The invention relates to a system (1) for determining a displacement speed signal (10) for controlling an active wheel suspension of a land vehicle by open-loop and/or closed-loop control, comprising at least one Kalman filter (2) and at least one acceleration sensor (3), the acceleration sensor may be arranged on a sprung mass of a land vehicle for sensing a vertical acceleration of the sprung mass and for generating a corresponding acceleration signal, which may be provided to a Kalman filter (2). In order to improve the performance of the active wheel suspension, the Kalman filter (2) comprises a mathematical motion model of the sprung mass, the state of which is the vertical acceleration of the sprung mass, the vertical displacement speed of the sprung mass and the vertical displacement distance of the sprung mass, a displacement measurement signal (4) having a value of 0 can be continuously supplied to the Kalman filter (2) for determining the displacement speed signal (10), and a constant noise variance value (5) of a measurement noise covariance matrix of the Kalman filter (2) assigned to the displacement measurement signal (4) is set in each case to half the maximum vertical displacement distance of the sprung mass.
本发明涉及一种用于确定位移速度信号(10)的系统(1),该位移速度信号用于通过开环和/或闭环控制来控制陆地车辆的主动车轮悬架,该系统具有至少一个卡尔曼滤波器(2)和至少一个加速度传感器(3),该加速度传感器可以设置在陆地车辆的簧载质量上,用于感测簧载质量的竖直加速度并用于产生相应的加速度信号,该加速度信号可以被提供给卡尔曼滤波器(2)。为了提高主动车轮悬架的性能,卡尔曼滤波器(2)包括簧载质量的数学运动模型,其状态是簧载质量的竖直加速度、簧载质量的竖直位移速度和簧载质量的竖直位移距离,值为0的位移测量信号(4)能够被连续地提供给卡尔曼滤波器(2)以用于确定位移速度信号(10),以及分配给位移测量信号(4)的卡尔曼滤波器(2)的测量噪声协方差矩阵的恒定噪声方差值(5)在每种情况下都设置为簧载质量的最大竖直位移距离的一半。
System and method for determining displacement velocity signal and active wheel suspension
用于确定位移速度信号的系统和方法以及主动车轮悬架
2023-01-03
Patent
Elektronische Ressource
Chinesisch
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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