CN108248324A - Electromagnetic suspension and its control method and motor vehicle - Google Patents

Abstract

This application involves vehicle suspension technical field more particularly to electromagnetic suspension and its control method and motor vehicles.Electromagnetic suspension is for being connected between the vehicle body of motor vehicle and wheel, and including wheel connector, transmission mechanism, motor, vehicle body connector and control device, vehicle body connector is connect with motor；Control device is electrically connected with motor, and control device is used to obtain the current operation parameter of motor, target rotational parameter is obtained according to current operation parameter, and control motor is run with target rotational parameter；Wheel connector is connect by transmission mechanism with motor drive, the active force on wheel connector is converted to the rotation driving force to motor, active force when motor is run with target rotational parameter is converted to the damping force to wheel connector.Electromagnetic suspension provided herein and the cost of motor vehicle and maintenance cost are relatively low, simple in structure, improve the safety of motor vehicle, it can also be ensured that the stability of vehicle body.

Description

Electromagnetic suspension, its control method and motor vehicle

technical field

The present application relates to the technical field of vehicle suspension, in particular to an electromagnetic suspension and a control method thereof, and a motor vehicle.

Background technique

Electromagnetic suspension is an independent suspension system that uses electromagnetic response to work. It can respond to road conditions in a short time (such as within 1 millisecond), suppress vehicle vibration, and maintain the stability of the vehicle body. Therefore, electromagnetic suspension technology is More and more vehicle manufacturers are applying it to the research and development and production of vehicles.

At present, the existing electromagnetic suspension usually includes a magneto-rheological fluid shock absorber or a shock absorber combining an electromagnetic hydraulic rod and a straight shock absorber to achieve the purpose of suppressing vehicle vibration. The electromagnetic liquid particles inside it are excited by the pulse signal and will form a directional arrangement to achieve its shock absorption effect. However, this electromagnetic fluid is a special kind of fluid, which is relatively uncommon and relatively expensive. Generally, the price of vehicles using this electromagnetic suspension is also relatively high; The sealing requirements are also relatively high, so the device has stricter requirements on its processing and manufacturing process, and it is not easy to manufacture. Moreover, once the device is not sealed enough, the electromagnetic fluid will leak out, which will cause certain risks and form a safety hazard.

Contents of the invention

The present application provides an electromagnetic suspension and its control method, as well as a motor vehicle, to solve the problem that the existing electromagnetic suspension and the motor vehicle using the electromagnetic suspension are expensive, have high requirements on the manufacturing process and exist safety Hidden dangers, and can also ensure the stability of the body.

The first aspect of the present application provides an electromagnetic suspension for connecting between the body and the wheels of a motor vehicle, including:

wheel connectors;

transmission mechanism;

motor;

a body connector, the body connector is connected to the motor;

A control device, the control device is electrically connected to the motor, and the control device is used to obtain the current rotation parameter of the motor, obtain a target rotation parameter according to the current rotation parameter, and control the motor to rotate at the target parameter operation;

The wheel connection is connected to the motor through the transmission mechanism, so as to convert the force on the wheel connection into a rotational driving force for the motor, and to convert the motor at the target rotation parameter Active forces during operation are converted into damping forces on the wheel connection.

Further, the transmission mechanism is set as a screw mechanism, the screw mechanism includes a screw and a nut, the nut is sheathed on the outside of the screw, and the two are threaded, and one end of the screw is connected to the motor. The rotating shaft is connected, and the nut is connected with the wheel connector.

Further, the control device includes an acquisition unit, a processing unit and a regulation unit, the acquisition unit is electrically connected to the motor to obtain the current rotation parameter of the motor, the processing unit is electrically connected to the acquisition unit, To obtain the target rotation parameter and the adjustment parameter corresponding to the target rotation parameter according to the current rotation parameter, the control unit is electrically connected to the processing unit and the motor, and the control unit includes an adjustable resistance , the adjustment parameter includes a resistance parameter, and the control unit adjusts the resistance value of the adjustable resistor according to the resistance parameter, so as to control the motor to operate with the target rotation parameter.

Furthermore, the regulating part further includes an adjustable inductance, the adjusting parameter further includes an inductance value parameter, and the regulating part is further configured to adjust the inductance value of the adjustable inductance according to the inductance value parameter; and/or

The control unit further includes an adjustable capacitor, the adjustment parameter further includes a capacitance value parameter, and the control unit is configured to adjust the capacitance value of the adjustable capacitor according to the capacitance value parameter.

