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CN119388941A - A method for independently adjusting four-wheel stiffness and travel and a multi-chamber air suspension system - Google Patents

A method for independently adjusting four-wheel stiffness and travel and a multi-chamber air suspension system Download PDF

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Publication number
CN119388941A
CN119388941A CN202411852732.3A CN202411852732A CN119388941A CN 119388941 A CN119388941 A CN 119388941A CN 202411852732 A CN202411852732 A CN 202411852732A CN 119388941 A CN119388941 A CN 119388941A
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CN
China
Prior art keywords
vehicle
stiffness
air spring
travel
adjustment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202411852732.3A
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Chinese (zh)
Inventor
杨涛
杜满胜
江乐生
郑勇
熊剑
龚晖
李亮
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Jiangling Motors Corp Ltd
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Jiangling Motors Corp Ltd
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Filing date
Publication date
Application filed by Jiangling Motors Corp Ltd filed Critical Jiangling Motors Corp Ltd
Priority to CN202411852732.3A priority Critical patent/CN119388941A/en
Publication of CN119388941A publication Critical patent/CN119388941A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • 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
    • B60G17/0165—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 to an external condition, e.g. rough road surface, side wind
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/10—Type of spring
    • B60G2202/15—Fluid spring
    • B60G2202/152—Pneumatic spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B60G2500/201—Air spring system type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B60G2500/204—Pressure regulating valves for air-springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B60G2500/22—Spring constant

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention provides a four-wheel rigidity and stroke independent adjustment method and a multi-cavity air suspension system, which are based on vehicle dynamic real-time monitoring and vehicle body height monitoring, and realize active control of the dynamic stability of the whole vehicle and self-leveling of the vehicle on uneven road surfaces through independent control of the four-wheel rigidity and the stroke. The vehicle stability control is realized through opening and closing of the electromagnetic valve in the moving process, the active control of the vehicle dynamic stability is realized while the attribute requirement in the vehicle mode is ensured, and meanwhile, the air suspension controller and the inertial measurement unit IMU signal monitor are used for independently adjusting the air charging and discharging of the four-wheel air spring, so that the vehicle body maintains a relative horizontal posture.

Description

Four-wheel rigidity and stroke independent adjustment method and multi-cavity air suspension system
Technical Field
The invention relates to the field of vehicle manufacturing, in particular to a method for independently adjusting four-wheel rigidity and stroke and a multi-cavity air suspension system.
Background
The main function of the air suspension system is to adjust the height of the vehicle body, wherein the multi-cavity air spring system can also preset different rigidities in different modes, the rigidities and the heights follow different modes, and four wheels are adjusted simultaneously. The multi-cavity air suspension mainly has the functions of improving the vehicle operation stability and comfort performance, when a customer needs to operate the stability performance, the electromagnetic valve is electrified to be closed, the vehicle air suspension is ensured to work in a relatively small volume air chamber to provide relatively high suspension rigidity, when the customer needs to operate the comfort performance, the electromagnetic valve is not electrified to be normally open, the vehicle air suspension is ensured to work in a relatively large volume air chamber to provide relatively small suspension rigidity, the working modes of the vehicle are constant rigidity at present, different modes are switched to be simultaneously adjusted in four-wheel rigidity, and the vehicle body capacity is not dynamically controlled in the movement process.
The air suspension height adjustment modes are approximately different height gears, and the air suspension height adjustment modes are raised or lowered simultaneously on the same standard, so that the requirements of a user are met when the vehicle is parked on a flat road, but when the vehicle is parked on an uneven road in the outdoor or camping scenes, the vehicle body posture and the uneven road surface are in the same uneven state, the personalized specific requirements of the user cannot be met, and the user needs four-wheel height independent control adjustment, so that the vehicle body is kept in a relative horizontal state.
Disclosure of Invention
In view of the shortcomings in the prior art, it is an object of the present invention to provide a method for independent adjustment of four-wheel stiffness and travel and a multi-chamber air suspension system.
