CN106956560A - A kind of chassis multi-mode Height-Adjusting System and control method - Google Patents

Abstract

The chassis multi-mode height adjustment control system of the present invention includes: an HMI module, used to receive the working condition information of the chassis and display it in graphic form, and provide a human-computer interaction interface to input control instructions; a controller, used to receive control instructions according to the built-in The control logic forms the control data of the height adjustment actuator, and receives the state data of the height adjustment actuator and related sensor data to form the working condition status information of the chassis; the height adjustment actuator is used to adjust the corresponding oil and gas suspension stroke according to the control data, change The height of the chassis at the support position of the oil-pneumatic suspension; the sensing device is used to collect the height data and pressure data of the height adjustment actuator and the chassis, and send them to the controller in real time. The height of the chassis can be automatically adjusted to the predetermined working state; the posture of the chassis can also be adjusted arbitrarily according to the needs of use. Ensure that the special vehicle chassis has good ride comfort, handling stability, driving safety and passability under any load, and can meet the requirements of railway transportation at the same time.

Description

A chassis multi-mode height adjustment control system and control method

technical field

The invention relates to a vehicle attitude control system and a control method, in particular to a vehicle chassis control system and a control method.

Background technique

There is a large difference in the quality of the vehicle when the platform of special transport vehicles is fully loaded and unloaded, and the requirements for the suspension height of the chassis, the attitude of the axle and other control states are relatively high. The driving safety and chassis passability make it possible to drive and work at the optimal frame height under the multi-working mode of road transportation and rail transportation.

Contents of the invention

The purpose of the present invention is to provide a chassis multi-mode height adjustment control system and control method, which is used to solve the technical problem that the existing chassis control cannot adapt to the efficient control of a high-load multi-axis carrying platform in multiple working modes.

The chassis multi-mode height adjustment control system of the present invention includes an HMI module, a controller, a height adjustment actuator and a sensing device, wherein:

The HMI module is used to receive the working status information of the chassis and display it in the form of graphics and text, and provide a human-computer interaction interface to input control commands;

The controller is used to receive control instructions to form the control data of the height adjustment actuator according to the built-in control logic, and receive the status data of the height adjustment actuator and related sensor data to form the working condition status information of the chassis;

The height adjustment actuator is used to adjust the corresponding oil-air suspension stroke according to the control data, and change the chassis height of the oil-air suspension support position;

The sensing device is used to collect the height data and pressure data of the height adjustment actuator and the chassis, and send them to the controller in real time.

The height adjustment actuator includes a control valve group, a hydraulic oil circuit and an oil-pneumatic suspension, wherein:

The hydraulic oil circuit is used to form the hydraulic transmission channel of the oil-air suspension;

The control valve group is used to receive the power signal formed by the control data, and form the inflow, outflow and maintenance of hydraulic oil in the corresponding hydraulic transmission channel;

The oil-pneumatic suspension is used to support the chassis, and the stroke is changed according to the hydraulic force in the hydraulic transmission channel.

The sensing device includes a pressure sensor, an angle sensor and a transmission linkage mechanism, wherein:

The pressure sensor is used to collect the pressure change at the support position of the oil and gas suspension; it can effectively detect the chassis load state.

The angle sensor is used to collect the changing angle of the transmission linkage mechanism;

The transmission link mechanism is used to connect the transmission structure of the chassis and the cross arm of the oil-pneumatic suspension to form a measurable angle change.

The HMI module is connected to the controller through the CAN bus data, the controller is connected to the control end of the control valve group through the CAN bus data, and the controller is connected to the output end of the sensing device through the CAN bus data.

The control valve group includes a first valve group, a second valve group and a third valve group, wherein:

The first valve group includes the valve block that controls the hydraulic oil circuit of the right side oil-pneumatic suspension of the front axle of the chassis, including the raising valve block S1 and lowering valve block Y1, and the hydraulic oil of the left side oil-pneumatic suspension of the front axle The valve block of the road, including the rising valve block S2 and the falling valve block Y2;

The second valve group includes the valve block that controls the hydraulic oil circuit of the oil-pneumatic suspension on the right side of the rear axle of the chassis, including the raising valve block S3 and the lowering valve block Y3, and the hydraulic oil of the oil-pneumatic suspension on the left side of the rear axle The valve block of the road, including the rising valve block S4 and the falling valve block Y4;

The third valve group includes oil source control valve block T1, which is used to ensure the pressure and flow of the height adjustment actuator when it works normally.