The second aspect of the present application provides a motor vehicle, comprising any one of the aforementioned electromagnetic suspensions, and a plurality of the electromagnetic suspensions are connected to a plurality of the wheels in a one-to-one correspondence.

Further, the motor vehicle also includes an integrated control unit, the integrated control unit is respectively electrically connected to the control devices of the plurality of electromagnetic suspensions, so as to obtain the current rotation parameters of the motors of the electromagnetic suspensions, and according to the The current rotation parameter obtains the target rotation parameter of the motor that needs to be regulated, and controls the corresponding control device to control the motor that needs to be regulated to run with the target rotation parameter.

Furthermore, the motor vehicle includes four electromagnetic suspensions, the four electromagnetic suspensions are respectively connected to the four wheels in one-to-one correspondence, and the four electromagnetic suspensions are electrically connected in pairs .

The third aspect of the present application provides a method for controlling an electromagnetic suspension, which is used to control any of the aforementioned electromagnetic suspensions, including the following steps:

Step S1, obtaining the current rotation parameters of the motor;

Step S2, obtaining a target rotation parameter according to the current rotation parameter;

Step S3, controlling the motor to run with the target rotation parameter.

Further, before the step S3, it also includes:

Step S4, obtaining an adjustment parameter corresponding to the target rotation parameter according to the current rotation parameter, the adjustment parameter including a resistance parameter;

The step S3 specifically includes: adjusting the resistance value of the adjustable resistor according to the resistance value parameter, so that the motor operates with the target rotation parameter.

Furthermore, the step S4 also includes: the adjustment parameter also includes an inductance value parameter and/or a capacitance value parameter;

The step S3 further includes: adjusting the inductance value of the adjustable inductor according to the inductance value parameter, and/or adjusting the capacitance value of the adjustable capacitor according to the capacitance value parameter.

The technical solution provided by the application can achieve the following beneficial effects:

Compared with the prior art, the electromagnetic suspension provided by the present application, when the wheels drive over the uneven road, the wheels are bumped during the electrified running of the motor vehicle, and the wheels are connected to the wheel connectors, and the wheel connectors are also connected to each other. Through the transmission mechanism and the motor transmission connection, the force exerted by the wheel on the wheel connector is converted into a rotational driving force to the motor through the transmission mechanism, the motor rotates, the control device is electrically connected to the motor, and the control device obtains the current rotation parameters of the motor. And according to the aforementioned current rotation parameters to obtain the target rotation parameters, the control device then controls the motor to run with the target rotation parameters to generate an active force in this state, and the active force is converted into a damping force on the wheel connector through the transmission mechanism, Vibration of the vehicle body is suppressed by the damping force to achieve the effect of shock absorption and ensure the smooth running of the motor vehicle. Among them, the greater the bump suffered by the wheel, the greater the displacement change of the transmission mechanism, the faster the rotation speed of the motor, the greater the electromagnetic torque generated by the motor, and the greater the corresponding damping force, which can suppress the vibration of the motor vehicle. bigger.

The electromagnetic suspension provided by this application and the motor vehicle adopt a mechanical drive to achieve the purpose of suppressing the vibration of the motor vehicle body and ensuring the stability of the vehicle body. Compared with the prior art, the cost and maintenance cost are lower, and the structure is simple. And there are no high requirements for sealing treatment, and the requirements for processing and manufacturing technology are not high. It is easier to process and manufacture. It also eliminates some safety hazards and improves the safety of motor vehicles. At the same time, it can also ensure the stability of the vehicle body. sex.

It is to be understood that both the foregoing general description and the following detailed description are exemplary only and are not restrictive of the application.

Description of drawings

Fig. 1 is the schematic structural diagram of the electromagnetic suspension provided by the embodiment of the present application;

Fig. 2 is a schematic diagram of the circuit connection of the control section of the electromagnetic suspension provided by an embodiment of the present application;

Fig. 3 is a partial structural schematic diagram of the motor vehicle provided by the embodiment of the present application;

Fig. 4 is a schematic diagram of the circuit connection of the regulating part of the electromagnetic suspension provided by another embodiment of the present application.

Reference signs:

1 - electromagnetic suspension;

10-wheel connector;

20-body connector;

30 - motor;

301 - rotating shaft;

40-screw mechanism;

401-screw;

402-nut;

50 - protective case;

60 - damping spring;

70 - Mounting seat;

80 - Regulatory Department;

801- adjustable resistance;

801a - fixed resistance;

801b-control switch;

802-adjustable inductance;

803-adjustable capacitor;

804-controllable power supply;

805-rectifier bridge;

90a - first wire;

90b - second wire;

11 - the first electromagnetic suspension;

12 - second electromagnetic suspension;

13 - third electromagnetic suspension;

14 - Fourth electromagnetic suspension.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description serve to explain the principles of the application.