In order to achieve the above object, the present invention provides the following technical solutions:
the four-wheel rigidity and stroke independent adjustment method comprises four-wheel rigidity independent adjustment and four-wheel stroke independent adjustment;
in a low stiffness mode, monitoring the vehicle speed, steering wheel rotation angle, longitudinal acceleration and lateral acceleration signals of a whole vehicle on a bus, judging that the vehicle body posture has a large variation trend when the monitoring signals meet a set threshold value, and enabling an air suspension controller to send an air spring electromagnetic valve instruction for closing a shaft with the large variation trend, so that the air spring corresponding to the shaft with the large variation trend is switched to high stiffness, the vehicle body posture is ensured to be relatively stable, and when the monitoring signals are lower than the set threshold value, the air suspension controller sends an electromagnetic valve opening instruction, so that the air spring is restored to low stiffness, and the vehicle body comfort requirement is maintained;
When the vehicle is stopped on an uneven road, the angle of the inertial measurement unit IMU and the suspension travel signals are monitored, when the monitored signals meet a set threshold value, the condition that the vehicle body is uneven at the moment is judged, the air suspension controller sends out four air spring inflation or deflation instructions, when the angle of the IMU is smaller than the set threshold value, the vehicle reaches a horizontal state, and the air springs stop adjusting.
Preferably, the specific steps of the independent adjustment of the rigidity of the four wheels comprise:
A1, the vehicle is in a default state, and the electromagnetic valve is normally open;
A2, judging a vehicle mode, if the vehicle mode is a high-rigidity mode, closing all electromagnetic valves, and ending all processes after closing the electromagnetic valves;
A3, judging the absolute value of a steering wheel angle signal on the bus, if the absolute value is larger than a set threshold value, entering a step A4, otherwise, entering a step A5;
A4, judging the absolute value of the lateral acceleration signal on the bus, if the absolute value is larger than a set threshold value, entering a step A6, otherwise, entering a step A5;
A5, judging the absolute value of a longitudinal acceleration signal on the bus, if the absolute value is larger than a set threshold value, entering a step A7, otherwise, returning to an initial state;
A6, judging the positive and negative directions of the steering wheel corner on the bus, if the positive value is positive, closing the right front double-cavity air spring electromagnetic valve and the right rear double-cavity air spring electromagnetic valve, improving the rigidity of the right front suspension and the right rear suspension of the vehicle, and inhibiting the right side sinking of the vehicle body posture, and if the negative value is negative, closing the left front double-cavity air spring electromagnetic valve and the left rear double-cavity air spring electromagnetic valve, improving the rigidity of the left front suspension and the left rear suspension of the vehicle, and inhibiting the left side sinking of the vehicle body posture.
A7, judging the positive and negative directions of longitudinal acceleration on the bus, if the positive value is the positive value, closing the left rear double-cavity air spring electromagnetic valve and the right rear double-cavity air spring electromagnetic valve, improving the left rear suspension stiffness and the right rear suspension stiffness of the vehicle, and inhibiting the rear sinking of the vehicle body posture, and if the negative value is the negative value, closing the left front double-cavity air spring electromagnetic valve and the right front double-cavity air spring electromagnetic valve, improving the left front suspension stiffness and the right front suspension stiffness of the vehicle, and inhibiting the front sinking of the vehicle body posture.
Preferably, the specific steps of four-wheel stroke independent adjustment include:
b1, default adjustment times of the vehicle are 0;
B2, judging whether the self-leveling function of the vehicle is started or not, if the self-leveling function is in a closed state, not performing self-leveling adjustment, returning;
B3, judging whether the current vehicle meets the self-leveling state setting requirement, if the current vehicle is larger than a set threshold value, judging that the vehicle is in a non-leveling state currently, and needing to be adjusted, entering a step B4, otherwise, judging that the vehicle is in a leveling state currently, and ending the adjustment flow without needing to be adjusted;
B4, performing independent air charging and discharging adjustment actions of the four air springs, and recording the times of the adjustment actions;
B5, judging the action adjustment times in the step B4, if the charge and discharge times are less than the preset times, entering the step B6, otherwise, returning to the initial state;
b6, judging whether the current suspension travel is close to the vehicle travel capacity limit, if so, ending the adjustment flow, otherwise, entering a step B7;
b7, checking the levelness of the current vehicle again, if the vehicle does not meet the self-level calibration requirement, returning to the step B4 to continue adjustment, otherwise, starting to time for 5 seconds, and entering the step B8;
And B8, checking stability after self-leveling of the vehicle, if the vehicle does not meet the self-leveling calibration requirement, returning to the step B4 to continue the adjustment, otherwise, ending the adjustment flow.
