDFInfo
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- CN104589949B CN104589949B CN201410770980.3A CN201410770980A CN104589949B CN 104589949 B CN104589949 B CN 104589949B CN 201410770980 A CN201410770980 A CN 201410770980A CN 104589949 B CN104589949 B CN 104589949B
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- 239000000725 suspension Substances 0.000 claims abstract description 67
- 238000013016 damping Methods 0.000 claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000033228 biological regulation Effects 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 239000004568 cement Substances 0.000 description 2
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- 238000005070 sampling Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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Abstract
A kind of anti-rollover system for automobiles and control method, a kind of car anti-rollover system, including vehicle frame, the first suspension, the second suspension；Described first suspension, the second suspension are connected with vehicle frame by damping spring respectively；Described first suspension, the second suspension are rigidly connected the first wheel and the second wheel respectively, also include the first linear electric motors, are connected between vehicle frame and the first suspension；Second linear electric motors, are connected between vehicle frame and the second suspension；First sensor and the second sensor are separately positioned on below vehicle frame, and the 3rd sensor is arranged on below vehicle frame, the first controller, for receiving the distance signal that first sensor sends, and send movable signal to the first linear electric motors；Second controller, for receiving the distance signal that the second sensor sends, and sends movable signal to the second linear electric motors；3rd controller, for receiving the inclination angle value that the 3rd sensor sends, and sends movable signal to the first linear electric motors and the second linear electric motors simultaneously.
Description
Technical field
The invention belongs to technical field of vehicle control, be specifically related to a kind of anti-rollover system for automobiles and control method.
Background technology
Suspension is the important structure of vehicle and functional part, great on the impact of vehicle overall performance.Its work pressed by automobile-used suspension
Make principle and can be divided into passive suspension, semi-active suspension and Active suspension.Passive suspension is mainly made up of spring, amortisseur etc., logical
Cross the vibrational energy between amortisseur consumption and spring buffer Vehicle Axles and body quality to obtain effectiveness in vibration suppression, but fixing
Rigidity and damping are difficult to meet various damping requirements.Common semi-active suspension is by amortisseur constant for passive suspension damping value
It is transformed into the damping element of damping value real-time, tunable to improve the ride comfort of vehicle.Active suspension is on the basis of passive suspension
Upper increase by one can produce the control forcer of active controlling force, thus have output and actively control with negative resistance character
The ability of power, can make vehicle ride comfort reach optimum, and therefore, to be better than half the most outstanding for the performance of Active suspension theoretically
Frame.Compared with traditional suspension, electronic controlled suspension is capable of the active of bodywork height and controls and the Automatic adjusument of damping, for changing
Kind vehicle riding comfort, driving safety and fuel economy important role in the process of moving, it has also become car
The study hotspot of engineering circles.For automobile especially bulk cement carrier, its center is higher, vehicle when uneven road surface is moved,
Very easy rollover of vacillating now to the left, now to the right along with vehicle.
Summary of the invention
It is an object of the invention to provide a kind of anti-rollover system for automobiles and control method.This anti-rollover system for automobiles, passes through
Adjusting this suspension distance taken turns of vehicle both sides, the side coil reducing vehicle jolts, and designs ingenious, can be effectively by the method
Reduce automobile especially bulk cement carrier etc. by jolt road surface time there is the probability of rollover, thus greatly promote vehicle
Safety.
Anti-rollover system for automobiles of the present invention, including vehicle frame, the first suspension, the second suspension；Described first suspension, the second suspension
Connected with vehicle frame by damping spring respectively；Described first suspension, the second suspension are rigidly connected the first wheel and the second car respectively
Wheel, it is characterised in that
Also include the first linear electric motors, be connected between vehicle frame and the first suspension, be used for regulating vehicle frame and the first suspension it
Between spacing；
Second linear electric motors, are connected between vehicle frame and the second suspension, are used for regulating spacing between vehicle frame and the second suspension；
First sensor and the second sensor are separately positioned on below vehicle frame, are respectively used to detect the first suspension, second hang
Frame is with the spacing of vehicle frame；
3rd sensor, is arranged on below vehicle frame, for detecting the lateral tilt angle of vehicle frame；
First controller, for receiving the distance signal that first sensor sends, and sends mobile to the first linear electric motors
Distance signal；
Second controller, for receiving the distance signal that the second sensor sends, and sends mobile to the second linear electric motors
Distance signal；
3rd controller, for receiving the inclination angle value that the 3rd sensor sends, and simultaneously to the first linear electric motors and
Second linear electric motors send displacement signal.