Detailed ways

The present application will be described in further detail below through specific embodiments and in conjunction with the accompanying drawings.

As shown in Fig. 1 and Fig. 2, the embodiment of the present application provides an electromagnetic suspension 1, which is used to be connected between the vehicle body and the wheels of the motor vehicle to ensure the stability of the motor vehicle. The motor vehicle may be an automobile, a motorcycle, a transport vehicle, a mechanical vehicle, an electric vehicle, etc., and the specific type of the motor vehicle is not limited in this embodiment of the present application. The electromagnetic suspension 1 includes a wheel connector 10 and a vehicle body connector 20, the wheel connector 10 and the body connector 20 are respectively used to connect with the wheels and the vehicle body of the motor vehicle, specifically, they can be fixedly connected or flexibly connected, specifically The connection method may be one or more of various connection methods such as welding, bonding, clamping, linking, socketing, etc., and the connection method is not limited in this embodiment.

The aforementioned electromagnetic suspension 1 also includes a transmission mechanism, a motor 30 and a control device. The vehicle body connector 20 is connected to the motor 30. The two can be directly connected or indirectly connected through other devices; the wheel connector 10 is connected to the motor through a transmission mechanism. 30 transmission connection; the control device is electrically connected with the motor 30, and the control device is used to obtain the current rotation parameter of the motor 30, obtain the target rotation parameter according to the current rotation parameter, and control the motor 30 to run with the target rotation parameter, wherein the current rotation parameter and the target rotation parameter The rotation parameters can specifically be the rotation speed, the rotation frequency, the rotation period and the electromagnetic moment etc. of the motor 30; 30 is converted into a damping force on the wheel connector 10 when it operates with the target rotation parameters. The transmission mechanism can be a screw mechanism, a gear and rack combination mechanism, a worm gear and a worm combination mechanism, etc. The specific type of the transmission mechanism is in There is no limitation in this embodiment of the present application, any transmission mechanism that can realize the functions of the above transmission mechanism is acceptable, and preferably, the transmission mechanism can be set as a screw mechanism.

The electromagnetic suspension 1 provided by the embodiment of the present application, compared with the prior art, when the wheels drive over an uneven road surface, the wheels are bumped during the electrified running of the motor vehicle, and the wheels are connected to the wheel connector 10, The wheel connector 10 is also connected to the motor 30 through a transmission mechanism. The force applied by the wheel to the wheel connector 10 is converted into a rotational driving force to the motor through the transmission mechanism. The motor 30 rotates, and the control device is electrically connected to the motor 30. , the control device obtains the current rotation parameter of the motor 30, and obtains the target rotation parameter according to the aforementioned current rotation parameter, and then controls the motor 30 to run with the target rotation parameter, and generates an active force in this state, and the active force is then The transmission mechanism is converted into a damping force on the wheel connector 10, and the vibration of the vehicle body is suppressed through the damping force to achieve the effect of shock absorption and ensure the smooth running of the motor vehicle. Wherein, the greater the bumps suffered by the wheels, the greater the force transmitted by the transmission mechanism, the faster the rotation speed of the motor 30, the greater the electromagnetic torque generated by the motor 30, and the greater the corresponding damping force. The greater the degree of motor vehicle vibration.

The embodiment of the present application also provides a motor vehicle. As shown in FIG. 3, the motor vehicle includes one or more electromagnetic suspensions 1 mentioned above, and when the motor vehicle includes multiple electromagnetic The suspension 1 is respectively connected to a plurality of wheels of the motor vehicle in one-to-one correspondence.

The electromagnetic suspension 1 provided in the embodiment of the present application and the motor vehicle are mechanically driven to achieve the purpose of suppressing the vibration of the motor vehicle body and ensuring the stability of the vehicle body. Compared with the prior art, the cost and maintenance cost are lower. The structure is simple, and there is no high sealing treatment requirement, the processing and manufacturing process requirements are not high, the processing and manufacturing are easier, and some safety hazards are eliminated, which improves the safety of motor vehicles. body stability.

