CN108357318B - An intelligent preview control method for emergency rescue vehicle suspension - Google Patents
An intelligent preview control method for emergency rescue vehicle suspension Download PDFInfo
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- CN108357318B CN108357318B CN201810083852.XA CN201810083852A CN108357318B CN 108357318 B CN108357318 B CN 108357318B CN 201810083852 A CN201810083852 A CN 201810083852A CN 108357318 B CN108357318 B CN 108357318B
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- 239000000725 suspension Substances 0.000 title claims abstract description 47
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- 238000007781 pre-processing Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 230000003746 surface roughness Effects 0.000 claims 1
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- 238000006073 displacement reaction Methods 0.000 description 5
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- 239000011159 matrix material Substances 0.000 description 3
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- 241001127637 Plantago Species 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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Abstract
本发明公开了一种用于应急救援车辆悬挂的智能预瞄控制方法。所述检测系统包括车速检测器、电控单元ECU、车前预瞄传感器和加速度传感器。所述方法内容是：用车速检测器测量当前车辆行驶速度；用车前预瞄传感器测量前方一定距离内的路面信息；用加速度传感器测量前轮的加速度信息；将测得的当前信息传输到电控单元ECU中的预处理模块，并计算主动悬挂系统车前预瞄控制允许的速度节点vmax；比较当前车辆行驶速度和速度节点，电控单元ECU选择执行车前预瞄模块或轴间预瞄模块，形成最后的控制方法；本发明提高了应急救援车辆在高速和低速行驶时控制效果及解决其复杂路面高速行驶时预瞄控制系统稳定性的问题。
The invention discloses an intelligent preview control method for emergency rescue vehicle suspension. The detection system includes a vehicle speed detector, an electronic control unit ECU, a pre-vehicle preview sensor and an acceleration sensor. The content of the method is: measure the current speed of the vehicle with a vehicle speed detector; measure the road surface information within a certain distance ahead with the front sight sensor; measure the acceleration information of the front wheel with the acceleration sensor; transmit the measured current information to the electric vehicle. The preprocessing module in the control unit ECU, and calculates the speed node v max allowed by the active suspension system's front preview control; compares the current vehicle speed and speed node, the electronic control unit ECU chooses to execute the vehicle front preview module or the inter-axle preview The aiming module forms the final control method; the invention improves the control effect of the emergency rescue vehicle when driving at high speed and low speed and solves the problem of the stability of the preview control system when the vehicle is driving at high speed on complex roads.
Description
Technical Field
The invention belongs to the field of vehicle suspension control, and particularly relates to an intelligent pre-aiming control method for emergency rescue vehicle suspension.
Background
The emergency rescue vehicle has large carrying capacity and high running speed, and is easy to be impacted by a severe road surface in the running process. Therefore, there is a pressing need for a suspension system with superior performance. At present, the active controllable suspension is often used for improving the running smoothness and the operation stability of a vehicle, and the development of a control method with stable performance and wide application is always the key problem of the design of an active suspension system.
Due to the influence of factors such as signal acquisition and transmission, calculation of a controller, actuation process of an actuator and the like, a time lag phenomenon inevitably exists in a suspension control system, so that control acting on a structure lags behind the requirement of real-time control, and finally, the control effect is not ideal and the instability of the control system can be caused.
In recent years, the preview control has achieved a significant effect in real-time control of the vehicle suspension system. The vehicle preview control is divided into a vehicle front preview and an inter-axle preview. The front preview takes the state of the road ahead measured by a dedicated preview sensor mounted in the front of the vehicle as information for the design of the suspension controller. The control effect is influenced by the response time lag of the system, the preview time is longer than the response time lag of the hardware of the control system, and the shorter preview time when the vehicle runs at high speed can cause the deterioration of the control performance and even cause the instability of the control system. The inter-axle preview uses the road surface displacement input signal of the front wheel as the future road surface input signal of the rear wheel. The control system has small response time lag, can meet the suspension control requirement when running at a higher speed, but only controls the vibration condition of the rear wheel, and is difficult to effectively improve the running smoothness and the operation stability of the vehicle on a severe road surface.