The control method of this anti-rollover system for automobiles, comprises the following steps,
(1) first sensor is with 0.01 second as cycle, and continual detection the first suspension is with the relative change between vehicle frame
Distance, and to the first controller output distance value；
Distance value in (2) first controller receiving steps (1)Afterwards, it is calculated parameter by low pass filter,
Low pass filter design is:；
(3) by distance value in step (1)With moving distance value in current first controller, observed by expansion state
Device, is calculated parameter、、,
Extended state observer is designed as；
Wherein、、、It is constant set in advance,Span be (17 ~ 22),Span is (5
~9)、Span be (10 ~ 14),Span is (4 ~ 5),、、It is respectively、、First derivative,、、With、、Initial value be zero, moving distance valueInitial value be also zero；
(4) moving distance value required for the first linear electric motors is calculated by step (2) (3) parameters obtained；
,
Wherein、It is fixed value for controller parameter,Span be (34000 ~ 35000),Span is
(750~850)；
(5) first controllers are by moving distance valueIt is sent to the first linear electric motors, thus controls the first linear electric motors and move
Dynamic；
Distance value new in (6) first controller receiving steps (1)With step (4) gained moving distance value, repeat
The calculating of step (2) (3) (4)；Final continual regulation the first linear electric motors move；
(7) simultaneously the second sensor with 0.01 second as cycle, relative with between vehicle frame of continual detection the second suspension
Change distance, and export distance value to second controller；Second controller is carried out with the first controller step identical calculations, control
Make the second linear electric motors to move；
(8) simultaneously the 3rd sensor with 0.01 second as cycle, the lateral tilt angle of continual detection vehicle frame, and to
Three controller output inclination angle value Y, when angle of inclination is more than 2 ° relative to level change, the 3rd controller is respectively to first
Linear electric motors and the second linear electric motors send movable signal and control the first linear electric motors and the second linear electric motors to different directions shifting
Dynamic, (when lopsidedness, the 3rd controller launches to tilt the linear electric motors of side to such as vehicle, shortens and tilts the straight of opposite side
Line motor, thus correct inclination of vehicle) until inclination angle value Y that the 3rd controller receives is 0 ° time, then stop to first straight
Line motor and the second linear electric motors send movable signal.
Continual execution aforesaid operations during use, two sensors detect the spacing of vehicle frame and suspension, constantly respectively
Distance value is exported to the first controller and second controller；Respectively by wave filter and expansion after two controller receiving range values
Open state observer (ESO) to obtain, parameter, parameter、、；Above parameter is substituted into displacement
Value formula obtains the moving distance value of two linear electric motors, thus controls the first and second linear electric motors and move；First and second
Controller receives the distance value that sensor detects next time, substitutes into the parameters such as a circulation gained moving distance value, repeats
The calculating of step (2) (3) (4)；It is moved to regulate vehicle spring upper bracket gravity eventually through continual regulation linear electric motors
The purpose of directional acceleration.But owing to each controller independently controls the distance of respective suspension according to the situation on road surface, when
One regulation hung is when reaching capacity, will run-off the straight, at this moment other suspensions are adjusted by the 3rd controller, and minimizing is inclined
Rake angle, is further ensured that the balance of vehicle.
This anti-rollover system for automobiles, by adjusting the suspension distance of this wheel of vehicle both sides, reduces the side coil top of vehicle
Winnow with a dustpan, design ingenious, and adjustable space is big；For there being relatively pitchpole road surface also to have better effects；Can be had by the method
Effect ground reduce automobile by jolt road surface time there is the probability of rollover, thus greatly promote the safety of vehicle.
