CN116653527A - Automobile ECAS height control method and system - Google Patents
Automobile ECAS height control method and system Download PDFInfo
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- CN116653527A CN116653527A CN202211231071.3A CN202211231071A CN116653527A CN 116653527 A CN116653527 A CN 116653527A CN 202211231071 A CN202211231071 A CN 202211231071A CN 116653527 A CN116653527 A CN 116653527A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 239000000725 suspension Substances 0.000 claims abstract description 94
- 238000012544 monitoring process Methods 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 12
- 230000009286 beneficial effect Effects 0.000 description 8
- 238000011217 control strategy Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000011069 regeneration method Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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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
- B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
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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
- B60G17/0152—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 action on a particular type of suspension unit
- B60G17/0155—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 action on a particular type of suspension unit pneumatic unit
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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
- B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
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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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
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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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
- B60G17/0528—Pressure regulating or air filling valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/50—Pressure
- B60G2400/51—Pressure in suspension unit
- B60G2400/512—Pressure in suspension unit in spring
- B60G2400/5122—Fluid spring
- B60G2400/51222—Pneumatic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention belongs to the technical field of monitoring and storing data processing, and particularly relates to an automobile ECAS height control method and system. The scheme comprises the following steps: when detecting that the left and right height differences of the front suspension and the left and right height differences of the rear suspension of the vehicle are larger than a set threshold value, respectively controlling the interconnection closing between the air bags at the two sides of the front suspension and the interconnection closing between the air bags at the two sides of the front suspension, and inflating the front air bag and the rear air bag positioned at the lower side; until the height difference of the left and right air bags of the front suspension is smaller than the set threshold value. When detecting that the vehicle is inclined, the interconnection of the air bags at two sides of the suspension is closed at first, the air path connection between the air bags at two sides is interrupted, then the air bags at the lower side are independently controlled to be inflated, and the inflation of the higher side is avoided, so that the inflation efficiency of the lower side is improved, the height of the vehicle body is adjusted in time, and the stability of the vehicle in the running process is improved.
Description
Technical Field
The invention belongs to the field of chassis suspension control of new energy buses, and particularly relates to an automobile ECAS height control method and system.
Background
The regulations GB 19260-2016 (low floor and Low entrance urban bus Structure requirement) state that low floor urban buses with the length of more than 9 meters should be provided with an air suspension and a vehicle body lifting ECAS system, and the application amount of the ECAS system is gradually expanded due to the low floor development trend of buses and the requirement that highway buses reduce the height of the buses and improve the operation efficiency through height limiting rods and the like.
The ECAS system mainly comprises a controller, an electromagnetic valve, a height sensor, an air pressure sensor, a one-way valve, a pipeline filter and the like. The working principle is as follows: the height sensor is arranged on the frame and connected with wheels through the swing rod, when the height of the frame and the axle is changed, induced current is generated in the height sensor, an electric signal is transmitted to the ECU, the ECU compares the height change with the set height stored in the ECU, and a signal is given to control the electromagnetic valve to inflate or exhaust the air bag, so that the height control of the vehicle is realized.
The existing electronic control air suspension ECAS system can manually or automatically adjust the height according to different vehicle speeds and working conditions, so that the lifting and resetting of the height of the chassis vehicle body are realized. When the chassis is lifted through the undulating road, the chassis is lowered when the height limiting rod passes through, and the trafficability and the operation efficiency are improved; when the speed of the expressway is high, the height of the automobile body is reduced, the mass center is reduced, the stability of the automobile is enhanced, and the wind resistance can be reduced; when a passenger gets on or off the bus station, the side kneeling button is pressed by the switch to trigger the side kneeling function, the ECU receives a side kneeling command of the message and directly controls the electromagnetic valve, so that the side kneeling control of various side kneeling modes (single-shaft, single-side and whole-vehicle) is realized, the tread height of the side of the bus door is reduced, and the passenger gets on or off the bus conveniently. However, the control strategy is set based on the vehicle speed and the working condition, and the roll risk during the running of the vehicle cannot be avoided.
According to the automobile ECAS control method disclosed in the patent application publication No. CN104097482A, a counter yaw moment is generated by adding components such as a steering wheel corner, a yaw rate sensor and an electromagnetic valve, and the like, so that the vehicle is helped to overcome the tendency of deviating from an ideal track, and the stability and the safety of vehicle operation are improved, but the calculation process of the counter yaw moment is complex, and the control of the vehicle is delayed.
