CN113525535B - Cab semi-active suspension control method and device based on fuzzy control - Google Patents
Cab semi-active suspension control method and device based on fuzzy control Download PDFInfo
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- CN113525535B CN113525535B CN202110916218.1A CN202110916218A CN113525535B CN 113525535 B CN113525535 B CN 113525535B CN 202110916218 A CN202110916218 A CN 202110916218A CN 113525535 B CN113525535 B CN 113525535B
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Abstract
The invention discloses a cab semi-active suspension control method and device based on fuzzy control, which comprises the steps of obtaining the distance between the upper end and the lower end of a chassis shock absorber of a vehicle to be controlled, and calculating the vehicle load factor of the vehicle to be controlled according to the distance; acquiring the speeds of the upper end and the lower end of the suspension of the cab of the vehicle to be controlled, and calculating the relative speeds of the upper end and the lower end of the suspension of the cab of the vehicle to be controlled according to the speeds; sequentially carrying out fuzzification processing and defuzzification processing on the speed and the relative speed; acquiring a current value obtained after the defuzzification processing, and calculating a control current value of the vehicle shock absorber to be controlled according to the current value and the vehicle load factor; and outputting corresponding current according to the control current value to control the damping force of the shock absorber, so as to control the semi-active suspension of the vehicle cab to be controlled. The invention improves the driving comfort by reducing the influence of the vehicle-mounted weight on the damping effect.
Description
Technical Field
The invention relates to the technical field of semi-active suspension, in particular to a cab semi-active suspension control method and device based on fuzzy control.
Background
With the continuous development of the automobile industry, the commercial vehicle is not only used as a transportation tool, but also has higher and higher requirements on the comfort of the commercial vehicle. The vibration of the automobile is an important factor influencing the driving performance of the automobile, which not only reduces the driving smoothness of the automobile, but also influences the grounding safety and the operating stability of the automobile. With the progress of the damper technology, a magnetorheological MRC damper and a continuous damping adjustable CDC damper are developed successively and put into practical application, but the vibration damping effect of a vehicle chassis is affected due to different loads of a commercial vehicle, so that the frequency and amplitude of vibration excitation below a cab suspension are changed to a certain extent, and the requirement of people on the comfort of the commercial vehicle cannot be met.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a fuzzy control-based cab semi-active suspension control method and device improve driving comfort by reducing the influence of vehicle-mounted weight on a damping effect.
In order to solve the technical problem, the invention provides a cab semi-active suspension control method and device based on fuzzy control, which comprises the following steps:
acquiring the distance between the upper end and the lower end of a vibration absorber of a vehicle chassis to be controlled, and calculating the vehicle load factor of the vehicle to be controlled according to the distance;
acquiring the speeds of the upper end and the lower end of the to-be-controlled vehicle cab suspension, and calculating the relative speeds of the upper end and the lower end of the to-be-controlled vehicle cab suspension according to the speeds;
sequentially carrying out fuzzification processing and defuzzification processing on the speed and the relative speed;
obtaining a current value obtained after the defuzzification processing, and calculating a control current value of the vehicle shock absorber to be controlled according to the current value and the vehicle load factor;
and outputting corresponding current according to the control current value to control the damping force of the shock absorber, thereby controlling the semi-active suspension of the vehicle cab to be controlled.
Further, after the step of controlling the damping force of the shock absorber according to the corresponding current output by the control current value, the method further comprises the following steps:
and when the continuous control time for controlling the damping force of the shock absorber reaches a preset time threshold value, the damping force control of the shock absorber is continued, and the step of ' acquiring the acceleration and the speed of the upper end and the lower end of the suspension of the cab of the vehicle to be controlled ' is returned to ' execute the next cycle.
Further, the step of obtaining the distance between the upper end and the lower end of the vehicle chassis shock absorber to be controlled and calculating the vehicle load factor of the vehicle to be controlled according to the distance specifically comprises the following steps:
the method comprises the steps that the distance between the upper end and the lower end of a suspension measured by a distance measuring sensor arranged at a shock absorber of a vehicle chassis to be controlled is obtained, the size of the vehicle-mounted weight is calculated according to the distance, and the vehicle-mounted weight is substituted into a vehicle load factor calculation formula to calculate the corresponding vehicle load factor; wherein, the vehicle load factor calculation formula is as follows:
λ＝f(M)；
wherein M is the vehicle weight and lambda is the vehicle load factor.