Preferably, as shown in FIG. 1 , the transmission mechanism in the embodiment of the present application can be specifically set as a screw mechanism 40, and the screw mechanism 40 can include a screw 401 and a nut 402, and the nut 402 can be sleeved outside the screw 401 , and the two need to be threaded, one end of the screw 401 is connected with the rotating shaft 301 of the motor 30, the two can be fixedly connected, and can also be connected flexibly, the nut 402 is connected with the wheel connector 10, the two can be directly connected, or Can be connected indirectly. Specifically, when the wheel is bumped, the wheel connector 10 applies the force generated by the vibration of the wheel to the nut 402, and the nut 402 is forced to move upwards, and drives the screw 401 to rotate, and then drives the rotation shaft 301 of the motor 30 to rotate, controlling The device obtains the current rotation parameter of the motor 30 at this time, and performs further processing to obtain the target rotation parameter, and the control device then controls the rotation shaft 301 of the motor 30 to perform reverse rotation with the target rotation parameter to generate a damping force and drive The screw rod 401 rotates, and then the nut 402 can be properly moved downwards, so as to control the bump degree of the wheel and ensure the stability of the vehicle body. This lead screw mechanism 40 can convert linear motion into rotational motion, and can also convert rotational motion into linear motion, thereby converting the active force on the wheel connector 10 into rotational driving force to the motor 30, and converting the motor 30 to The active force during the operation of the target rotation parameter is converted into a damping force on the wheel connector 10, and the lead screw mechanism 40 also has the advantages of simple structure, low price, convenient use and installation, and good performance, which can further effectively reduce the electromagnetic suspension. 1 and the cost of motor vehicles.

Further, the above-mentioned screw mechanism 40 may be a ball screw mechanism, and the ball screw mechanism has balls arranged between the screw rod 401 and the nut 402 . When the nut 402 drives the screw rod 401 to rotate, and when the screw rod 401 drives the nut 402 to move, since the ball screw mechanism has balls between the screw rod 401 and the nut 402, the sliding friction between the screw rod 401 and the nut 402 can be directly contacted by the screw rod. 401 and nut 402 are in contact with the rolling friction of the ball, which can reduce the friction force during the movement, make the movement of the transmission mechanism smoother, and effectively avoid the excessive transmission time caused by the excessive friction coefficient of the transmission mechanism itself Even when the transmission fails, the response sensitivity of the electromagnetic suspension 1 can be enhanced to a certain extent, and the stability of the vehicle body can be controlled in time.

The control device in this embodiment of the present application may include an acquisition unit, a processing unit, and a regulation unit 80 . The obtaining unit is electrically connected with the motor 30 to obtain the current rotation parameters of the motor 30 , the current rotation parameters may be the rotation speed, rotation frequency, rotation period and electromagnetic torque when the motor 30 rotates. The processing part is electrically connected to the acquisition part, and the processing part can receive the aforementioned current rotation parameter, and obtain the target rotation parameter according to the current rotation parameter, and the target rotation parameter can be the corresponding motor 30 when the motor vehicle is in a stable state or a relatively stable state. The rotation speed, rotation frequency, rotation cycle and electromagnetic torque, etc., the data of the aforementioned target rotation parameters can be obtained in advance through human body sensory tests, data analysis, etc., and stored in the processing unit. The processing unit can have a storage module for Store the corresponding relationship between the current rotation parameter and the target rotation parameter; the processing unit can also obtain the adjustment parameter corresponding to the aforementioned target rotation parameter through calculation according to the current rotation parameter and the target rotation parameter, and the adjustment parameter is to be able to realize the motor 30 with the target Rotation parameters run parameters, the adjustment parameters can be resistance value, inductance value, capacitance value and so on.

The aforementioned control unit 80 can be electrically connected with the processing unit to receive the aforementioned adjustment parameters. As shown in FIG. 30 , the regulating unit 80 may include a controllable power supply 804 , which can control whether the circuit where it is located is energized and whether it is electrically connected to the motor 30 by controlling the controllable power supply 804 to be turned on and off. The control unit 80 can also include an adjustable resistor 801, which can specifically be a sliding rheostat, a resistance box, a potentiometer, etc. The adjustment parameter can be a resistance parameter, and the control unit 80 can adjust accordingly according to the resistance parameter. The resistance value of the adjustable resistor 801. Assuming that the induced voltage of the circuit remains unchanged, the current will change due to the change of the resistance value, and the magnitude of the electromagnetic torque of the motor 30 will change. Specifically, the resistance increases, the current decreases, and the electromagnetic torque of the motor 30 also decreases. The rotation speed also decreases, otherwise, the resistance decreases, the current increases, the electromagnetic torque of the motor 30 increases, and the rotation speed also increases, and then the motor 30 is controlled to operate with the target rotation parameters. Furthermore, if the stability of the vehicle body is not enough after one adjustment, the adjustment can be repeated in the same manner. In addition, it is worth noting that the electrical connection mentioned in this embodiment may specifically be a wire connection or a wireless connection. The adjustment method can be realized by adjusting the resistance, the adjustment method is simple and convenient, the algorithm is simple, the structure is simple, the installation is convenient, the price is low, and furthermore, the cost of the electromagnetic suspension 1 and the motor vehicle can be greatly reduced.