Disclosure of Invention
The active suspension pre-aiming control system aims at solving the problems that the existing active suspension pre-aiming control mode is single, the requirement that the emergency rescue vehicle can achieve a good control effect when running at high speed and low speed can not be met, and the stability of the pre-aiming control system when running at high speed on a complex road surface can not be solved. The invention provides an intelligent pre-aiming control method for suspending an emergency rescue vehicle, which has two modes of front pre-aiming control or interaxial pre-aiming control.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent pre-aiming control method for suspending an emergency rescue vehicle adopts a detection system which comprises a vehicle speed detector, an Electronic Control Unit (ECU), a vehicle front pre-aiming sensor and an acceleration sensor;
the vehicle speed detector is used for measuring the current running speed of the emergency rescue vehicle;
the electronic control unit ECU is used for deciding the control mode adopted by the front road surface according to the vehicle running speed v detected by the vehicle speed detector and the speed node v calculated by the preprocessing modulemaxJudging a control mode adopted by the front road surface; said velocity node vmaxI.e. the maximum allowable vehicle speed vmax(ii) a The electronic control unit ECU comprises a preprocessing module, a vehicle front pre-aiming control module and an inter-axle pre-aiming control module; the preprocessing module provides a speed node for a control mode adopted by an Electronic Control Unit (ECU) to decide a front road surface, and the specific method is that the speed node is provided according to the current vehicle speed v and the front road surface unevenness ztInformation calculation active suspension system vehicle front pre-aiming control allowed maximum vehicle running speed vmax(ii) a Front pre-aiming control module of vehicleThe block controls the whole vehicle suspension system according to the front road information; the inter-axle pre-aiming control module controls the rear wheel suspension actuator according to the front wheel state information;
the plantago preview sensor is used for the road surface information in the certain distance in place ahead of emergency rescue vehicle collection, wherein includes: road surface unevenness z in front of the vehicletThe pre-aiming distance L of the vehicle;
the acceleration sensor is used for measuring the acceleration information of the front wheels of the vehicle and calculating the state information of the front wheels according to the acceleration.
The method comprises the following steps:
step 1: measuring the current vehicle running speed v by using a vehicle speed detector in a cab; measuring road surface information including road surface unevenness z in front of the vehicle within a certain distance in front by using a vehicle front pre-aiming sensor in front of the vehicletAnd the pre-aiming distance L of the vehicle; measuring acceleration information of a front wheel with an acceleration sensor of the front wheel of the vehicle;
step 2: measuring the current vehicle running speed v and the front road surface unevenness ztThe information is transmitted to a preprocessing module in an Electronic Control Unit (ECU), and a speed node v allowed by the front pre-aiming control of the active suspension system is calculatedmax；
And step 3: transmitting the measured road surface information to a vehicle front pre-aiming control module in an Electronic Control Unit (ECU); transmitting the measured acceleration information of the front wheel to an inter-axle pre-aiming control module in an Electronic Control Unit (ECU);
and 4, step 4: comparing the current vehicle running speed v with the speed node vmaxThe electronic control unit ECU selects and executes a front pre-aiming module or an inter-axle pre-aiming module to form a final control method; the current vehicle running speed v is less than the speed node vmaxWhen the vehicle is in use, the electronic control unit ECU executes a vehicle front pre-aiming control module; calculating a pre-aiming control instruction according to road surface information measured by a front pre-aiming sensor, and respectively sending control signals to corresponding active suspension actuating mechanisms; the current vehicle running speed v is greater than the speed node vmaxWhen the system is used, an electronic control unit ECU executes an inter-shaft pre-aiming control module; calculating a pre-aiming control instruction according to front wheel state information measured by the acceleration sensor,and respectively sending the control signals to the corresponding active suspension actuating mechanisms.