Further, the speed of the upper end and the lower end of the vehicle cab suspension to be controlled is obtained, and the relative speed of the upper end and the lower end of the vehicle cab suspension to be controlled is calculated according to the speed, specifically:
acquiring acceleration measured by acceleration sensors arranged at the upper end and the lower end of a cab suspension, acquiring voltage at the output end of an integrating circuit, calculating speeds of the upper end and the lower end of the cab suspension of the vehicle to be controlled according to the acceleration and the voltage at the output end of the integrating circuit, substituting the speeds of the upper end and the lower end of the cab suspension of the vehicle to be controlled into a suspension relative speed calculation formula, and calculating relative speeds of the upper end and the lower end of the cab suspension of the vehicle to be controlled, wherein the suspension relative speed calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
for the relative speed of the upper and lower ends of the suspension of the cab of the vehicle to be controlled,
for the speed of the upper end of the vehicle cab suspension to be controlled,
the lower end of the vehicle cab is suspended for the speed to be controlled.
Further, the step of sequentially performing fuzzification processing and defuzzification processing on the speed and the relative speed specifically comprises:
fuzzifying the acquired speed and the acquired relative speed at the upper end of the vehicle cab suspension to be controlled according to a membership function, judging a fuzzy subset to which the speed and the relative speed at the upper end of the vehicle cab suspension to be controlled belong, substituting the fuzzy subset into a query table to acquire fuzzified damping control current, and carrying out defuzzification on the fuzzified damping control current by adopting a maximum membership method.
Further, the invention also provides a cab semi-active suspension control device based on fuzzy control, which is characterized by comprising: the device comprises a first acquisition module, a second acquisition module, a processing module, a calculation module and a control module;
the first acquisition module is used for acquiring the distance between the upper end and the lower end of a vehicle chassis shock absorber to be controlled, and calculating the vehicle load factor of the vehicle to be controlled according to the distance;
the second acquisition module is used for acquiring the speeds of the upper end and the lower end of the to-be-controlled vehicle cab suspension and calculating the relative speeds of the upper end and the lower end of the to-be-controlled vehicle cab suspension according to the speeds;
the processing module is used for sequentially carrying out fuzzification processing and defuzzification processing on the speed and the relative speed;
the calculation module is used for acquiring a current value obtained after the defuzzification processing, and calculating a control current value of the vehicle shock absorber to be controlled according to the current value and the vehicle load factor;
and the processing module outputs corresponding current to control the damping force of the shock absorber according to the control current value, so that the semi-active suspension of the vehicle cab to be controlled is controlled.
Further, still include the circulation module, specifically be:
and the cycle module is used for continuing the control of the damping force of the shock absorber when the continuous control time for controlling the damping force of the shock absorber reaches a preset time threshold, and returning to the step of acquiring the acceleration and the speed of the upper end and the lower end of the suspension of the cab of the vehicle to be controlled to execute the next cycle.
Further, the first obtaining module is used for obtaining the distance between the upper end and the lower end of the vehicle chassis shock absorber to be controlled, and calculating the vehicle load factor of the vehicle to be controlled according to the distance, and specifically comprises the following steps:
the method comprises the steps that the distance between the upper end and the lower end of a suspension measured by a distance measuring sensor arranged at a shock absorber of a vehicle chassis to be controlled is obtained, the size of vehicle-mounted weight is calculated according to the distance, and the size of the vehicle-mounted weight is substituted into a vehicle load factor calculation formula to calculate a corresponding vehicle load factor; wherein, the vehicle load factor calculation formula is as follows:
λ＝f(M)；
wherein M is the vehicle weight and lambda is the vehicle load factor.
Further, the second obtaining module is configured to obtain speeds of upper and lower ends of the to-be-controlled vehicle cab suspension, and calculate, according to the speeds, relative speeds of the upper and lower ends of the to-be-controlled vehicle cab suspension, specifically:
acquiring acceleration measured by acceleration sensors arranged at the upper end and the lower end of a cab suspension, acquiring voltage at the output end of an integrating circuit, calculating speeds of the upper end and the lower end of the cab suspension of the vehicle to be controlled according to the acceleration and the voltage at the output end of the integrating circuit, substituting the speeds of the upper end and the lower end of the cab suspension of the vehicle to be controlled into a suspension relative speed calculation formula, and calculating relative speeds of the upper end and the lower end of the cab suspension of the vehicle to be controlled, wherein the suspension relative speed calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
the relative speed of the upper end and the lower end of the suspension of the cab of the vehicle to be controlled,
for the speed of the upper end of the vehicle cab suspension to be controlled,
the lower end of the vehicle cab is suspended for the speed to be controlled.
Further, the processing module is configured to perform blurring processing and defuzzification processing on the speed and the relative speed in sequence, and specifically includes:
fuzzifying the acquired speed and the acquired relative speed at the upper end of the vehicle cab suspension to be controlled according to a membership function, judging a fuzzy subset to which the speed and the relative speed at the upper end of the vehicle cab suspension to be controlled belong, substituting the fuzzy subset into a query table to acquire fuzzified damping control current, and carrying out defuzzification on the fuzzified damping control current by adopting a maximum membership method.