As shown in Figure 4, the adjustable resistor 801 can also adopt the following embodiment. The adjustable resistor 801 can adopt the scheme of combining the fixed resistor 801a and the control switch 801b. For rectifying alternating current to direct current, the fixed resistor 801a can be set in parallel with the control switch 801b, and the control unit 80 can switch between closing and opening the control switch 801b according to the value of the specific aforementioned resistance parameter. Specifically, when the control switch 801b is closed, the current only flows through the branch where the control switch 801b is located, and the resistance value of the electrical connection loop is 0 ohms. At this time, the current in the circuit is relatively large, and the damping of the electromagnetic suspension 1 is also It is relatively large, the electromagnetic torque of the motor 30 is relatively large, and the rotational speed is relatively large. Therefore, when the numerical value of the aforementioned resistance parameter is large, the closed control switch 801b can be selected; when the control switch 801b is controlled When disconnected, the current flows through the branch where the fixed resistor 801a is located, and the resistance value of the electrical connection circuit is the resistance value of the fixed resistor 801a. At this time, the current in the circuit is relatively small, and the damping of the electromagnetic suspension 1 is relatively small. is small, the electromagnetic torque of the motor 30 is relatively small, and the rotation speed is relatively small. Therefore, when the value of the aforementioned resistance parameter is small, the control switch 801b can be selected to be turned off.

The control switch 801b in the above embodiment can specifically use a MOSFET (metal–oxide-semiconductor field-effect, metal-oxide-semiconductor field-effect transistor) switch, and the switching on and off of the MOSFET switch is controlled by PWM (pulse width modulation, pulse width modulation) The high and low level control of the signal changes the ratio of the high and low levels of the PWM signal, which can change the resistance value of the electrical connection circuit of the electromagnetic suspension 1 . When the high level of the PWM signal accounts for a large proportion, the on-time of the MOSFET switch accounts for a large proportion, and the resistance of the electrical connection circuit is small, and vice versa. The MOSFET switch in this embodiment has a resistor with a certain resistance value, which can ensure the basic damping of the electromagnetic suspension 1. When the control system of the electromagnetic suspension 1 fails, the basic damping can ensure the safety of the driver. In addition, the PWM control signal can be sent with only a small energy consumption, and the resistance value of the adjustable resistor 801 can be changed to realize the controllable damping of the suspension without a large amount of energy supply.

In a further embodiment, the above-mentioned control part 80 may also include an adjustable inductance 802 and/or an adjustable capacitor 803, and the adjustment parameter may also include an inductance value parameter and/or a capacitance value parameter, and the adjustable inductance 802 specifically It may be an adjustable inductor, and the adjustable capacitor 803 may specifically be a chip adjustable capacitor, a plug-in adjustable capacitor, a ceramic adjustable capacitor, a PVC adjustable capacitor, an air adjustable capacitor, and the like. The adjustable inductance 802 has the advantages of strong mechanical vibration resistance, less influence by temperature and humidity, and a large adjustment range of inductance value, and the adjustable capacitor 803 has the advantages of high fine-tuning accuracy.

Specifically, the aforementioned regulation unit 80 can adjust the inductance value of the adjustable inductor 802 and/or the capacitance value of the adjustable capacitor 803 respectively according to the aforementioned inductance value parameter and/or capacitance value parameter. That is to say, the regulating part 80 may include any one or more of the three devices of the adjustable resistor 801, the adjustable inductance 802, and the adjustable capacitor 803, and each device may also include one or more devices, multiple or Multiple devices can be connected in series, in parallel or in series-parallel. Those skilled in the art know that, in general, the resistance value of multiple resistors connected in series is greater than the resistance value of multiple resistors connected in parallel, the inductance value of multiple inductors connected in series is also greater than the inductance value of multiple inductors connected in parallel, and the inductance value of multiple capacitors The capacitance value after parallel connection is greater than the capacitance value after multiple capacitors are connected in series. Therefore, based on the principle that the resistance value and/or the inductance value and/or the capacitance value can be maximized, when the regulating part 80 includes one or more adjustable resistors 801, and/or one or more adjustable inductors 802, preferably The aforementioned adjustable resistors 801 and/or adjustable inductances 802 are connected in series; when the regulating part 80 includes one or more adjustable capacitors 803, and/or one or more adjustable resistors 801, and/or one or multiple adjustable inductors 802, preferably, multiple adjustable capacitors 803 are connected in parallel, and the adjustable capacitors 803 are respectively connected in parallel with the adjustable resistor 801 and/or the adjustable inductor 802. When the resistance value and/or the inductance value and/or the capacitance value can be maximized, the adjustment range of the adjustment unit 80 is larger, and the adjustment ability is also greater, thereby improving the ability to adjust the stability of the vehicle body.