The control valve group also includes setting a backup control valve T2 in the communication pipeline of the oil-pneumatic suspension on the same side of the vehicle axle, which is used for manual height adjustment through an external oil source when the height adjustment actuator fails.

The control method of the chassis multi-mode height adjustment control system includes:

Through the HMI module, start the automatic adjustment process;

The controller forms the balance position data according to the preset strategy;

At the same time, the controller sends control data to the oil-pneumatic suspension at the support positions of the left front, right front, left rear, and right rear of the chassis to adjust the stroke of the oil-pneumatic suspension;

Judgment process: Judging the difference between each support position and the balance position:

One-point operation process: When the support position is lower than the equilibrium position, according to the one-point operation method, raise the frame until it reaches the equilibrium position, and close the corresponding lifting valve; when the support position is higher than the equilibrium position, according to the one-point operation method, Lower the frame until it reaches the equilibrium position, and close the corresponding lowering valve;

Sequential adjustment process: The controller judges the oil-pneumatic suspension that first reaches the equilibrium position through the output state of the sensor device, sends a prompt signal through the HMI module, and closes the corresponding lifting and lowering valves to maintain oil pressure; then follow the right front, right rear, left rear , For the order of orientation in the left front, refer to the operation method of each point to adjust the oil-air suspension to the equilibrium position one by one;

When it is judged that the front right, rear right, rear left, and front left of the chassis have reached the equilibrium position, the automatic adjustment process is ended; when it is judged that the equilibrium position is not reached, the judgment process, point operation process and sequence adjustment process are restarted.

The chassis multi-mode height adjustment control system and control method of the present invention take the control system as the core, obtain the height state of the chassis in real time by collecting signals from various key position sensors, and output control signals to the control valve group through corresponding control algorithms, Control the oil-pneumatic suspension at the corresponding position to enter or return oil, and automatically adjust the height of the chassis to the predetermined working state; the attitude of the launch platform can also be adjusted arbitrarily according to the needs of use through the step-by-step height adjustment function; the system has a spare interface, which can be accessed through The external power oil source is adjusted up. Improve the mobility and safety of the special vehicle chassis, ensure that the special vehicle chassis has good ride comfort, handling stability, driving safety and passability under any load, and can drive and run at the optimum frame height. work, while being able to meet the requirements of railway transportation.

Description of drawings

FIG. 1 is a schematic diagram of the structure of the chassis multi-mode height adjustment control system of the present invention.

Fig. 2 is a schematic diagram of the control circuit of the chassis multi-mode height adjustment control system of the present invention.

Fig. 3 is a structural schematic diagram of the height adjustment actuator of the chassis multi-mode height adjustment control system of the present invention.

Fig. 4 is a schematic diagram of the control process of the chassis multi-mode height adjustment control system of the present invention.

detailed description

Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1, the chassis multi-mode height adjustment control system of this embodiment includes an HMI module, a controller, a height adjustment actuator and a sensing device, wherein:

The HMI module is used to receive the status information of the chassis and display it in the form of graphics and text, and provide a human-computer interaction interface to input control commands; as a human-computer interaction interface, it is mainly used to display the status information of the chassis and the height adjustment system itself during the height adjustment process (chassis height, load status, pressure of each height adjustment point, etc.) and accept operation instructions, such as height adjustment method (automatic height adjustment or step-by-step height adjustment), height adjustment target state (road driving or rail transportation) and other information.

The controller is used to receive control instructions to form the control data of the height adjustment actuator according to the built-in control logic, and receive the status data of the height adjustment actuator and related sensor data to form the working condition status information of the chassis;

The height adjustment actuator is used to adjust the corresponding oil-air suspension stroke according to the control data, and change the chassis height of the oil-air suspension support position;

The sensing device is used to collect the height data and pressure data of the height adjustment actuator and the chassis, and send them to the controller in real time.

The chassis multi-mode height adjustment control system of this embodiment uses various control strategies such as automatic height adjustment, distributed height adjustment, and rear height adjustment by the controller, and can form a reliable oil-pneumatic suspension for general and specific driving states or transportation states. Control and monitor in real time the independent working conditions of all oil-pneumatic suspensions and the working conditions of the chassis made of oil-pneumatic suspensions.

In this embodiment, the height adjustment actuator includes a control valve group, a hydraulic oil circuit and an oil-pneumatic suspension, wherein:

The hydraulic oil circuit is used to form the hydraulic transmission channel of the oil-air suspension;

The control valve group is used to receive the power signal formed by the control data, and form the inflow, outflow and maintenance of hydraulic oil in the corresponding hydraulic transmission channel;

The oil-pneumatic suspension is used to support the chassis, and the stroke is changed according to the hydraulic force in the hydraulic transmission channel.