Compared with the prior art, the cab semi-active suspension control method and device based on fuzzy control have the following beneficial effects:
because the vibration damping effect of a vehicle chassis can be influenced by different loads of commercial vehicles, the vehicle load factor of the vehicle to be controlled is calculated according to the distance by acquiring the distance between the upper end and the lower end of a vibration damper of the vehicle chassis to be controlled, so that the vehicle-mounted weight is judged, meanwhile, in order to obtain a better vibration damping effect, different fuzzification processing is carried out according to different loads, and the relative speeds of the upper end and the lower end of the suspension of the cab of the vehicle to be controlled are calculated according to the speeds by acquiring the speeds of the upper end and the lower end of the suspension of the cab of the vehicle to be controlled; according to the characteristics of the control object, fuzzifying and defuzzifying the speed and the relative speed in sequence; acquiring a current value obtained after the defuzzification processing, and calculating a control current value of the vehicle shock absorber to be controlled according to the current value and the vehicle load factor; and finally, outputting corresponding current according to the control current value to control the damping force of the shock absorber, so that the vibration condition of the shock absorber is optimized, the semi-active suspension of the cab of the vehicle to be controlled is controlled, and the driving comfort is improved.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a fuzzy control-based cab semi-active suspension control method provided by the present invention;
FIG. 2 is a schematic diagram of a speed membership function image at the upper end of a suspension according to an embodiment of the fuzzy control-based cab semi-active suspension control method provided by the invention;
FIG. 3 is a schematic diagram of a suspension relative velocity membership function image according to an embodiment of the fuzzy control-based cab semi-active suspension control method provided by the invention;
FIG. 4 is a schematic diagram of fuzzy control rules of an embodiment of a fuzzy control-based cab semi-active suspension control method provided by the invention;
FIG. 5 is a schematic diagram of an image of a fuzzy damping control current membership function according to an embodiment of the fuzzy control-based cab semi-active suspension control method provided by the invention;
fig. 6 is a schematic structural diagram of an embodiment of the cab semi-active suspension control device based on fuzzy control provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a cab semi-active suspension control method based on fuzzy control according to the present invention, as shown in fig. 1, the method includes steps 101-105, specifically as follows:
step 101: and acquiring the distance between the upper end and the lower end of the vibration absorber of the vehicle chassis to be controlled, and calculating the vehicle load factor of the vehicle to be controlled according to the distance.
In the embodiment, before the distances between the upper end and the lower end of the chassis shock absorber to be controlled are obtained, the vehicle is ensured to be in a static state, the distances between the upper end and the lower end of the suspension measured by the distance measuring sensor arranged at the chassis shock absorber to be controlled are obtained, the distances between the upper end and the lower end of the suspension measured by the distance measuring sensor are compared with the preset initial suspension distance, the smaller the distance between the upper end and the lower end of the suspension measured by the distance measuring sensor is, the larger the vehicle-mounted weight is, so that the suspension compression amount is obtained, the magnitude of the vehicle-mounted weight is judged, and the magnitude of the vehicle-mounted weight is substituted into a vehicle load coefficient calculation formula to calculate the corresponding vehicle load coefficient; wherein the vehicle load factor calculation formula is as follows:
λ＝f(M)；
wherein M is the vehicle weight and lambda is the vehicle load factor.
As a preferable case of the present embodiment, the number of the distance measuring sensors provided at the suspension of the shock absorber of the vehicle chassis to be controlled can be increased or decreased according to the requirement, and in the present embodiment, the number of the distance measuring sensors is set to 4.
Step 102: and acquiring the speeds of the upper end and the lower end of the to-be-controlled vehicle cab suspension, and calculating the relative speeds of the upper end and the lower end of the to-be-controlled vehicle cab suspension according to the speeds.
In this embodiment, 1 acceleration sensor is disposed at the upper end of each suspension of a vehicle cab to be controlled, 1 acceleration sensor is disposed at the lower end of each suspension of the vehicle cab to be controlled, and is used to obtain the acceleration at the upper end of the vehicle cab suspension to be controlled and the acceleration at the lower end of the vehicle cab suspension to be controlled, and obtain the output end voltage of an integrating circuit in the vehicle cab to be controlled, and substitute the obtained acceleration at the lower end of the vehicle cab suspension to be controlled into the integrating circuit, and output the end voltage by using the integrating circuit, and obtain the speed at the lower end of the vehicle cab suspension to be controlled, and substitute the speeds at the upper and lower ends of the vehicle cab suspension to be controlled into a suspension relative speed calculation formula, and calculate the relative speeds at the upper and lower ends of the vehicle cab suspension to be controlled, where the above-mentioned suspension relative speed calculation formula is:
in the formula (I), the compound is shown in the specification,
the relative speed of the upper end and the lower end of the suspension of the cab of the vehicle to be controlled,
for the speed of the upper end of the vehicle cab suspension to be controlled,
the speed of the lower end of the vehicle cab suspension to be controlled.