Accompanying drawing explanation
Fig. 1 is anti-rollover system for automobiles structural representation of the present invention.
Detailed description of the invention
The invention will be further described for example given below plan, but is not to be construed as scope
Restriction, those skilled in the art, according to some nonessential improvement and adjustment to the present invention of present invention, still fall within this
The protection domain of invention.
As it is shown in figure 1, anti-rollover system for automobiles, including vehicle frame the 1, first suspension the 2, second suspension 3；Described first suspension 2,
Second suspension 3 is connected with vehicle frame 1 by damping spring respectively；Described first suspension the 2, second suspension 3 is rigidly connected first respectively
Wheel 4 and the second wheel 5, also include the first linear electric motors 6, is connected between vehicle frame 1 and the first suspension 2, is used for regulating vehicle frame
1 and first spacing between suspension 2；
Second linear electric motors 7, are connected between vehicle frame 1 and the second suspension 3, are used for regulating between vehicle frame 1 and the second suspension 3
Spacing；
First sensor 8 and the second sensor 9 are separately positioned on below vehicle frame 1, be respectively used to detect the first suspension 2,
Two suspensions 3 are with the spacing of vehicle frame 1；
3rd sensor 10, is arranged on below vehicle frame 1, for detecting the lateral tilt angle of vehicle frame 1；
First controller 11, for receiving the distance signal that first sensor 8 sends, and sends to the first linear electric motors 6
Displacement signal；
Second controller 12, sends out 9 distance signals sent for receiving the second sensor, and sends to the second linear electric motors 7
Displacement signal；
3rd controller 13, for receiving the inclination angle value that the 3rd sensor 10 sends, and simultaneously to the first straight-line electric
Machine 6 and the second linear electric motors 7 send displacement signal.
The control method of this anti-rollover system for automobiles, comprises the following steps,
(1) first sensor 8 is with 0.01 second as cycle, relative with between vehicle frame 1 of continual detection the first suspension 2
Change distance, and export distance value to the first controller 11；
Distance value in (2) first controllers 11 receiving step (1)Afterwards, it is calculated parameter by low pass filter,
Low pass filter design is:；With T=0.01s as sampling period, (sampling time can also compare 0.01s
Less)；
(3) by distance value in step (1)With movable signal value in current first controller 11, pass through expansion state
Observer, is calculated parameter、、,
Extended state observer is designed as；
Wherein=19、=7、=12、=4.5,、、It is respectively、、First derivative,、、With、、Initial value be zero, moving distance valueInitial value be also zero；
(4) moving distance value of movement required for the first linear electric motors 6 is calculated by step (2) (3) parameters obtained；
,
Wherein=34347、=811；
(5) first controllers 11 are by moving distance valueIt is sent to the first linear electric motors 6, thus controls the first linear electric motors
6 move；
Distance value new in (6) first controllers 11 receiving step (1)With step (4) gained moving distance value, weight
The calculating of multiple step (2) (3) (4)；Final continual regulation the first linear electric motors 6 move；
(7) the second sensor 9 is with 0.01 second as cycle simultaneously, and continual detection the second suspension 3 is with the phase between vehicle frame 1
To change distance, and export distance value to second controller 12；Second controller 12 is carried out with the first controller 11 step phase
With calculating, control the second linear electric motors 7 and move；
(8) simultaneously the 3rd sensor 10 with 0.01 second as cycle, the lateral tilt angle of continual detection vehicle frame 1, and
Inclination angle value Y is exported to the 3rd controller 13, when angle of inclination is more than 2 ° relative to level change, the 3rd controller 13 points
Do not send movable signal to the first linear electric motors 6 and the second linear electric motors 7 and control the first linear electric motors 6 and the second linear electric motors 7
Moving to different directions, during until inclination angle value Y that the 3rd controller 13 receives is 0 °, the 3rd controller 13 stops to first
Linear electric motors 7 and the second linear electric motors 7 send movable signal.