Disclosure of Invention
The invention aims to provide an automobile ECAS height control method which is used for solving the problem of delay caused by complex height control strategies in the prior art when a vehicle is in a rolling phenomenon; the automobile ECAS height control system is also provided for providing hardware support for realizing the control method.
In order to solve the technical problems, the invention provides an automobile ECAS height control method, which is used for detecting the heights of two sides of a front suspension and a rear suspension of an automobile in real time, and controlling the interconnection closing of a left front air bag and a right front air bag and inflating the front air bag positioned at the lower side when the left height difference and the right height difference of the front suspension and the left height difference and the right height difference of the rear suspension of the automobile are both larger than a set threshold value; and simultaneously, controlling the interconnection of the left rear air bag and the right rear air bag to be closed, and controlling the rear air bag positioned at the lower side to be inflated until the height difference of the left air bag and the right air bag of the front suspension and the left height difference and the right height difference of the rear suspension are smaller than a set threshold value.
The beneficial effects are that: when the rolling of the vehicle is detected, the air bags at the two sides of the suspension are firstly closed, the air passage connection between the air bags at the two sides is interrupted, and then the air bags at the lower side are independently controlled to be inflated, so that the inflation of the higher side is avoided, the inflation efficiency of the lower side is improved, the height of the vehicle body is timely adjusted, and the stability of the vehicle in the running process is improved.
Further, when the left and right height differences of the front suspension and the left and right height differences of the rear suspension of the vehicle are smaller than or equal to a set threshold value and are within a normal vehicle speed range, the interconnection of the left front air bag and the right front air bag and the interconnection of the left rear air bag and the right rear air bag are controlled to be opened, and the inflation or the exhaust of the front air bag and the rear air bag is controlled to enable the height of the vehicle body to be adjusted to the original height.
The beneficial effects are that: when the vehicle is detected to have no side tilting risk and the vehicle speed is in the normal range, the interconnection of the air bags at the two sides of the suspension is controlled, so that the air paths of the air bags at the two sides are communicated, the height of the vehicle is adjusted to the original height, and the riding comfort of passengers is improved.
Further, when the left and right height differences of the front suspension and the left and right height differences of the rear suspension of the vehicle are smaller than or equal to a set threshold value and the vehicle speed exceeds a normal range, the interconnection of the left front air bag and the right front air bag and the interconnection of the left rear air bag and the right rear air bag are controlled to be opened, and the exhaust of the front air bag and the rear air bag is controlled, so that the height of the vehicle body is reduced to the minimum height.
The beneficial effects are that: when the speed of the vehicle is detected to exceed the normal range, the invention controls the interconnection of the air bags at the two sides of the suspension, so that the air paths between the air bags at the two sides are communicated and exhausted, and the vehicle body is quickly adjusted to the lowest height, thereby reducing the gravity center of the vehicle and improving the running safety of the vehicle.
Further, in the process of adjusting the height of the vehicle, if the current height of the vehicle is H and the target height is H, when the I H-H I > B, controlling the electromagnetic valve connected with the air bag needing to be inflated or exhausted to inflate or exhaust the corresponding air bag in a fully-opened mode; when C < |H-h| < B, controlling the electromagnetic valve needing to be inflated or exhausted to inflate or exhaust the corresponding air bag in a pulse mode until the value is more than or equal to 0 and less than or equal to |H-h| < C, and ending the height control;
wherein B, C is the upper limit and the lower limit of the set range, and 0< C < B.
The beneficial effects are that: in the process of adjusting the height of the vehicle, if the height difference between the current height of the vehicle and the target height is large, the corresponding electromagnetic valve is controlled to inflate or deflate the corresponding air bag in a fully-opened mode, so that the height difference between the current height and the target height is quickly reduced, and the sensitivity of adjusting the height of the vehicle body is improved; if the height difference between the two is smaller, the corresponding electromagnetic valve is controlled to inflate or deflate the corresponding air bag in a pulse mode until the height difference between the two ends the height control within an error range, so that the fine adjustment of the height of the vehicle body is realized, overshoot or overdischarge is avoided, and the smoothness of the height adjustment of the vehicle is improved.