As a preferable case of the present embodiment, the number of acceleration sensors provided at the cab suspension of the vehicle to be controlled may be increased or decreased as required, and in the present embodiment, the number of acceleration sensors is set to 4, wherein the acceleration sensors are provided at four corners of the cab.
Step 103: and performing fuzzification processing and defuzzification processing on the speed and the relative speed in sequence.
In this example, will obtainFuzzification processing is carried out on the speed and the suspension relative speed of the upper end of the suspension of the cab of the vehicle to be controlled according to corresponding membership function images, wherein the speed membership function image of the upper end of the suspension of the cab of the vehicle to be controlled is shown in figure 2, the suspension relative speed membership function image is shown in figure 3, and in figures 2 and 3, V is smi And V sumi The upper end speed and the suspension relative speed of the ith shock absorber suspension are critical values from large to small respectively. Since the speed and the suspension relative speed at the upper end of the vehicle cab suspension to be controlled are divided into positive and negative, the speed and the suspension relative speed at the upper end of the vehicle cab suspension to be controlled are respectively divided into four grades, namely negative large (NB), negative Small (NS), positive Small (PS) and positive large (PB), and the obtained speed and the obtained suspension relative speed at the upper end of the vehicle cab suspension to be controlled respectively correspond to the speed membership function and the suspension relative speed membership function image at the upper end of the vehicle cab suspension to be controlled, so as to obtain the grades respectively corresponding to the speed and the suspension relative speed at the upper end of the vehicle cab suspension to be controlled
When the proportion of PS is greater, the speed of the upper end of the vehicle cab suspension to be controlled is blurred to the class PS, PS is a blurred subset of the speed of the upper end of the vehicle cab suspension to be controlled, and similarly, if the suspension relative speed is
If the proportion of PB is larger, the suspension relative speed is blurred to be a grade PB, and PB is a fuzzy subset of the suspension relative speed; substituting the fuzzy subset after fuzzification of the speed and the suspension relative speed at the upper end of the vehicle cab suspension to be controlled into a fuzzy control look-up table, wherein the fuzzy control look-up table is shown in fig. 4, and obtaining the fuzzified damping control current, wherein the damping control current is the damping control current of the shock absorber, and the shock absorber is a continuous damping adjustable CDC shock absorber and has no negative number, so the damping control current is divided into five stages, namely Maximum (MB), large (PB), medium (PZ), small (PM) and Minimum (MS), which is taken as an example in the present embodiment, for example, the speed and the suspension relative speed at the upper end of the vehicle cab suspension to be controlled are fuzzifiedThe fuzzy subset of the speed at the upper end of the suspension of the cab of the vehicle is NS, the fuzzy subset of the relative speed of the suspension is NB, and the fuzzy damping control current is large (PB) by substituting the fuzzy control lookup table; and performing defuzzification processing on the obtained fuzzified damping control current according to the corresponding membership function image, wherein the fuzzified damping control current membership function image is shown in figure 5, wherein I Vi 、I Li 、I Mi 、I Si The maximum, large, medium, small and minimum critical values are respectively.
Step 104: and acquiring a current value obtained after the defuzzification processing, and calculating a control current value of the vehicle shock absorber to be controlled according to the current value and the vehicle load factor.
In this embodiment, a current value obtained after the defuzzification processing is obtained according to the fuzzified damping control current membership function image shown in fig. 5, as an example of this embodiment, if the obtained fuzzified damping control current is large (PB), and is substituted into the defuzzified damping control current membership function image, the left end point of the PB interval, i.e., I vi Wherein, I vi The current value obtained after the defuzzification treatment is required to be obtained.
In this embodiment, the current value obtained after the acquired defuzzification processing is multiplied by the vehicle load factor obtained in step 101 to obtain the final damping control current value of each shock absorber and the control current value of each shock absorber of the vehicle to be controlled.
Step 105: and outputting corresponding current according to the control current value to control the damping force of the shock absorber, so as to control the semi-active suspension of the vehicle cab to be controlled.