Claims (2)
1. an anti-rollover system for automobiles, including vehicle frame, the first suspension, the second suspension；Described first suspension, the second suspension are respectively
Connected with vehicle frame by damping spring；Described first suspension, the second suspension are rigidly connected the first wheel and the second wheel respectively, its
It is characterised by,
Also include the first linear electric motors, be connected between vehicle frame and the first suspension, between being used for regulating between vehicle frame and the first suspension
Away from；
Second linear electric motors, are connected between vehicle frame and the second suspension, are used for regulating spacing between vehicle frame and the second suspension；
First sensor and the second sensor are separately positioned on below vehicle frame, are respectively used to detect the first suspension, the second suspension together
The spacing of vehicle frame；
3rd sensor, is arranged on below vehicle frame, for detecting the lateral tilt angle of vehicle frame；
First controller, for receiving the distance signal that first sensor sends, and sends displacement to the first linear electric motors
Signal；
Second controller, for receiving the distance signal that the second sensor sends, and sends displacement to the second linear electric motors
Signal；
3rd controller, for receiving the inclination angle value that the 3rd sensor sends, and simultaneously to the first linear electric motors and second
Linear electric motors send displacement signal.
2. the control method of anti-rollover system for automobiles described in a claim 1, it is characterised in that comprise the following steps,
(1) first sensor is with 0.01 second as cycle, continual detection the first suspension with relatively changing distance between vehicle frame,
And to the first controller output distance value；
Distance value in (2) first controller receiving steps (1)Afterwards, it is calculated parameter by low pass filter,
Low pass filter design is:；
(3) by distance value in step (1)With moving distance value in current first controller, by extended state observer, meter
Calculation obtains parameter、、,
Extended state observer is designed as,
Wherein、、、It is constant set in advance；
(4) moving distance value required for the first linear electric motors is calculated by step (2) (3) parameters obtained,
Wherein、For controller parameter fixed value；
(5) first controllers are by moving distance valueIt is sent to the first linear electric motors, thus controls the first linear electric motors and move；
Distance value new in (6) first controller receiving steps (1)With step (4) gained moving distance value, repeat step
(2) calculating of (3) (4)；Final continual regulation the first linear electric motors move；
(7) second sensors with 0.01 second as cycle, continual detection the second suspension with relatively changing distance between vehicle frame,
And export distance value to second controller；Second controller carries out, with the first controller step identical calculations, controlling second straight
Line motor moves；
(8) the 3rd sensors with 0.01 second as cycle, the lateral tilt angle of continual detection vehicle frame, and to the 3rd controller
Output inclination angle value Y, when angle of inclination variation is more than 2 °, the 3rd controller is respectively to the first linear electric motors and the second straight line
Motor transmission displacement signal controls the first linear electric motors and the second linear electric motors move to different directions, until the 3rd controls
When inclination angle value Y that device receives is 0 °, then stop sending displacement signal to the first linear electric motors and the second linear electric motors.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410770980.3A CN104589949B (en) | 2014-12-15 | 2014-12-15 | A kind of anti-rollover system for automobiles and control method |
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| CN201410770980.3A CN104589949B (en) | 2014-12-15 | 2014-12-15 | A kind of anti-rollover system for automobiles and control method |
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| CN104589949A CN104589949A (en) | 2015-05-06 |
| CN104589949B true CN104589949B (en) | 2016-12-28 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Xu Inventor before: Zhang Qiaomu Inventor before: Li Lei |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20160923 Address after: 266000 Shandong Province, Licang District, No. nine East Road, No. 320, building 205, room 2 Applicant after: Qingdao Shenda multi-creation Technology Service Co. Ltd. Address before: 030001, room 122, 9225 Xuefu street, Xiaodian District, Shanxi, Taiyuan Applicant before: Zhang Qiaomu |
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Effective date of registration: 20170621 Address after: 401121 No. 1 Fu Xi Road, mandarin duck Town, North New District, Chongqing Patentee after: CHANGAN FORD AUTOMOBILE CO., LTD. Address before: 266000 Shandong Province, Licang District, No. nine East Road, No. 320, building 205, room 2 Patentee before: Qingdao Shenda multi-creation Technology Service Co. Ltd. |
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