In this embodiment, the sensing device includes a pressure sensor, an angle sensor and a transmission linkage mechanism, wherein:

The pressure sensor is used to collect the pressure change at the support position of the oil and gas suspension; it can effectively detect the chassis load state.

The angle sensor is used to collect the changing angle of the transmission link mechanism; the change of the angle of the transmission link mechanism corresponds to the angle value between each oil-pneumatic suspension cross arm and the frame during the height adjustment process, and the angle measurement can form the chassis frame. altitude information.

The transmission link mechanism is used to connect the transmission structure of the chassis and the cross arm of the oil-pneumatic suspension to form a measurable angle change.

The chassis multi-mode height adjustment control system of this embodiment improves the accuracy and efficiency of the chassis height adjustment on the basis of ensuring the smoothness of the chassis, reduces the influence of environmental factors on the height adjustment, simplifies the height adjustment operation, and shortens the length of the height adjustment. It can adapt to the needs of various loads and specific working conditions, and improves the maneuverability and safety of the launch platform road and railway. While meeting the functional requirements, it has promoted the level of chassis informatization, and also promoted the improvement of chassis professional capabilities.

As shown in Figure 2, in this embodiment, the HMI module and the controller are connected through CAN bus data, the controller is connected to the control terminals of each valve through the CAN bus data, and the controller is connected to the output terminals of the sensors through the CAN bus data.

The controller uses the CAN bus protocol for communication, and has a self-diagnosis function, which can diagnose faults such as power supply and data of the sensor, short circuit and open circuit of the electrical circuit, and CAN bus communication status. Pack all kinds of processed data and play them back on the CAN bus according to the actual simulation requirements to realize the simulation of normal and abnormal processes.

As shown in Figure 3, the control valve group of the height adjustment actuator includes the first valve group, the second valve group and the third valve group. valve block (lifting valve block S1 and lowering valve block Y1), and the valve block of the hydraulic oil circuit of the oil-pneumatic suspension on the left side of the front axle (raising valve block S2 and lowering valve block Y2); the second valve Group includes the valve blocks controlling the hydraulic circuit of the hydro-pneumatic suspension on the right side of the rear axle of the chassis (raising valve block S3 and lowering valve block Y3), and the valves of the hydraulic circuit of the hydro-pneumatic suspension on the left side of the rear axle block (raise valve block S4 and drop valve block Y4); the third valve group includes oil source control valve block T1, which is used to ensure the pressure and flow when the height adjustment actuator works normally.

In application, when the chassis is raised, the high-pressure oil of the chassis hydraulic system enters the oil-air suspension through the control valve group, and the oil-air suspension is extended; when the chassis is lowered, the oil-air suspension is shortened, and the oil returns to the oil tank after passing through the control valve group.

A backup control valve T2 is set in the oil-pneumatic suspension communication pipeline on the same side of the axle, which is used for manual height adjustment through an external oil source when the height adjustment actuator fails.

As shown in Figure 4, the control method of the chassis multi-mode height adjustment control system of the present embodiment adopts the process of automatic height adjustment including:

Through the HMI module, start the automatic adjustment process;

The controller forms the balance position data according to the preset strategy;

At the same time, the controller sends control data to the oil-pneumatic suspension at the support positions of the left front, right front, left rear, and right rear of the chassis to adjust the stroke of the oil-pneumatic suspension;

Judgment process: Judging the difference between each support position and the balance position:

One-point operation process: When the support position is lower than the equilibrium position, according to the one-point operation method, raise the frame until it reaches the equilibrium position, and close the corresponding lifting valve; when the support position is higher than the equilibrium position, according to the one-point operation method, Lower the frame until it reaches the equilibrium position, and close the corresponding lowering valve;

Sequential adjustment process: The controller judges the oil-pneumatic suspension that first reaches the equilibrium position through the output state of the sensor device, sends a prompt signal through the HMI module, and closes the corresponding lifting and lowering valves to maintain oil pressure; then follow the right front, right rear, left rear , For the order of orientation in the left front, refer to the operation method of each point to adjust the oil-air suspension to the equilibrium position one by one;

When it is judged that the front right, rear right, rear left, and front left of the chassis have reached the equilibrium position, the automatic adjustment process is ended; when it is judged that the equilibrium position is not reached, the judgment process, point operation process and sequence adjustment process are restarted.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present invention can easily think of changes or Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (7)

1. a kind of chassis multi-mode Height-Adjusting System, including HMI module, controller, executing agency and sensing device are heightened, its In：

HMI module, for receive the work condition state information on chassis with picture and text form show there is provided human-computer interaction interface input control Instruction；

Controller, heightens the control data of executing agency according to built-in control logic formation for receiving control instruction, receives and adjust The work condition state information on status data and associated sensor data the formation chassis of high executing agency；

Executing agency is heightened, for adjusting corresponding hydro pneumatic suspension stroke according to control data, changes hydro pneumatic suspension Support Position Chassis height；

Sensing device, the altitude information and pressure data on executing agency and chassis are heightened for gathering, controller is sent in real time.