The invention also provides an automobile ECAS height control system, which comprises a controller, an electromagnetic valve and a height sensor, wherein the height sensor is used for sensing the height information of the front suspension and the rear suspension of the automobile and transmitting the height information to the controller; the electromagnetic valve comprises a first electromagnetic valve arranged between the air bags at the two sides of the front suspension and a second electromagnetic valve arranged between the air bags at the two sides of the rear suspension; when the controller detects that the left and right height differences of the front suspension and the left and right height differences of the rear suspension of the vehicle are larger than a set threshold value, the controller controls the interconnection closing of the left front air bag and the right front air bag connected with the first electromagnetic valve and inflates the front air bag positioned at the lower side; and simultaneously, controlling the interconnection of the left rear air bag and the right rear air bag which are connected by the second electromagnetic valve to be closed, and controlling the rear air bag positioned at the lower side to be inflated until the height difference of the left air bag and the right air bag of the front suspension and the left height difference and the right height difference of the rear suspension are smaller than a set threshold value.
The beneficial effects are that: when the rolling of the vehicle is detected, the air bags at the two sides of the suspension are firstly closed, the air passage connection between the air bags at the two sides is interrupted, and then the air bags at the lower side are independently controlled to be inflated, so that the inflation of the higher side is avoided, the inflation efficiency of the lower side is improved, the height of the vehicle body is timely adjusted, and the stability of the vehicle in the running process is improved.
Further, the first electromagnetic valve comprises an air inlet, two air outlets and an air outlet, the air inlet is used for being connected with the air reservoir of the air bag, and the two air outlets are respectively connected with the air bags on two sides of the front suspension; the second electromagnetic valve comprises an air inlet, two air outlets and an air outlet, wherein the air inlet is used for being connected with an air bag air storage cylinder, and the two air outlets are respectively connected with air bags on two sides of the rear suspension frame.
Further, when the vehicle needs to kneel sideways, the controller controls the interconnection of the left and right airbags to be closed through the electromagnetic valve, and controls the electromagnetic valve to be communicated with the air outlet and the air outlet connected with the airbags needing to be exhausted.
Further, when the left and right height differences of the front suspension and the left and right height differences of the rear suspension of the vehicle are smaller than or equal to a set threshold value and are in a normal vehicle speed range, the controller controls the interconnection of the right front air bag and the left front air bag and the interconnection of the right rear air bag and the left rear air bag to be opened through the electromagnetic valve, and controls the inflation or the exhaust of the front air bag and the rear air bag, so that the height of the vehicle body is adjusted to the original height.
The beneficial effects are that: when the vehicle is detected to have no side tilting risk and the vehicle speed is in the normal range, the interconnection of the air bags at the two sides of the suspension is controlled, so that the air paths of the air bags at the two sides are communicated, the height of the vehicle is adjusted to the original height, and the riding comfort of passengers is improved.
Further, when the left and right height differences of the front suspension and the left and right height differences of the rear suspension of the vehicle are smaller than or equal to a set threshold value and the vehicle speed exceeds a normal range, the controller controls the interconnection of the left front air bag and the right front air bag and the interconnection of the left rear air bag and the right rear air bag to be opened through the electromagnetic valve, and controls the exhaust of the front air bag and the rear air bag, so that the height of the vehicle body is reduced to the minimum height.
The beneficial effects are that: when the speed of the vehicle is detected to exceed the normal range, the invention controls the interconnection of the air bags at the two sides of the suspension, so that the air paths between the air bags at the two sides are communicated and exhausted, and the vehicle body is quickly adjusted to the lowest height, thereby reducing the gravity center of the vehicle and improving the running safety of the vehicle.
Further, in the process of adjusting the height of the vehicle, if the current height of the vehicle is H and the target height is H, when the controller detects that the absolute value H-H is greater than B, the electromagnetic valve which needs to be inflated or exhausted is controlled to inflate or exhaust the corresponding air bag in a fully-opened mode; when the controller detects C < |H-h| < B, controlling the electromagnetic valve needing to be inflated or exhausted to inflate or exhaust the corresponding air bag in a pulse mode until the pressure is less than or equal to 0|H-h| < C, and ending the height control;
wherein B, C is the upper limit and the lower limit of the set range, and 0< C < B.
The beneficial effects are that: in the process of adjusting the height of the vehicle, if the height difference between the current height of the vehicle and the target height is large, the corresponding electromagnetic valve is controlled to inflate or deflate the corresponding air bag in a fully-opened mode, so that the height difference between the current height and the target height is quickly reduced, and the sensitivity of adjusting the height of the vehicle body is improved; if the height difference between the two is smaller, the corresponding electromagnetic valve is controlled to inflate or deflate the corresponding air bag in a pulse mode until the height difference between the two ends the height control within an error range, so that the fine adjustment of the height of the vehicle body is realized, overshoot or overdischarge is avoided, and the smoothness of the height adjustment of the vehicle is improved.
