The invention discloses a six-wheel vehicle hydraulic semi-active suspension and a control method thereof. The tire steering knuckles and the suspension module are installed on the vehicle body, a cross arm in the suspension module is connected with all tires, the suspension actuator is connected with the hydraulic module, the hydraulic module is used for controlling elastic force and damping force between the suspension actuator and the vehicle body, and then the six-wheel vehicle is controlled to stably run under different running road conditions through the suspension module. The method comprises the steps that a six-wheel vehicle multi-body dynamic model and a semi-active suspension control strategy are built, the six-wheel vehicle multi-body dynamic model is used for obtaining the dynamic stroke and the dynamic stroke speed of each suspension actuator, and the semi-active suspension control strategy is used for setting damping and rigidity of the suspension actuators. The rigidity coefficient and the damping coefficient of the suspension are adjusted in real time through the hydraulic module, the vehicle body vertical acceleration, the vehicle body pitch angle and the vehicle body roll angle in the running process of the six-wheel vehicle are effectively restrained, and the running stability of the six-wheel vehicle is effectively improved.
本发明公开了一种六轮车辆液压半主动悬架及其控制方法。轮胎转向节和悬架模块均安装在车身上,悬架模块中的横臂与各个轮胎连接,悬架作动器与液压模块连接,液压模块用于控制悬架作动器和车身之间的弹性力和阻尼力,进而通过悬架模块控制六轮车辆在不同行驶路况下的平稳行驶;方法包括构建六轮车辆多体动力学模型和半主动悬架控制策略,利用六轮车辆多体动力学模型获取各个悬架作动器的动行程和动行程速度,利用半主动悬架控制策略对悬架作动器的阻尼和刚度进行设置。本发明利用液压模块实时调节悬架的刚度系数和阻尼系数,有效抑制六轮车辆行驶过程中车身垂向加速度、车身俯仰角、车身侧倾角,有效提升了六轮车辆行驶平稳性。
Hydraulic semi-active suspension of six-wheeled vehicle and control method of hydraulic semi-active suspension
一种六轮车辆液压半主动悬架及其控制方法
08.04.2025
Patent
Elektronische Ressource
Chinesisch
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