The invention discloses a hydro-pneumatic suspension active control method based on a feedforward algorithm, and the method comprises the following steps: S1, collecting a front road surface image, and extracting the elevation information of a front road surface in real time based on the feedforward algorithm, including the height change, speed and acceleration of a vehicle in the Z-axis direction of a vehicle coordinate system; s2, constructing a quarter vehicle dynamics model, and converting the quarter vehicle dynamics model into a state-space equation according to the motion equation; s3, the state input quantity of the quarter vehicle at the next moment is determined, and the damping force Fc needed by the hydro-pneumatic suspension of the quarter vehicle at the next moment is calculated through the state-state space equation; and S4, determining the current of the electrical spring corresponding to the damping force Fc required by the hydro-pneumatic suspension at the next moment. And the controlled force is actively applied to the hydro-pneumatic suspension based on the elevation information of the front road surface to control the movement of the vehicle body, so that the vibration of the vehicle is reduced, and the operation stability of a driver is possibly ensured while better riding quality is provided for passengers.
本发明公开一种基于前馈算法的油气悬架主动控制方法,包括如下步骤:S1、采集前方的路面图像,基于前馈算法实时提取前方路面的高程信息,包括:车辆坐标系Z轴方向上的车辆高度变化、速度和加速度;S2、构建四分之一车辆动力学模型,根据运动方程将四分之一车辆动力学模型转换成状态空间方程;S3、确定下一时刻四分之一车辆的状态输入量,通过状态状态空间方程计算四分之一车辆在下一时刻油气悬架所需的阻尼力Fc;S4、确定下一时刻油气悬架所需阻尼力Fc对应的电气弹簧的电流。基于前方路面的高程信息主动对油气悬架施加受控力来控制车辆车身的运动,减少车辆的振动,为乘客提供更好的乘坐质量的同时,也近可能的保证了驾驶员的操作稳定性。
Hydropneumatic suspension active control method based on feedforward algorithm and vehicle
基于前馈算法的油气悬架主动控制方法及车辆
2023-11-17
Patent
Elektronische Ressource
Chinesisch
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
Semi-active hydropneumatic suspension
Kraftfahrwesen | 1994
|Semi-Active Hydropneumatic Suspension
British Library Conference Proceedings | 1994
|