Drawings
FIG. 1 is a block diagram of an automotive ECAS system of an embodiment;
FIG. 2 is a block diagram of an embodiment of an automotive ECAS solenoid valve;
FIG. 3 is an electrical schematic diagram of an embodiment of an automotive ECAS solenoid valve;
FIG. 4 is a block diagram of an embodiment of an automotive ECAS height sensor;
FIG. 5 is an embodiment of an automotive ECAS height control strategy;
FIG. 6 is an example automotive ECAS roll and comfort control strategy;
the drawings include: 1-air compressor, 2-pipeline muffler, 3-condenser, 4-dryer, 5-regeneration gas receiver, 6-four-circuit protection valve, 7-pressure limiting valve, 8-pipeline filter, 9-check valve, 10-first gasbag gas receiver, 11-second gasbag gas receiver, 12-first check valve, 13-first solenoid valve, 14-first altitude sensor, 15-second altitude sensor, 16-right front gasbag, 17-left front gasbag, 18-second check valve, 19-second solenoid valve, 20-third altitude sensor, 21-fourth altitude sensor, 22-first right rear axle gasbag, 23-second right rear axle gasbag, 24-first left rear axle gasbag, 25-second left rear axle gasbag, 26-controller; 131-air inlet, 132-first air outlet, 133-second air outlet, 134-air outlet, 135-muffler, 136-electromagnetic valve interface; 137-first spool; 138-a second spool; 139-a third valve spool; 140-fourth spool; 141-a sensor valve body; 142-a horizontal swing rod; 143-vertical tie rods; 144-brackets; 145-interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical principles and practical applications of the present invention will be further described in detail with reference to the accompanying drawings and examples.
Vehicle ECAS height control system embodiment:
the structure diagram of the ECAS height control system of the automobile in this embodiment, as shown in fig. 1, mainly comprises two identical solenoid valves, four identical height sensors, and a controller. The first electromagnetic valve 13 is arranged on the front suspension of the vehicle, the air inlet is connected with a first air bag air cylinder 10 in an air inlet pipeline through a first one-way valve 12, two air outlets are respectively connected with a right front air bag 16 and a left front air bag 17 on two sides of the front suspension through pipelines, the second electromagnetic valve 19 is arranged on the rear suspension of the vehicle, the air inlet is communicated with a second air bag air cylinder 11 in the air inlet pipeline through a second one-way valve 18, and the two air outlets are respectively communicated with a first right rear axle air bag 22 and a second right rear axle air bag 23 on two sides of the front suspension and a first left rear axle air bag 24 and a second left rear axle air bag 25 through pipelines; the first height sensor 14 and the second height sensor 15 are respectively arranged on the right and left sides of the front suspension, and the third height sensor 20 and the fourth height sensor 21 are respectively arranged on the right and left sides of the rear suspension; the controller 26 is connected with two solenoid valves and four height sensors through lines, respectively.
The air inlet pipeline is shown in fig. 1, and comprises an air compressor 1, a pipeline muffler 2, a condenser 3, a dryer 4, a four-loop protection valve 6, a pressure limiting valve 7, a pipeline filter 8, a one-way valve 9 and an air bag air storage cylinder which are sequentially arranged on the pipeline, wherein air is compressed by the air compressor 1 and then reaches the air bag air storage cylinder through the pipeline. One port of the dryer 4 is connected with a regeneration air cylinder 5 to store a certain amount of dried air, so that the air bag can be supplied with air in time when the air bag needs to be inflated. In order to meet the requirement of rapid control of front and rear suspension airbags at the same time, the airbag air reservoir comprises a first airbag air reservoir 10 and a second airbag air reservoir 11 which are respectively connected with air inlets of a first electromagnetic valve 13 and a second electromagnetic valve 19.
The first solenoid valve 13 has a structure shown in fig. 2, and includes an air inlet 131, a first air outlet 132, a second air outlet 133, an air outlet 134, a muffler 135, and a solenoid valve interface 136. Wherein, the air inlet 131 of the first electromagnetic valve 13 is connected with the air outlet of the first air bag air storage cylinder 10 on the air inlet pipeline through the first one-way valve 12; one first air outlet 132 of the first electromagnetic valve 13 is connected with the right front air bag 16 through a pipeline, and the other second air outlet 133 is connected with the left front air bag 17 through a pipeline; to reduce exhaust noise, a muffler 135 is mounted on the exhaust port 134 of the first solenoid valve 13, and the solenoid valve interface 136 is connected to the controller 26 by a line. The structure of the second solenoid valve 19 is the same as that of the first solenoid valve 13, and the connection manner of the second solenoid valve 19 and the external structure is similar to that of the first solenoid valve 13, except that each air outlet is communicated with two air bags.