A four-wheel independently adjustable stiffness and travel multi-chamber air suspension system for performing a four-wheel independently adjustable stiffness and travel method as described in any of the foregoing, comprising:
The multi-cavity air springs are respectively arranged on four wheels of the vehicle and are used for adjusting the rigidity and the stroke of the suspension;
the electromagnetic valve control device is arranged in the multi-cavity air spring and used for controlling the switching of the air chamber of the air spring so as to adjust the rigidity of the suspension;
The air suspension controller is used for receiving signals of vehicle speed, steering wheel rotation angle, longitudinal acceleration and lateral acceleration, sending control instructions to the electromagnetic valve control device according to the change trend of the vehicle body posture, and realizing independent adjustment of four-wheel rigidity and independent adjustment of four-wheel stroke;
Height sensor and inertial measurement unit IMU sensor: the air suspension controller is used for detecting the suspension height, suspension stroke and vehicle inclination angle, and the air suspension controller adjusts four-wheel stroke based on sensor signals to realize vehicle body level.
Compared with the prior art, the four-wheel stiffness and stroke independent adjustment method and the multi-cavity air suspension system provided by the invention are used for realizing the active control of the dynamic stability of the whole vehicle and the self-leveling of the vehicle body on uneven road surfaces through the four-wheel stiffness and stroke independent control based on the dynamic real-time monitoring and the vehicle body height monitoring of the vehicle. The vehicle stability control is realized through opening and closing of the electromagnetic valve in the moving process, the active control of the vehicle dynamic stability is realized while the attribute requirement in the vehicle mode is ensured, and meanwhile, the air suspension controller and the inertial measurement unit IMU signal monitor are used for independently adjusting the air charging and discharging of the four-wheel air spring, so that the vehicle body maintains a relative horizontal posture.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of independent adjustment of four-wheel stiffness in example 1;
FIG. 2 is a flow chart of four-wheel stroke independent adjustment in embodiment 1;
FIG. 3 is a frame diagram of a four wheel stiffness and stroke independent adjustable multi-chamber air suspension system of example 2.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Further, all directional indications (such as up, down, left, right, front, rear, bottom.) in the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indication is changed accordingly. Further, the descriptions of "first," "second," etc. in the application are for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
Example 1
As shown in the figure, the four-wheel stiffness and stroke independent adjustment method provided for the embodiment comprises four-wheel stiffness independent adjustment and four-wheel stroke independent adjustment.