Compared with the prior art, the invention has the following beneficial effects:
(1) when the vehicle running speed is lower than the speed node, the vehicle front pre-aiming module is executed, and when the vehicle running speed is higher than the speed node, the inter-axle pre-aiming module is executed, so that the advantages of the vehicle front pre-aiming control and the inter-axle pre-aiming control are combined, the good control effect of the suspension system is obtained when the suspension system runs at high speed and low speed, and the switching of the method is continuous when the method is controlled at low speed and high speed; the control effect of the emergency rescue vehicle during high-speed and low-speed running is improved, and the problem of stability of the pre-aiming control system during high-speed running of the complex road surface is solved.
(2) The suspension control method provided by the invention integrates the front pre-aiming control and the inter-axle pre-aiming control. The pre-aiming control before the vehicle has better effect when the vehicle runs on a bad road surface at low speed and has poor effect when the vehicle runs at high speed; the effect of the inter-axle pre-aiming control is better when the vehicle runs on a good road at a high speed and is not good when the vehicle runs on a bad road. The speed node of the high-low speed boundary is determined by the maximum allowable time lag of the control system, so that the stability of the suspension control system can be obviously improved when the control method provided by the invention runs on a complex road surface at a high speed, and a good control effect is achieved.
(3) The control system provided by the invention has the advantages of high stability, good real-time performance, simple and easy control method, wide application, and easy realization and popularization.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of one-half of a vehicle active suspension system;
FIG. 3 is a schematic flow diagram of the process of the present invention;
FIG. 4 is a schematic view of a quarter-vehicle active suspension system.
Detailed Description
The following further describes embodiments of the method of the present invention with reference to the accompanying drawings:
the control effect of the emergency rescue vehicle during high-speed and low-speed running is improved, and the problem of stability of a pre-aiming control system during high-speed running of a complex road surface is solved. The invention provides an intelligent pre-aiming control method for hanging an emergency rescue vehicle.
The detection system adopted by the method of the invention, as shown in fig. 1, comprises a vehicle front preview sensor 1, a vehicle speed detector 2, an acceleration sensor 3 and an electronic control unit ECU 4. Wherein, the front pre-aiming sensor 1 is arranged at the front part of the vehicle with reasonable installation angle and installation height, and collects the road surface unevenness z in a certain distance L in frontt(ii) a The vehicle speed detector 2 is installed in a vehicle cab; the acceleration sensor 3 is fixed on the vehicle active suspension actuator by welding; the electronic control unit ECU4 is installed in a vehicle cab and comprises a preprocessing module, a vehicle front pre-aiming control module and an inter-axle pre-aiming control module.
The vehicle speed detector is used for measuring the current running speed of the emergency rescue vehicle;
the electronic control unit ECU is used for deciding the control mode adopted by the front road surface according to the running speed v of the vehicle speed detector and the speed node v calculated by the preprocessing modulemaxJudging a control mode adopted by the front road surface; said velocity node vmaxIs the maximum allowable vehicle speed vmax(ii) a The electronic control unit ECU includes: the system comprises a preprocessing module, a vehicle front pre-aiming control module and an inter-axle pre-aiming control module;
the preprocessing module provides a speed node for a control mode adopted by an Electronic Control Unit (ECU) to decide a front road surface, and the specific method is that the speed node is provided according to the current vehicle speed v and the front road surface unevenness ztInformation calculation active suspension system vehicle front pre-aiming control allowed maximum vehicle running speed vmaxI.e. velocity node vmax；
The front pre-aiming control module controls a whole vehicle suspension system according to front road surface information;
the inter-axle pre-aiming control module controls the rear wheel suspension actuator according to the front wheel state information;
the plantago preview sensor is used for the road surface information in the certain distance in place ahead of emergency rescue vehicle collection, wherein includes: road ahead of vehicleSurface unevenness ztAnd the pre-aiming distance L of the vehicle;
the acceleration sensor is used for measuring the acceleration information of the front wheels of the vehicle and calculating the state information of the front wheels according to the acceleration.