In this embodiment, the damping force of the current control shock absorber is output by the circuit according to the method for controlling the vehicle cab to be controlled according to the control current value of the shock absorber with the control function obtained in step 104, when the duration control time for controlling the damping force of the shock absorber reaches a preset time threshold, the damping force control of the shock absorber is continued, and the step "obtaining the acceleration and the speed of the upper end and the lower end of the suspension of the vehicle cab to be controlled" is returned to execute the next cycle, so as to control the semi-active suspension of the vehicle cab to be controlled, as an example in this embodiment, the preset time threshold is interrupted once every 10 ms.
In this embodiment, a complete vehicle dynamics model is established in simulation software by using the fuzzy control-based cab semi-active suspension control method described in any one of steps 101 to 105, in combination with a dynamics principle, wherein the complete vehicle dynamics model includes a tire-chassis damping system-a frame-a cab suspension system-a cab. The origin of the mass center of the cab is O, X is the advancing direction, Y is the transverse direction, Z is the vertical direction, and the displacement of the upper end of the suspension is represented as Z si The velocity is expressed as
Acceleration is expressed as
The displacement of the lower end of the suspension is denoted z ui The velocity is expressed as
Acceleration is expressed as
Let the suspension have a relative speed of
Make the damping control current of the shock absorber be I i (ii) a In this embodiment, the value range of i is any integer from 1 to 4. The method is characterized in that a certain type of commercial vehicle parameter is used as a dynamic model parameter, random road data is used as road input of a model, the semi-active suspension and the original vehicle passive suspension of the cab semi-active suspension control method based on fuzzy control are simulated and compared to obtain the method, in the random road, the semi-active suspension and the original vehicle passive suspension of the cab semi-active suspension control method are compared, the acceleration root mean square value in the vertical direction is optimized by 17%, vibration is improved, and the comfort performance of the cab is further improved.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of a fuzzy control-based cab semi-active suspension control apparatus provided by the present invention, as shown in fig. 6, the structure includes a first obtaining module 601, a second obtaining module 602, a processing module 603, a calculating module 604, and a control module 605, specifically as follows:
the first obtaining module 601 is configured to obtain a distance between an upper end and a lower end of a vehicle chassis shock absorber to be controlled, and calculate a vehicle load factor of the vehicle to be controlled according to the distance.
In this embodiment, before the first obtaining module 601 obtains the distances between the upper and lower ends of the chassis damper of the vehicle to be controlled, the vehicle is ensured to be in a static state, the distances between the upper and lower ends of the suspension measured by the distance measuring sensor arranged at the chassis damper of the vehicle to be controlled are obtained, the distances between the upper and lower ends of the suspension measured by the distance measuring sensor are compared with the preset initial suspension distance, the smaller the distance between the upper and lower ends of the suspension measured by the distance measuring sensor is, the larger the vehicle-mounted weight is, so as to obtain the suspension compression amount, determine the magnitude of the vehicle-mounted weight, and substitute the magnitude of the vehicle-mounted weight into the vehicle load coefficient calculation formula to calculate the corresponding vehicle load coefficient; wherein, the vehicle load factor calculation formula is as follows:
λ＝f(M)；
wherein M is the vehicle weight and lambda is the vehicle load factor.
As a preferable case of the present embodiment, the number of the distance measuring sensors provided at the vehicle chassis vibration damper to be controlled may be increased or decreased as required, and in the present embodiment, the number of the distance measuring sensors is set to 4.
The second obtaining module 602 is configured to obtain speeds of the upper and lower ends of the to-be-controlled vehicle cab suspension, and calculate relative speeds of the upper and lower ends of the to-be-controlled vehicle cab suspension according to the speeds.
In this embodiment, 1 acceleration sensor is disposed at the upper end of each suspension of a vehicle cab to be controlled, 1 acceleration sensor is disposed at the lower end of each suspension of the vehicle cab to be controlled, a second obtaining module 602 is configured to obtain the acceleration at the upper end of the vehicle cab suspension to be controlled and the acceleration at the lower end of the vehicle cab suspension to be controlled, and obtain the output voltage of an integrating circuit in the vehicle cab to be controlled, substitute the obtained acceleration at the upper end of the vehicle cab suspension to be controlled into the integrating circuit, combine the output voltage of the integrating circuit to obtain the speed at the upper end of the vehicle cab suspension to be controlled, substitute the obtained acceleration at the lower end of the vehicle cab suspension to be controlled into the integrating circuit, combine the output voltage of the integrating circuit to obtain the speed at the lower end of the vehicle cab suspension to be controlled, substitute the speeds at the upper end and the lower end of the vehicle cab suspension to be controlled into a suspension relative speed calculation formula, and calculate the relative speeds at the upper end and the lower end of the vehicle cab suspension to be controlled, where the suspension relative speed calculation formula is:
in the formula (I), the compound is shown in the specification,
for the relative speed of the upper and lower ends of the suspension of the cab of the vehicle to be controlled,
for the speed of the upper end of the vehicle cab suspension to be controlled,
the lower end of the vehicle cab is suspended for the speed to be controlled.