The electrical schematic diagram of the solenoid valve is shown in fig. 3, the motion of each valve core in the solenoid valve is achieved by sending different motion commands by the controller, and the corresponding motion commands correspond to electrical signals transmitted from lines numbered 611-614, 621, 622 and 624 in fig. 3, and the transmission of the motion commands is in the prior art and is not repeated herein. The first air outlet 132 is connected with the right front air bag 16 through a second valve core 138, and the action of the second valve core 138 controls the air inlet or the air outlet of the right front air bag 16; the second air outlet 133 is connected with the left front air bag 17 through the fourth valve core 140, and the opening and closing of the fourth valve core 140 controls the air intake or the air exhaust of the left front air bag 17; the interconnection of the right front airbag 16 and the left front airbag 17 is controlled to be opened or closed by the third valve core 139, and the opening and closing of the exhaust port 134 is controlled by the first valve core 137.
In the inflation process, the second valve core 138 is controlled to be communicated with the air inlet 131 and the first air outlet 132 to realize the air inlet of the right front air bag 16, and the fourth valve core 140 is controlled to be communicated with the air inlet 131 and the second air outlet 133 to realize the air inlet of the left front air bag 17; in the exhaust process, the second valve core 138 and the first valve core 137 are controlled to be communicated with the first air outlet 132 and the air outlet 134 to realize the exhaust of the right front air bag 16, and the fourth valve core 140 and the first valve core 137 are controlled to be communicated with the second air outlet 133 and the air outlet 134 to realize the exhaust of the left front air bag 17; in the side kneeling process, the third valve core 139 controls the interconnection of the first air outlet 132 and the second air outlet 133 to be closed, and the second valve core 138 and the first valve core 137 are controlled to be communicated with the first air outlet 132 and the air outlet 134, so that the right front air bag 16 is exhausted, the height of the right front air bag 16 is reduced, the height of the left front air bag 17 is unchanged, and the right side kneeling of the vehicle body is realized.
The first, second, third and fourth height sensors 14, 15, 20, 21 are respectively installed at both sides of the front and rear suspensions for sensing height signals of the right front side, the left front side, the right rear side and the left rear side of the vehicle body, respectively, and transmitting the sensed vehicle body height variation information to the controller 26. As shown in fig. 4, which is a structural view of the height sensor, includes a sensor valve body 141, a yaw bar 142, a vertical pull bar 143, a bracket 144, and an interface 145. The sensor valve body 141 is connected to the chassis girder through a bracket 144, the vertical pull rod 143 is connected with the suspension swing arm, the suspension bounce drives the horizontal swing rod 142 to swing through the vertical pull rod 143, and the height signal is transmitted to the controller 26 through an interface 145.
The controller 26 is connected with the electromagnetic valve interfaces of the first electromagnetic valve 13 and the second electromagnetic valve 19 through a circuit and is used for logically controlling the opening of the electromagnetic valve according to the height of the vehicle. The height of the front suspension is controlled by controlling the on-off of the first electromagnetic valve 13 through the controller 26; the height of the rear suspension is controlled by controlling the on-off of the second electromagnetic valve 19 through the controller 26, wherein the other gas path branch consists of the second air bag air cylinder 11, the second one-way valve 18, the second electromagnetic valve 19, the first right rear axle air bag 22, the rear axle air bag 23, the first left rear axle air bag 24 and the second left rear axle air bag 25.
Based on the ECAS system structure of the embodiment, a left and right interconnected gas path branch is respectively constructed on the front and rear axles of the vehicle by adopting an integrated electromagnetic valve, the height change of the four wheel directions of the vehicle is sensed by four height sensors, the height signals are converted into electric signals and transmitted to a controller, the controller compares the received height signals with set height values stored in the system and controls the on-off of gas inlets and gas outlets of two integrated electromagnetic valves of the front and rear axles of the vehicle by adopting different control strategies according to comparison results, so that the gas pressure in each air bag is regulated, and the independent control of the inflation and deflation of four wheels, the interconnection control of the left and right vehicles of the front suspension and the interconnection control of the left and right wheels of the rear suspension are realized.