As shown in fig. 2: a typical one-half vehicle active suspension system model, where M represents the semi-vehicle body mass, I represents the semi-vehicle body moment of inertia, θ represents the pitch angle at the center of mass of the body, and Z represents the pitch angleMIs the vertical displacement of the center of mass, dfAnd drRespectively the distance from the center of mass of the vehicle body to the front and rear axles, mfAnd mrRepresenting unsprung masses, k, of the front and rear axles, respectivelysfAnd ksrThe stiffness coefficients of the front and rear suspension damping springs, csfAnd csrRespectively front and rear suspension damping coefficient ufAnd urInput force, k, for front and rear suspension actuators, respectivelytfAnd ktrThe stiffness coefficients of the front and rear tires, respectively. z is a radical oftThe road surface unevenness in front is measured by a front pre-aiming sensor, and L is the front pre-aiming distance.
The method utilizes the measurement information of a vehicle speed detector and a vehicle front sighting sensor to construct a displacement and speed feedback gain matrix related to a control system, and further calculates the maximum time lag t allowed by the control system according to a Nyquist stability criterionmaxTo determine the velocity node v in the ECUmax. The measured road surface unevenness ztThe information is transmitted to a vehicle front pre-aiming control module in an electronic control unit ECU; and transmitting the measured acceleration information of the front wheels to an inter-axle pre-aiming control module in an Electronic Control Unit (ECU). Comparing the current vehicle running speed v with the speed node vmaxAnd the electronic control unit ECU selects to execute a front pre-aiming module or an inter-axle pre-aiming module to form a final control method. As shown in the flow chart of fig. 3, the details of the method of the present invention are as follows:
step 1: measuring the current vehicle running speed v by using a vehicle speed detector in a cab; measuring road surface information including road surface unevenness z in front of the vehicle within a certain distance in front by using a vehicle front pre-aiming sensor in front of the vehicletAnd the pre-aiming distance L of the vehicle; in front of vehiclesThe acceleration sensor of the wheel measures the acceleration information of the front wheel;
step 2: measuring the current vehicle running speed v and the front road surface unevenness ztThe information is transmitted to a preprocessing module in an Electronic Control Unit (ECU), and a speed node v allowed by the front pre-aiming control of the active suspension system is calculatedmax；
The maximum allowable time lag of the whole vehicle can be calculated by a quarter of the vehicle suspension system according to the characteristics of the control system.
As shown in fig. 4, the quarter vehicle active suspension system dynamics equation is established:
wherein m isbIs sprung mass, mwIs an unsprung mass, csIs the damping coefficient, k, of the shock absorbersIs the spring rate, ktAs tire stiffness, xbFor vertical displacement of the body, xwFor vertical displacement of the tyre, y is the function of the unevenness of the road surface, ufIs the control force of the actuator.
Performing modal coordinate transformation on the above dynamic equation
x(t)＝αD(t) (3)
Wherein α ═ α1,α2]Is a second-order matrix, and D (t) is a 2x1 order modal coordinate vector.
Substituting the equation (3) into the equations (1) and (2) and properly arranging to obtain a decoupling equation:
wherein ζiAnd ωiThe frequency and damping coefficient, u, of the ith order mode, respectivelyi(t) is the control of the ith order modeForce.
Wherein G is1And G2Respectively, the current vehicle running speed v and the front road surface unevenness z measured in step 1tAnd (4) calculating.