FIG. 2 is a schematic diagram of a preferred connection mode when the control unit 80 includes an adjustable resistor 801, an adjustable inductance 802, and an adjustable capacitor 803. The three devices are electrically connected in series and parallel, and the adjustable resistor 801 and the The adjustable inductor 802 is connected in series and the adjustable capacitor 803 is connected in parallel. In this way, the three devices are electrically connected and connected in a way that the resistance value, the inductance value and the capacitance value can be maximized. The control unit 80 can synthesize the advantages of the adjustable resistance 801, the adjustable inductance 802 and the adjustable capacitance 803. , that is: the regulating part 80 can not only have the advantages of high fine-tuning precision of the adjustable capacitor 803, but also have the advantages of the adjustable inductance 802 having strong anti-mechanical vibration performance, being less affected by temperature and humidity, and having a relatively wide adjustment range of the inductance value. The biggest advantage is that the adjustment method of the adjustable resistor 801 is simple and the price is low. The control unit 80 reduces or even eliminates the influence of external factors such as temperature on the adjustment results, improves the adjustment accuracy of the control unit 80, optimizes the adjustment method of the control unit 80, and also improves the adjustment ability of the control unit 80, thereby improving body stability.

Another preferred embodiment is that, as shown in FIG. 1 , the electromagnetic suspension 1 can also include a protective case 50, the protective case 50 has a cavity inside, the motor 30 can be arranged in the cavity, and can be connected with The inner surface of the protective case 50 is fixedly connected, the rotating shaft 301 of the motor 30 protrudes from the protective case 50 , and is connected with the transmission mechanism, and the vehicle body connector 20 is installed outside the protective case 50 . The protective case 50 can be a box structure, and the protective case 50 can be made of a material with strong rigidity, corrosion resistance, high temperature resistance and high hardness, such as stainless steel, aluminum alloy and the like. The function of the protective shell 50 is to protect the motor 30 in its cavity from damage, prolong the service life of the motor 30, and reduce the maintenance cost of the motor vehicle.

Another preferred embodiment is that, as shown in Figure 1, the electromagnetic suspension 1 can also include a damping spring 60 and a mount 70, and the damping spring 60 can be a steel wire compression spring, a rubber spring, a composite spring, a hollow Airbag springs, etc., the present embodiment takes the shock absorbing spring 60 as a steel wire compression spring as an example, the transmission mechanism and the wheel connector 10 can be respectively installed on the opposite sides of the mounting seat 70, specifically, when the transmission mechanism is a screw mechanism 40 , one side of the mounting seat 70 can be fixed or movably connected with the nut 402 of the lead screw mechanism 40, and the opposite side can be fixed or movably connected with the wheel connector 10, and the shock absorbing spring 60 can be located between the protective shell 50 and the installation Between the seat 70 and in contact with the two, the upward or downward movement of the mounting seat 70 can correspondingly compress or stretch the damping spring 60 in contact with it. When the wheel is vibrated, the wheel connecting member 10 and the mounting seat 70 will also be vibrated and move up and down, and then the damping spring 60 will be compressed or stretched. During this process, the shock absorbing spring 60 can absorb part of the energy generated by the vibration of the wheel, and can also play a role in buffering energy transmission to improve the stability of the vehicle body. In addition, according to different road conditions that can be predicted, the initial position of the shock absorbing spring 60 can be adjusted in advance by moving the mount 70 up and down, so as to improve the stability of the motor vehicle under different road conditions, for example: when it is predicted that the motor vehicle will drive on When on a relatively flat road, the installation seat 70 can be moved up appropriately in advance to reduce the distance between the vehicle body and the wheels, so as to prevent that when the wheels vibrate very little, it may not be necessary to suppress the vibration, and the shock absorption The spring 60 and the transmission mechanism have correspondingly made a larger response to suppress the vibration, which may reduce the stability of the vehicle body to a certain extent; Properly move down the mounting seat 70 in advance, increase the distance between the vehicle body and the wheel, improve the response sensitivity and adjustment accuracy of the electromagnetic suspension 1, so that when the wheel is subject to greater vibration or more frequent vibration, the shock absorbing spring 60 and the transmission The mechanism can make a good vibration suppression response in time, which further improves the shock absorption effect of the electromagnetic suspension 1 and improves the stability of the motor vehicle.