Based on the improved ECAS system structure, the height control strategy of the ECAS system of the invention, as shown in fig. 5, has the following overall control logic:
the vehicle ON fire input is valid and the vehicle is started. When the speed of the vehicle is less than 15km/H, the manual height control mode is selected through a switch, and the lifting to the maximum height H+ is realized in the lifting mode; lowering to a minimum height H-in a lowering mode; restoring to the original height H0 is realized in a reset mode; the left and right kneeling to the lowest height H-is achieved in the side kneeling mode.
When the vehicle speed is greater than 15km/h, adjusting to an automatic control mode: firstly judging whether the left and right height differences of a front suspension of a vehicle and the left and right height differences of a rear suspension are larger than a set threshold value, if so, performing a roll control mode; if not, further judging the vehicle speed, if the vehicle speed is more than 15km/H and less than 60km/H, maintaining the original height H0, and performing a comfort control mode; if the speed of the vehicle is greater than 60km/H, the height of the vehicle body is kept to be H-. The threshold value is set in consideration of the steering stability of the vehicle under different road conditions, respectively.
In the above judgment logic, only one mode can exist at the same time, and if different modes exist, the ECAS system is exited.
Under the unstable working conditions of emergency avoidance of obstacles, turning and the like, the height change of the vehicle body is obvious, and the height changes of the vehicle in different directions are different, the controller in the embodiment adopts an ECU (electronic control unit), and the situation that the vehicle turns left to cause the right side of the vehicle body is taken as a typical embodiment to explain the roll control and the comfort control strategy of the ECAS system, as shown in fig. 6.
During left steering of the vehicle, the right wheel of the vehicle is subjected to a pressure greater than that of the left wheel due to the inertia of the vehicle which continues to travel to the right, so that the height of the right wheel is lower than that of the left wheel, and a height difference is generated between the left wheel and the right wheel. Therefore, the corresponding modes need to be adjusted according to the left and right height differences of the front suspension and the left and right height differences of the rear suspension, and if the left and right height differences of the front suspension and the left and right height differences of the rear suspension are all larger than a set threshold value Y0, the roll control mode is entered; otherwise, further judging whether the vehicle speed is greater than 15km/H and less than 60km/H, if so, maintaining the original height H0, and performing a comfort control mode; if not, the height of the vehicle body is kept to be H-. The threshold value Y0 is set according to the stability of the vehicle steering when different vehicle speeds are set in different road conditions.
Wherein the control logic of the roll control mode is: for the front axle part of the vehicle, the first air outlet 132 and the second air outlet 133 are controlled to be disconnected through the third valve core 139 of the first electromagnetic valve 13 positioned on the front suspension, so that the interconnection closing of the right front air bag 16 and the left front air bag 17 is realized, and then the second valve core 138 is controlled to be communicated with the air inlet 131 and the first air outlet 132 to inflate the right front air bag 16, so that the air pressure of the right front wheel is gradually increased and the height is gradually increased; similarly, for the rear axle part of the vehicle, the first air outlet 132 and the second air outlet 133 are controlled to be disconnected by the third valve core 139 of the second electromagnetic valve 19 of the rear suspension, so that the first right rear axle air bag 22, the second right rear axle air bag 23, the first left rear axle air bag 24 and the second left rear axle air bag 25 of the rear suspension are interconnected and closed, and then the second valve core 138 is controlled to be communicated with the air inlet 131 and the first air outlet 132 to inflate the first right rear axle air bag 22 and the rear axle air bag 23, so that the air pressure of the right rear wheel is gradually increased and the height is gradually increased. Until the left and right height differences of the front suspension and the left and right height differences of the rear suspension of the vehicle are smaller than the set threshold value Y0, the right front air bag 16, the first right rear axle air bag 22 and the rear axle air bag 23 are stopped to be inflated, so that the vehicle body height is kept stable in the left steering process of the vehicle, and the steering stability and safety are improved.
The control logic of the comfort control mode is: the ECU controls the third valve core 139 of the first electromagnetic valve 13 through issuing an action command to enable the first air outlet 132 to be communicated with the second air outlet 133, so that the interconnection of the right front air bag 16 and the left front air bag 17 is realized; similarly, the ECU electronic control unit controls the third valve core 139 of the second electromagnetic valve 19 to communicate the first air outlet 132 with the second air outlet 133 through an issued action command, so as to realize the interconnection opening of the first right rear axle air bag 22, the second right rear axle air bag 23, the first left rear axle air bag 24 and the second left rear axle air bag 25, and the height of the vehicle body is adjusted to the original height H0 through inflating or exhausting the corresponding air bags, thereby greatly improving the riding comfort of passengers.