As a preferable case of the present embodiment, the number of acceleration sensors provided at the cab suspension of the vehicle to be controlled may be increased or decreased as required, and in the present embodiment, the number of acceleration sensors is set to 4, wherein the acceleration sensors are provided at four corners of the cab.
The processing module 603 is configured to perform blurring processing and defuzzifying processing on the speed and the relative speed in sequence.
In this embodiment, the processing module 603 obtains the vehicle to be controlledFuzzification processing is carried out on the speed and the suspension relative speed at the upper end of the cab suspension according to corresponding membership function images, wherein the speed membership function image at the upper end of the cab suspension of the vehicle to be controlled is shown in figure 2, the suspension relative speed membership function image is shown in figure 3, and in figures 2 and 3, V is smi And V sumi The upper end speed and the suspension relative speed of the ith shock absorber suspension are critical values from large to small respectively. The speed and the suspension relative speed at the upper end of the vehicle cab suspension to be controlled are divided into four grades, namely negative large (NB), negative Small (NS), positive Small (PS) and positive large (PB), respectively, and the acquired speed and the suspension relative speed at the upper end of the vehicle cab suspension to be controlled correspond to a speed membership function and a suspension relative speed membership function image at the upper end of the vehicle cab suspension to be controlled respectively, so that grades corresponding to the speed and the suspension relative speed at the upper end of the vehicle cab suspension to be controlled respectively are obtained. As an example in this embodiment, the speed of the upper end of the suspension of the cab of the vehicle to be controlled is
When the proportion of PS is greater, the speed of the upper end of the vehicle cab suspension to be controlled is blurred to the class PS, PS is a blurred subset of the speed of the upper end of the vehicle cab suspension to be controlled, and similarly, if the suspension relative speed is
If the proportion of PB is larger, the suspension relative speed is blurred to be a grade PB, and PB is a fuzzy subset of the suspension relative speed; substituting the fuzzy subset after fuzzification of the speed and the suspension relative speed at the upper end of the vehicle cab suspension to be controlled into a fuzzy control look-up table, wherein the fuzzy control look-up table is shown in fig. 4, and obtaining the fuzzified damping control current, wherein the damping control current is the damping control current of the shock absorber, and the shock absorber is a continuous damping adjustable CDC shock absorber and has no negative number, so the damping control current is divided into five stages, namely Maximum (MB), large (PB), medium (PZ), small (PM) and Minimum (MS), which is taken as an example in the embodiment, for example, the upper end of the vehicle cab suspension to be controlled is suspendedThe fuzzy subset of the speed is NS, the fuzzy subset of the suspension relative speed is NB, and the fuzzy damping control current is large (PB) by substituting the fuzzy control lookup table; and performing defuzzification processing on the obtained fuzzified damping control current according to the corresponding membership function image, wherein the fuzzified damping control current membership function image is shown as figure 5, wherein I Vi 、I Li 、I Mi 、I Si The threshold values are maximum, large, medium, small and minimum, respectively.
The calculating module 604 is configured to obtain a current value obtained after the defuzzification processing, and calculate a control current value of the vehicle shock absorber to be controlled according to the current value and the vehicle load factor.
In this embodiment, a current value obtained after the defuzzification processing is obtained according to the fuzzified damping control current membership function image shown in fig. 5, as an example of this embodiment, if the obtained fuzzified damping control current is large (PB), and is substituted into the defuzzified damping control current membership function image, the left end point of the PB interval, i.e., I vi Wherein, I vi The current value obtained after the defuzzification treatment is required to be obtained.
In this embodiment, the calculating module 604 multiplies the acquired current value obtained after the defuzzification processing by the vehicle load coefficient acquired in the first acquiring module 601 to obtain the final damping control current value of each shock absorber and the control current value of each shock absorber of the vehicle to be controlled.
The processing module 605 outputs corresponding current to control the damping force of the shock absorber according to the control current value, so as to control the semi-active suspension of the vehicle cab to be controlled.
In this embodiment, the damping force of the current control shock absorber is output by the circuit according to the method for controlling the vehicle cab to be controlled by the control current value of the shock absorber with the control function obtained in the calculation module 604, when the duration control time for controlling the damping force of the shock absorber reaches a preset time threshold, the damping force control of the shock absorber is continued, and the step of "obtaining the acceleration and the speed of the upper end and the lower end of the suspension of the vehicle cab to be controlled" is returned to execute the next cycle, so as to control the semi-active suspension of the vehicle cab to be controlled, as an example in this embodiment, the preset time threshold is interrupted once every 10 ms.