As shown in Figure 3, further, the motor vehicle provided by the present application can also include an integrated control unit, which can be electrically connected to the control devices of a plurality of electromagnetic suspensions 1 respectively, so as to obtain the The current rotation parameters of the motor 30, and obtain the target rotation parameters of the motor 30 that needs to be regulated according to each current rotation parameter, and control the corresponding control device to control the motor 30 that needs to be regulated to run with the target rotation parameters. The aforementioned motor 30 that needs to be regulated Refers to the motor 30 that needs to be regulated according to the different vibration conditions of the corresponding motor vehicle under different road conditions.

Specifically, taking a four-wheel motor vehicle as an example for illustration, the four-wheel motor vehicle may include four aforementioned electromagnetic suspensions 1, and the four electromagnetic suspensions 1 are respectively connected to its four wheels in one-to-one correspondence. 1 can be respectively the first electromagnetic suspension 11, the second electromagnetic suspension 12, the third electromagnetic suspension 13 and the fourth electromagnetic suspension 14, and according to the vibration situation of the four-wheel motor vehicle under different road conditions, it can correspond to different The electromagnetic suspension 1 is adjusted, and the aforementioned vibration conditions can be pitch vibration, roll vibration, or a combination of pitch and roll vibration. Specifically, it is possible to stabilize the vibration situation of pitching forward and pitching forward by simultaneously adjusting the first electromagnetic suspension 11 and the second electromagnetic suspension 12; it is possible to stabilize by simultaneously adjusting the third electromagnetic suspension 13 and the fourth electromagnetic suspension 14 The vibration situation of leaning back and leaning back; the vibration situation of left tilt can be stabilized by simultaneously adjusting the first electromagnetic suspension 11 and the third electromagnetic suspension 13; the second electromagnetic suspension 12 and the fourth electromagnetic suspension 14 can be adjusted simultaneously To stabilize the vibration situation of right tilt; the vibration situation of combining pitch and roll can be stabilized by simultaneously adjusting the first electromagnetic suspension 11 and the fourth electromagnetic suspension 14, or the second electromagnetic suspension 12 and the third electromagnetic suspension 13 . According to different vibration conditions, adjusting different electromagnetic suspensions 1 at the same time can effectively improve the working efficiency of the electromagnetic suspension 1 in suppressing the vibration of the motor vehicle, and can further improve the stability of the motor vehicle.

On the basis of the above-mentioned embodiments, the four electromagnetic suspensions 1 can be electrically connected in pairs to form six different electrical connection circuits. Each electrical connection circuit can be connected with its own circuit switch. The control unit is electrically connected to control the closing and opening of each circuit switch according to the vibration of the vehicle body in different road conditions. Each electrical connection circuit can control two electromagnetic suspensions 1 at the same time. If the circuit switches of multiple electrical connection circuits Simultaneously closed, just can control a plurality of electromagnetic suspensions 1 at the same time, can further reduce the time that motor vehicle suppresses vibration like this, improve reaction speed, and control is more convenient at the same time.

The embodiment of the present application provides a control method of the electromagnetic suspension 1, which can be used for the electromagnetic suspension 1 in any of the foregoing embodiments, and the control method can include the following steps:

Step S1, obtaining the current rotation parameters of the motor 30;

Step S2, obtaining the target rotation parameter according to the current rotation parameter;

Step S3, controlling the motor 30 to run with the target rotation parameter.

The electromagnetic suspension 1 can achieve the purpose of suppressing the vibration of the vehicle body and ensuring the stability of the vehicle body through the control method, and the control method is simple and has strong implementability.

Further, it may also include before step S3:

Step S4. Obtain an adjustment parameter corresponding to the target rotation parameter according to the current rotation parameter, and the adjustment parameter may include a resistance parameter;

The aforementioned step S3 may specifically be: adjusting the resistance value of the adjustable resistor 801 according to the resistance value parameter, so as to make the motor 30 run with the target rotation parameter.

This control method is more direct, simple and easy to implement.