In order to achieve smooth height control during adjustment of the vehicle height, the following control logic is provided:
in the process of controlling and realizing the target height H (H+/H0/H-), the height sensor monitors the current height H of the vehicle in real time.
When the target height H is larger than the current height H, if the ECU detects that the height tolerance zone meets the requirement of |H-h| > B, the ECU controls the electromagnetic valve needing to be inflated or exhausted to inflate or exhaust the corresponding air bag in a fully-open mode; if the ECU detects that the height tolerance zone meets C < |H-h| < B (0 < C < B), the ECU controls the electromagnetic valve needing to be inflated or exhausted to inflate or exhaust the corresponding air bag in a pulse mode until the height tolerance zone meets 0< |H-h| < C, and the height control is finished. Wherein B, C is the upper limit and the lower limit of the set range, respectively.
The size of the pulse width can be flexibly adjusted according to the height amount and the adjusting speed which are required to be adjusted, if the height amount which is required to be adjusted is larger, the ECU outputs longer pulses, and if the height amount which is required to be adjusted is smaller, the ECU outputs shorter pulses; if the speed of adjustment is faster, the pulse width can be reduced, and if the speed of adjustment is slower, the pulse width can be increased, so that the height adjustment speed of the vehicle can be accurately controlled, and the condition of overshoot or overdischarge in the height process is greatly avoided.
In this embodiment, in order to simplify the system, the controller adopts the ECU to realize control, and as other embodiments, other controllers may be selected, and any control performed by the system based on this embodiment is within the scope of the present invention.
An embodiment of an automobile ECAS height control method:
the main steps of the ECAS height control method of this embodiment are: the heights of the two sides of the front suspension and the rear suspension of the vehicle are detected in real time, corresponding modes are adjusted according to the left and right height differences of the front suspension and the left and right height differences of the rear suspension of the vehicle, and if the left and right height differences of the front suspension and the left and right height differences of the rear suspension of the vehicle are larger than a set threshold value Y0, a roll control mode is entered; otherwise, further judging whether the vehicle speed is greater than 15km/H and less than 60km/H, if so, maintaining the original height H0, and performing a comfort control mode; if not, the height of the vehicle body is kept to be H-. The threshold value Y0 is set according to the stability of the vehicle steering when different vehicle speeds are set in different road conditions.
The specific implementation process is already described in the ECAS height control system embodiment, and will not be described herein.
Claims (10)
1. The automobile ECAS height control method is characterized by detecting the heights of the two sides of a front suspension and a rear suspension of an automobile in real time, and controlling the interconnection closing of a left front air bag and a right front air bag and inflating the front air bag positioned at the lower side when the left height difference and the right height difference of the front suspension and the left height difference and the right height difference of the rear suspension of the automobile are both larger than a set threshold value; and simultaneously, controlling the interconnection of the left rear air bag and the right rear air bag to be closed, and controlling the rear air bag positioned at the lower side to be inflated until the height difference of the left air bag and the right air bag of the front suspension and the left height difference and the right height difference of the rear suspension are smaller than a set threshold value.
2. The ECAS height control method of an automobile according to claim 1, wherein when the left and right height differences of the front suspension and the left and right height differences of the rear suspension of the automobile are equal to or smaller than a set threshold value and within a normal vehicle speed range, the interconnection of the left front airbag and the right front airbag and the interconnection of the left rear airbag and the right rear airbag are controlled to be opened, and the inflation or the exhaust of the front and rear airbags is controlled to adjust the height of the automobile body to an original height.
3. The ECAS height control method of an automobile according to claim 1, wherein when the difference in left and right heights of the front suspension and the left and right differences in right and left of the rear suspension of the automobile are equal to or smaller than a set threshold value and when the vehicle speed exceeds a normal range, the interconnection of the left front airbag and the right front airbag and the interconnection of the left rear airbag and the right rear airbag are controlled to be opened, and the front and rear airbags are controlled to be exhausted, so that the height of the automobile body is reduced to a minimum height.
4. A vehicle ECAS height control method according to any one of claims 1 to 3, wherein in the vehicle height adjustment process, if the current height of the vehicle is H, the target height is H, and when |h-h| > B, the solenoid valve to which the airbag to be inflated or deflated is connected is controlled to inflate or deflate the corresponding airbag in a fully open manner; when C < |H-h| < B, controlling the electromagnetic valve needing to be inflated or exhausted to inflate or exhaust the corresponding air bag in a pulse mode until the value is more than or equal to 0 and less than or equal to |H-h| < C, and ending the height control;
b, C is the upper and lower limits of the set range, respectively, and 0< C < B.