The four-wheel stiffness independent adjustment comprises the steps of monitoring the vehicle speed, steering wheel rotation angle, longitudinal acceleration and lateral acceleration signals of a whole vehicle on a bus in a low stiffness mode, judging that the vehicle body posture has a large change trend when the monitoring signals meet a set threshold value, and enabling an air suspension controller to send an air spring electromagnetic valve instruction for closing a shaft with the large change trend, so that the air spring corresponding to the shaft with the large change trend is switched to high stiffness, the vehicle body posture is ensured to be relatively stable, and when the monitoring signals are lower than the set threshold value, the air suspension controller sends an electromagnetic valve opening instruction, so that the air spring is restored to low stiffness, and the vehicle body comfort requirement is maintained. Specifically, the method comprises the following steps:
A1, the vehicle is in a default state, and the electromagnetic valve is normally open;
A2, judging a vehicle mode, if the vehicle mode is a high-rigidity mode, closing all electromagnetic valves, and ending all processes after closing the electromagnetic valves;
A3, judging the absolute value of a steering wheel angle signal on the bus, if the absolute value is larger than a set threshold value, entering a step A4, otherwise, entering a step A5;
A4, judging the absolute value of the lateral acceleration signal on the bus, if the absolute value is larger than a set threshold value, entering a step A6, otherwise, entering a step A5;
A5, judging the absolute value of a longitudinal acceleration signal on the bus, if the absolute value is larger than a set threshold value, entering a step A7, otherwise, returning to an initial state;
A6, judging the positive and negative directions of the steering wheel corner on the bus, if the positive value is positive, closing the right front double-cavity air spring electromagnetic valve and the right rear double-cavity air spring electromagnetic valve, improving the rigidity of the right front suspension and the right rear suspension of the vehicle, and inhibiting the right side sinking of the vehicle body posture, and if the negative value is negative, closing the left front double-cavity air spring electromagnetic valve and the left rear double-cavity air spring electromagnetic valve, improving the rigidity of the left front suspension and the left rear suspension of the vehicle, and inhibiting the left side sinking of the vehicle body posture.
A7, judging the positive and negative directions of longitudinal acceleration on the bus, if the positive value is the positive value, closing the left rear double-cavity air spring electromagnetic valve and the right rear double-cavity air spring electromagnetic valve, improving the left rear suspension stiffness and the right rear suspension stiffness of the vehicle, and inhibiting the rear sinking of the vehicle body posture, and if the negative value is the negative value, closing the left front double-cavity air spring electromagnetic valve and the right front double-cavity air spring electromagnetic valve, improving the left front suspension stiffness and the right front suspension stiffness of the vehicle, and inhibiting the front sinking of the vehicle body posture.
The four-wheel travel independent adjustment comprises the steps of monitoring an angle of an Inertial Measurement Unit (IMU) and a suspension travel signal when a vehicle is stopped on an uneven road surface, judging that the posture of the vehicle body is uneven when the monitored signal meets a set threshold value, and sending out four air spring inflation or deflation instructions by an air suspension controller, wherein when the IMU angle is smaller than the set threshold value, the vehicle reaches a horizontal state, and the air springs stop adjusting. Specifically, the method comprises the following steps:
b1, default adjustment times of the vehicle are 0;
B2, judging whether the self-leveling function of the vehicle is started or not, if the self-leveling function is in a closed state, not performing self-leveling adjustment, returning;
B3, judging whether the current vehicle meets the self-leveling state setting requirement, if the current vehicle is larger than a set threshold value, judging that the vehicle is in a non-leveling state currently, and needing to be adjusted, entering a step B4, otherwise, judging that the vehicle is in a leveling state currently, and ending the adjustment flow without needing to be adjusted;
B4, performing independent air charging and discharging adjustment actions of the four air springs, and recording the times of the adjustment actions;
B5, judging the action adjustment times in the step B4, if the charge and discharge times are less than the preset times, entering the step B6, otherwise, returning to the initial state;
b6, judging whether the current suspension travel is close to the vehicle travel capacity limit, if so, ending the adjustment flow, otherwise, entering a step B7;
b7, checking the levelness of the current vehicle again, if the vehicle does not meet the self-level calibration requirement, returning to the step B4 to continue adjustment, otherwise, starting to time for 5 seconds, and entering the step B8;
b8, checking stability after self-leveling of the vehicle, if the vehicle does not meet the self-leveling calibration requirement, returning to the step B4 to continue the adjustment, otherwise ending the adjustment flow;
example 2
As shown in fig. 3, the multi-chamber air suspension system with four-wheel stiffness and travel independently adjusted for the present embodiment is used for implementing the method for four-wheel stiffness and travel independently adjusted according to the above embodiment, and includes:
The multi-cavity air springs are respectively arranged on four wheels of the vehicle and are used for adjusting the rigidity and the stroke of the suspension;
the electromagnetic valve control device is arranged in the multi-cavity air spring and used for controlling the switching of the air chamber of the air spring so as to adjust the rigidity of the suspension;
The air suspension controller is used for receiving signals of vehicle speed, steering wheel rotation angle, longitudinal acceleration and lateral acceleration, sending control instructions to the electromagnetic valve control device according to the change trend of the vehicle body posture, and realizing independent adjustment of four-wheel rigidity and independent adjustment of four-wheel stroke;
Height sensor and inertial measurement unit IMU sensor: the air suspension controller is used for detecting the suspension height, suspension stroke and vehicle inclination angle, and the air suspension controller adjusts four-wheel stroke based on sensor signals to realize vehicle body level.