In the embodiment, the suspension of the cab of the vehicle to be controlled adopts the continuous variable damping CDC shock absorber, the characteristic of continuously adjustable damping of the CDC shock absorber is fully exerted by using the adjustable damping performance of the CDC shock absorber and combining a fuzzy control method, and meanwhile, the influence of the load of the vehicle on the shock absorption effect is considered, so the load factor is introduced, and the comfort of the cab is obviously improved compared with the traditional fuzzy control method. The method is simple in implementation mode, low in requirement on the computing capacity of the chip and easy to apply to practical application.
In summary, the invention relates to a cab semi-active suspension control method and device based on fuzzy control, which comprises the steps of obtaining the distance between the upper end and the lower end of a chassis shock absorber of a vehicle to be controlled, and calculating the vehicle load factor of the vehicle to be controlled according to the distance; acquiring the speeds of the upper end and the lower end of the to-be-controlled vehicle cab suspension, and calculating the relative speeds of the upper end and the lower end of the to-be-controlled vehicle cab suspension according to the speeds; sequentially carrying out fuzzification processing and defuzzification processing on the speed and the relative speed; acquiring a current value obtained after the defuzzification processing, and calculating a control current value of the vehicle shock absorber to be controlled according to the current value and the vehicle load factor; and outputting corresponding current according to the control current value to control the damping force of the shock absorber, thereby controlling the semi-active suspension of the vehicle cab to be controlled. The invention improves the driving comfort by reducing the influence of the vehicle-mounted weight on the damping effect.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A cab semi-active suspension control method based on fuzzy control is characterized by comprising the following steps:
acquiring the distance between the upper end and the lower end of a vibration absorber of a vehicle chassis to be controlled, and calculating the vehicle load factor of the vehicle to be controlled according to the distance;
acquiring the speeds of the upper end and the lower end of the suspension of the cab of the vehicle to be controlled, and calculating the relative speeds of the upper end and the lower end of the suspension of the cab of the vehicle to be controlled according to the speeds;
carrying out fuzzification processing and defuzzification processing on the speed and the relative speed in sequence;
acquiring a current value obtained after the defuzzification processing, and calculating a control current value of the vehicle shock absorber to be controlled according to the current value and the vehicle load factor;
and outputting corresponding current according to the control current value to control the damping force of the shock absorber, thereby controlling the semi-active suspension of the vehicle cab to be controlled.
2. The fuzzy control-based cab semi-active suspension control method of claim 1, further comprising, after said outputting the corresponding current according to the control current value to control the damping force of the shock absorber, the steps of:
and when the continuous control time for controlling the damping force of the shock absorber reaches a preset time threshold value, the damping force control of the shock absorber is continued, and the step of ' acquiring the speeds of the upper end and the lower end of the suspension of the cab of the vehicle to be controlled ' is returned to ' execute the next cycle.
3. The cab semi-active suspension control method based on fuzzy control as claimed in claim 1, wherein said obtaining distance between upper and lower ends of a vehicle chassis vibration absorber to be controlled, calculating vehicle load factor of said vehicle to be controlled according to said distance, specifically:
the method comprises the steps that the distance between the upper end and the lower end of a suspension measured by a distance measuring sensor arranged at a shock absorber of a vehicle chassis to be controlled is obtained, the size of the vehicle-mounted weight is calculated according to the distance, and the vehicle-mounted weight is substituted into a vehicle load factor calculation formula to calculate the corresponding vehicle load factor; wherein the vehicle load factor calculation formula is as follows:
λ＝f(M)；
wherein M is the vehicle weight and lambda is the vehicle load factor.
4. The cab semi-active suspension control method based on fuzzy control as claimed in claim 1, wherein said obtaining the speed of the upper and lower ends of the vehicle cab suspension to be controlled, and calculating the relative speed of the upper and lower ends of the vehicle cab suspension to be controlled according to said speed, specifically:
acquiring acceleration measured by acceleration sensors arranged at the upper end and the lower end of a cab suspension, acquiring voltage at the output end of an integrating circuit, calculating speeds of the upper end and the lower end of the cab suspension of the vehicle to be controlled according to the acceleration and the voltage at the output end of the integrating circuit, substituting the speeds of the upper end and the lower end of the cab suspension of the vehicle to be controlled into a suspension relative speed calculation formula, and calculating relative speeds of the upper end and the lower end of the cab suspension of the vehicle to be controlled, wherein the suspension relative speed calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
for the relative speed of the upper and lower ends of the suspension of the cab of the vehicle to be controlled,
for the speed of the upper end of the vehicle cab suspension to be controlled,
the speed of the lower end of the vehicle cab suspension to be controlled.