5. The ECAS height control system of the automobile comprises a controller, an electromagnetic valve and a height sensor, and is characterized in that the height sensor is used for sensing the height information of the front suspension and the rear suspension of the automobile and transmitting the height information to the controller; the electromagnetic valve comprises a first electromagnetic valve arranged between the air bags at the two sides of the front suspension and a second electromagnetic valve arranged between the air bags at the two sides of the rear suspension; when the controller detects that the left and right height differences of the front suspension and the left and right height differences of the rear suspension of the vehicle are larger than a set threshold value, the controller controls the interconnection closing of the left front air bag and the right front air bag connected with the first electromagnetic valve and inflates the front air bag positioned at the lower side; and simultaneously, controlling the interconnection of the left rear air bag and the right rear air bag which are connected by the second electromagnetic valve to be closed, and controlling the rear air bag positioned at the lower side to be inflated until the height difference of the left air bag and the right air bag of the front suspension and the left height difference and the right height difference of the rear suspension are smaller than a set threshold value.
6. The ECAS height control system of claim 5, wherein the first solenoid valve comprises an air inlet, two air outlets and an air outlet, the air inlet is used for connecting with an air bag air reservoir, and the two air outlets are respectively connected with air bags on two sides of the front suspension; the second electromagnetic valve comprises an air inlet, two air outlets and an air outlet, the air inlet is used for being connected with the air bag air storage cylinder, and the two air outlets are respectively connected with the air bags on two sides of the rear suspension frame.
7. The ECAS height control system of claim 6, wherein said controller controls the interconnection closing of the left and right airbags through the solenoid valve and controls the solenoid valve to communicate with the air outlet and the air outlet to which the airbags requiring the exhaustion are connected when the vehicle needs to kneel sideways.
8. The ECAS height control system of claim 5, wherein the controller controls the interconnection of the right front air bag and the left front air bag and the interconnection of the right rear air bag and the left rear air bag to be opened by the solenoid valve and controls the inflation or the exhaust of the front air bag and the rear air bag to adjust the height of the vehicle body to the original height when the difference between the left height and the right height of the front suspension of the vehicle and the difference between the left height and the right height of the rear suspension of the vehicle are equal to or smaller than a set threshold value and within a normal vehicle speed range.
9. The ECAS height control system of claim 5, wherein the controller controls the interconnection of the left front air bag and the right front air bag and the interconnection of the left rear air bag and the right rear air bag to be opened and controls the exhaust of the front air bag and the rear air bag to reduce the height of the vehicle body to a minimum height by the electromagnetic valve when the difference between the left height and the right height of the front suspension of the vehicle and the difference between the left height and the right height of the rear suspension of the vehicle are equal to or smaller than a set threshold value and when the vehicle speed exceeds a normal range.
10. The ECAS height control system of an automobile according to claim 5, 8 or 9, wherein in the adjusting process of the vehicle height, if the current height of the vehicle is H, the target height is H, when the controller detects |h-h| > B, the electromagnetic valve requiring inflation or exhaustion is controlled to inflate or deflate the corresponding airbag in a fully open manner; when the controller detects C < |H-h| < B, controlling the electromagnetic valve needing to be inflated or exhausted to inflate or exhaust the corresponding air bag in a pulse mode until the temperature is less than or equal to 0|H-h| < C, and ending the height control;
b, C is the upper and lower limits of the set range, respectively, and 0< C < B.
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| CN202211231071.3A CN116653527A (en) | 2022-10-09 | 2022-10-09 | Automobile ECAS height control method and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117048271A (en) * | 2023-09-20 | 2023-11-14 | 岚图汽车科技有限公司 | Air spring adjusting method, device, equipment and computer readable storage medium |
| CN117445600A (en) * | 2023-10-27 | 2024-01-26 | 上海同驭汽车科技有限公司 | An air supply system, air supply method and vehicle |
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2022
- 2022-10-09 CN CN202211231071.3A patent/CN116653527A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117048271A (en) * | 2023-09-20 | 2023-11-14 | 岚图汽车科技有限公司 | Air spring adjusting method, device, equipment and computer readable storage medium |
| CN117445600A (en) * | 2023-10-27 | 2024-01-26 | 上海同驭汽车科技有限公司 | An air supply system, air supply method and vehicle |
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