Further, step S4 may also include: the adjustment parameter also includes an inductance value parameter and/or a capacitance value parameter;

Step S3 may also include: adjusting the inductance value of the adjustable inductor 802 according to the inductance value parameter, and/or adjusting the capacitance value of the adjustable capacitor 801 according to the capacitance value parameter.

This control method reduces or even eliminates the influence of external factors such as temperature on the adjustment result, improves the adjustment accuracy of the control part 80, and also improves the adjustment ability of the control part 80, thereby improving the stability of the vehicle body.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, there may be various modifications and changes in the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (10)

1. a kind of electromagnetic suspension, for being connected between the vehicle body of motor vehicle and wheel, which is characterized in that including：

Wheel connector；

Transmission mechanism；

Motor；

Vehicle body connector, the vehicle body connector are connect with the motor；

Control device, the control device are electrically connected with the motor, and the control device is used to obtain the current of the motor Rotational parameters obtain target rotational parameter and the control motor according to the current operation parameter with the target rotational Parameter is run；

The wheel connector is connect by the transmission mechanism with the motor drive, by the work on the wheel connector Effect when being firmly converted to the rotation driving force of the motor and running the motor with the target rotational parameter Power is converted to the damping force to the wheel connector.

2. electromagnetic suspension according to claim 1, which is characterized in that

The transmission mechanism is set as screw mechanism, and the screw mechanism includes screw rod and nut, and the nut is sheathed on described Outside screw rod, and the two thread fitting, one end of the screw rod are connected with the rotation axis of the motor, the nut and the vehicle Wheel connector is connected.

3. electromagnetic suspension according to claim 1, which is characterized in that

The control device includes acquisition unit, processing unit and regulation and control portion, and the acquisition unit is electrically connected with the motor, to obtain The current operation parameter of the motor, the processing unit are electrically connected with the acquisition unit, to be obtained according to the current operation parameter To the target rotational parameter and adjustment parameter corresponding with the target rotational parameter, the regulation and control portion respectively with the place Reason portion and motor electrical connection, the regulation and control portion include adjustable resistance, and the adjustment parameter includes resistance value parameter, the regulation and control The resistance value of portion's adjustable resistance according to the resistance value parameter regulation, the motor to be controlled to be transported with the target rotational parameter Row.

4. electromagnetic suspension according to claim 3, which is characterized in that

The regulation and control portion further includes controllable impedance, and the adjustment parameter further includes inductance value parameter, and the regulation and control portion is additionally operable to root According to the inductance value of controllable impedance described in the inductance value parameter regulation；And/or

The regulation and control portion further includes tunable capacitor, and the adjustment parameter further includes capacitance parameter, and the regulation and control portion is additionally operable to root The capacitance of the tunable capacitor is adjusted according to the capacitance parameter.

5. a kind of motor vehicle, which is characterized in that including the electromagnetic suspension described in any one of multiple claim 1-4, and it is multiple The electromagnetic suspension connects one to one with multiple wheels.

6. motor vehicle according to claim 5, which is characterized in that further include Comprehensive Control unit, the Comprehensive Control list Control device of the member respectively with multiple electromagnetic suspensions is electrically connected, to obtain the current operation of the motor of each electromagnetic suspension Parameter, the target rotational parameter for the motor for needing to regulate and control is obtained according to each current operation parameter, and is controlled corresponding The control device control needs the motor regulated and controled to be run with the target rotational parameter.

7. motor vehicle according to claim 6, which is characterized in that including four electromagnetic suspensions, four electromagnetism Suspension connects one to one respectively with four wheels, and is electrically connected two-by-two between four electromagnetic suspensions.

8. a kind of control method of electromagnetic suspension, for controlling the electromagnetic suspension described in any one of claim 1-4, feature It is, includes the following steps：

Step S1, the current operation parameter of motor is obtained；

Step S2, target rotational parameter is obtained according to the current operation parameter；

Step S3, the motor is controlled to be run with the target rotational parameter.

9. control method according to claim 8, which is characterized in that further included before the step S3：

Step S4, adjustment parameter corresponding with the target rotational parameter, the adjusting are obtained according to the current operation parameter Parameter includes resistance value parameter；

The step S3 is specially：According to the resistance value of the resistance value parameter regulation adjustable resistance, so that the motor is with the mesh Mark rotational parameters operation.

10. control method according to claim 9, which is characterized in that further included in the step S4：The adjustment parameter Further include inductance value parameter and/or capacitance parameter；

It is further included in the step S3：According to the inductance value of the inductance value parameter regulation controllable impedance and/or according to the electricity The capacitance of capacitance parameter regulation tunable capacitor.