Writing equation (4) as a state equation:
taking an objective function:
wherein
The control force can be obtained by applying the LQR control principle:
wherein:
and satisfies the Riccati matrix equation:
solving equation (8) yields:
wherein
Controlling the maximum time lag t allowed by the system according to the Nyquist stability criteriondiSatisfies the following conditions:
after proper arrangement operation, the following are obtained:
maximum allowable time lag t of time lag modal control systemmaxMaximum allowable time lag t for each control modedi(i ═ 1, 2) minimum:
tmax＝Min{td1 td2}。
in order to ensure the control effect and the system stability thereof, the control time t of the front pre-aiming at the vehicle is more than the maximum allowable time lag t of the control systemmaxI.e. t > tmax。
The pre-aiming distance of the front pre-aiming sensor is L, and the maximum vehicle running speed v allowed by the front pre-aiming control existsmaxI.e. by
Maximum vehicle running speed v allowed by front pre-aiming controlmaxDefined as the velocity node.
And step 3: transmitting the measured road surface information to a vehicle front pre-aiming control module in an Electronic Control Unit (ECU); transmitting the measured acceleration information of the front wheel to an inter-axle pre-aiming control module in an Electronic Control Unit (ECU);
and 4, step 4: comparing the current vehicle running speed v with the speed node vmaxAnd the electronic control unit ECU selects to execute a front pre-aiming module or an inter-axle pre-aiming module to form a final control method.
When the current vehicle running speed v is less than the speed node vmaxThe ECU executes the pre-aiming control before the vehicleAnd (5) modules.
And calculating a pre-aiming control command according to the road surface information measured by the front pre-aiming sensor, and respectively sending the control signal to the corresponding active suspension actuating mechanism.
The control system of the classical front pre-aiming control has good stability when the vehicle runs at low speed. However, the control effect is not ideal when the vehicle travels at high speed, and instability of the control system may be caused.
When the current vehicle running speed v is greater than the speed node vmaxAnd the electronic control unit ECU executes an inter-shaft pre-aiming control module.
And calculating a pre-aiming control instruction according to front wheel state information measured by the acceleration sensor, and respectively sending control signals to corresponding active suspension actuating mechanisms.
The control time lag of the classic interaxle pre-aiming control system is far smaller than that of a vehicle front pre-aiming control system, so that the control system can meet the requirement of higher vehicle speed driving, but only controls the vibration condition of a rear wheel, and the driving smoothness and the operation stability of the vehicle are difficult to effectively improve on a severe road surface.
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| CN109100160B (en) * | 2018-09-25 | 2020-05-29 | 安徽江淮汽车集团股份有限公司 | Vehicle speed control method and system for electric vehicle endurance mileage test |
| JP7298515B2 (en) * | 2020-03-04 | 2023-06-27 | トヨタ自動車株式会社 | Vehicle preview damping control device and vehicle preview damping control method |
| CN113147308A (en) * | 2021-03-30 | 2021-07-23 | 浙江工业大学 | Suspension pre-aiming control method based on binocular vision technology and suspension control device |
| CN113183709B (en) * | 2021-06-04 | 2022-09-27 | 合肥工业大学 | Preview control method for automobile electric control suspension |
| CN114654956B (en) * | 2022-03-24 | 2025-05-23 | 燕山大学 | Anti-rollover control method and control system for emergency vehicle used for rescue |
| CN115534611B (en) * | 2022-10-21 | 2024-07-23 | 燕山大学 | Shock absorption suspension control method and suspension system for emergency rescue heavy-duty vehicle |
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| CN201998758U (en) * | 2010-12-14 | 2011-10-05 | 江苏技术师范学院 | Rear suspension control system of electric automobile |
| CN201914049U (en) * | 2010-12-14 | 2011-08-03 | 江苏技术师范学院 | Intelligent control system for vehicle semi-active suspension |
| JP6347248B2 (en) * | 2015-10-07 | 2018-06-27 | トヨタ自動車株式会社 | Suspension control device for vehicle |
| CN106183691A (en) * | 2016-09-21 | 2016-12-07 | 吉林大学 | One takes aim at formula Active suspension and control method thereof in advance |
| CN107599777B (en) * | 2017-07-31 | 2020-01-24 | 江苏大学 | Model Prediction Based Mode Switching Method of Electromagnetic Hybrid Suspension |
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