5. The fuzzy control-based cab semi-active suspension control method according to claim 4, wherein the blurring processing and the defuzzification processing are sequentially performed on the speed and the relative speed, and specifically, the fuzzy control-based cab semi-active suspension control method comprises the following steps:
fuzzifying the acquired speed and the acquired relative speed at the upper end of the vehicle cab suspension to be controlled according to a membership function, judging a fuzzy subset to which the speed and the relative speed at the upper end of the vehicle cab suspension to be controlled belong, substituting the fuzzy subset into a query table to acquire fuzzified damping control current, and carrying out defuzzification on the fuzzified damping control current by adopting a maximum membership method.
6. A semi-active suspension control device of a cab based on fuzzy control is characterized by comprising: the device comprises a first acquisition module, a second acquisition module, a processing module, a calculation module and a control module;
the first acquisition module is used for acquiring the distance between the upper end and the lower end of a vehicle chassis shock absorber to be controlled, and calculating the vehicle load factor of the vehicle to be controlled according to the distance;
the second acquisition module is used for acquiring the speeds of the upper end and the lower end of the to-be-controlled vehicle cab suspension and calculating the relative speeds of the upper end and the lower end of the to-be-controlled vehicle cab suspension according to the speeds;
the processing module is used for sequentially carrying out fuzzification processing and defuzzification processing on the speed and the relative speed;
the calculation module is used for acquiring a current value obtained after the defuzzification processing, and calculating a control current value of the vehicle shock absorber to be controlled according to the current value and the vehicle load factor;
and the processing module outputs corresponding current to control the damping force of the shock absorber according to the control current value, so that the semi-active suspension of the vehicle cab to be controlled is controlled.
7. The fuzzy control-based semi-active suspension control device for the cab as claimed in claim 6, further comprising a circulation module, specifically:
and the circulation module is used for continuing the control of the damping force of the shock absorber when the continuous control time for controlling the damping force of the shock absorber reaches a preset time threshold, and returning to the step of acquiring the speeds of the upper end and the lower end of the suspension of the cab of the vehicle to be controlled to execute the next circulation.
8. The cab semi-active suspension control device based on fuzzy control as claimed in claim 6, wherein the first obtaining module is used for obtaining the distance between the upper end and the lower end of the vehicle chassis vibration damper to be controlled, and calculating the vehicle load factor of the vehicle to be controlled according to the distance, specifically:
the method comprises the steps that the distance between the upper end and the lower end of a suspension measured by a distance measuring sensor arranged at a shock absorber of a vehicle chassis to be controlled is obtained, the size of the vehicle-mounted weight is calculated according to the distance, and the vehicle-mounted weight is substituted into a vehicle load factor calculation formula to calculate the corresponding vehicle load factor; wherein the vehicle load factor calculation formula is as follows:
λ＝f(M)；
wherein M is the vehicle weight and lambda is the vehicle load factor.
9. The device as claimed in claim 6, wherein the second obtaining module is configured to obtain speeds of upper and lower ends of the cab suspension of the vehicle to be controlled, and calculate relative speeds of the upper and lower ends of the cab suspension of the vehicle to be controlled according to the speeds, specifically:
acquiring acceleration measured by acceleration sensors arranged at the upper end and the lower end of a cab suspension, acquiring voltage at the output end of an integrating circuit, calculating speeds of the upper end and the lower end of the cab suspension of the vehicle to be controlled according to the acceleration and the voltage at the output end of the integrating circuit, substituting the speeds of the upper end and the lower end of the cab suspension of the vehicle to be controlled into a suspension relative speed calculation formula, and calculating relative speeds of the upper end and the lower end of the cab suspension of the vehicle to be controlled, wherein the suspension relative speed calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
for the relative speed of the upper and lower ends of the suspension of the cab of the vehicle to be controlled,
for the speed of the upper end of the vehicle cab suspension to be controlled,
the speed of the lower end of the vehicle cab suspension to be controlled.
10. The fuzzy control-based semi-active suspension control device for the cab as claimed in claim 9, wherein the processing module is configured to perform the blurring processing and the defuzzifying processing on the speed and the relative speed in sequence, and specifically:
fuzzification processing is carried out on the obtained speed and the obtained relative speed of the upper end of the suspension of the vehicle cab to be controlled according to a membership function, a fuzzy subset to which the speed and the relative speed of the upper end of the suspension of the vehicle cab to be controlled belong is judged, the fuzzy subset is substituted into a query table, fuzzified damping control current is obtained, and defuzzification processing is carried out on the fuzzified damping control current by adopting a maximum membership method.
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