2. multi-mode Height-Adjusting System in chassis as claimed in claim 1, it is characterised in that the executing agency that heightens includes Control valve group, hydraulic circuit and hydro pneumatic suspension, wherein：

Hydraulic circuit, the fluid power conduction pathway for forming hydro pneumatic suspension；

Control valve group, for the power signal of receive control data formation, forms the stream of hydraulic oil in corresponding fluid power conduction pathway Enter, flow out and keep；

Hydro pneumatic suspension, for support chassis, stroke is changed with the fluid power size in fluid power conduction pathway.

3. multi-mode Height-Adjusting System in chassis as claimed in claim 1, it is characterised in that the sensing device includes pressure Sensor, angular transducer and transmission linkage mechanism, wherein：

Pressure sensor, the pressure change for gathering hydro pneumatic suspension Support Position；Can be with effective detection chassis load condition.

Angular transducer, the angle changing for gathering transmission linkage mechanism；

Linkage mechanism is driven, for connecting base plate and the drive mechanism of hydro pneumatic suspension transverse arm, measurable angle change is formed.

4. multi-mode Height-Adjusting System in chassis as claimed in claim 1, it is characterised in that the HMI module and controller By CAN data cube computation, controller is by the control end of CAN data cube computation control valve group, and controller is total by CAN The output end of line data cube computation sensing device.

5. multi-mode Height-Adjusting System in chassis as claimed in claim 2, it is characterised in that the control valve group includes first Valve group, the second valve group and the 3rd valve group, wherein：

First valve group includes the valve block of the hydraulic circuit of hydro pneumatic suspension on the right side of the anterior vehicle bridge on control chassis, including rise valve block S1 With the valve block of the hydraulic circuit of hydro pneumatic suspension on the left of lowering valve block Y1, and anterior vehicle bridge, including rise valve block S2 and lowering valve Block Y2；

Second valve group includes the valve block of the hydraulic circuit of hydro pneumatic suspension on the right side of the rear portion vehicle bridge on control chassis, including rise valve block S3 With the valve block of the hydraulic circuit of hydro pneumatic suspension on the left of lowering valve block Y3, and rear portion vehicle bridge, including rise valve block S4 and lowering valve Block Y4；

3rd valve group includes Oil-source control valve block T1, for ensureing pressure and flow when heightening executing agency's normal work.

6. multi-mode Height-Adjusting System in chassis as claimed in claim 5, it is characterised in that the control valve group is additionally included in Ganging up in pipeline for the hydro pneumatic suspension of vehicle bridge homonymy sets standby control valve T2, for when heightening executing agency's failure, passing through External oil sources is heightened manually.

7. the control method of the chassis multi-mode Height-Adjusting System as described in claim 1 to 6 is any, including：

By HMI module, start self-regulating process；

Controller forms equilbrium position data according to preset strategy；

Controller simultaneously to chassis it is left front, it is right before, it is left back, right after each Support Position hydro pneumatic suspension send control data regulation oil Gas suspension travel；

Deterministic process：Judge each Support Position and equilbrium position difference：

Individual operating process：When Support Position is less than equilbrium position, according to individual operating method, rise vehicle frame until reaching flat Weighing apparatus position, closes corresponding rise valve；When Support Position is higher than equilbrium position, according to individual operating method, reduction vehicle frame until Equilbrium position is reached, corresponding lowering valve is closed；

Sequential adjustment process：Controller is judged first to reach the hydro pneumatic suspension of equilbrium position by sensing device output state, passed through HMI module sends cue, and closes corresponding rise lowering valve, keeps oil pressure；Then according to before the right side, it is right after, it is left back, left front Location order, hydro pneumatic suspension is adjusted one by one to equilbrium position with reference to individual operating method；

When judge chassis it is right before, it is right after, left back, left front orientation all reach equilbrium position when, terminate self-regulating process, when sentencing During disconnected not up to equilbrium position, restart deterministic process, individual operating process and sequential adjustment process.