While the present invention has been described with reference to the above embodiments, it is apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit of the invention.

Claims (4)

1.一种四轮刚度和行程独立调整的方法，其特征在于，包括四轮刚度独立调整和四轮行程独立调整；1. A method for independently adjusting the stiffness and travel of four wheels, characterized in that it includes independently adjusting the stiffness of four wheels and independently adjusting the travel of four wheels; 所述四轮刚度独立调整包括：在低刚度模式下，监测总线上的整车车速、方向盘转角、纵向加速度和侧向加速度信号，当监测信号满足设定阈值时，判定此时车身姿态将会有大的变化趋势，空气悬架控制器发出关闭变化趋势大的轴的空气弹簧电磁阀指令，使有变化趋势大的轴对应的空气弹簧切换为高刚度，保证车身姿态相对稳定，当监测信号低于设定阈值时，空气悬架控制器发出打开电磁阀指令，使空气弹簧恢复为低刚度，维持车身舒适性要求；The independent adjustment of the four-wheel stiffness includes: in the low stiffness mode, monitoring the vehicle speed, steering wheel angle, longitudinal acceleration and lateral acceleration signals on the bus, when the monitoring signal meets the set threshold, it is determined that the vehicle body posture will have a large change trend at this time, and the air suspension controller issues a command to close the air spring solenoid valve of the axis with a large change trend, so that the air spring corresponding to the axis with a large change trend is switched to high stiffness to ensure that the vehicle body posture is relatively stable, and when the monitoring signal is lower than the set threshold, the air suspension controller issues a command to open the solenoid valve to restore the air spring to low stiffness to maintain the vehicle body comfort requirements; 所述四轮行程独立调整包括：在车辆停在不平路面时，监测惯性测量单元IMU角度及悬架行程信号，当监测信号满足设定阈值时，判定此时车身姿态不平，空气悬架控制器发出四个空气弹簧充气或放气指令，当IMU角度小于设定阈值时，车辆到达水平状态，空气弹簧停止调整。The independent adjustment of the four-wheel travel includes: when the vehicle is parked on an uneven road, monitoring the inertial measurement unit IMU angle and suspension travel signal; when the monitoring signal meets a set threshold, determining that the vehicle body posture is uneven at this time, and the air suspension controller sends an inflation or deflation instruction for the four air springs; when the IMU angle is less than the set threshold, the vehicle reaches a horizontal state, and the air spring stops adjusting. 2.根据权利要求1所述的，其特征在于，所述四轮刚度独立调整的具体步骤包括：2. The method according to claim 1, characterized in that the specific steps of independently adjusting the stiffness of the four wheels include: A1：车辆处于默认状态，电磁阀常开；A1: The vehicle is in default state, and the solenoid valve is normally open; A2：进行车辆模式判断，若为高刚度模式，则电磁阀全部关闭，电磁阀关闭后结束全部流程；若为低刚度模式，则进入步骤A3；A2: Determine the vehicle mode. If it is a high stiffness mode, all solenoid valves are closed, and the entire process ends after the solenoid valves are closed. If it is a low stiffness mode, go to step A3. A3：判断总线上方向盘转角信号的绝对值，若大于设定阈值，则进入步骤A4，否则进入步骤A5；A3: Determine the absolute value of the steering wheel angle signal on the bus. If it is greater than the set threshold, proceed to step A4; otherwise, proceed to step A5; A4：判断总线上侧向加速度信号的绝对值，若大于设定阈值，则进入步骤A6，否则进入步骤A5；A4: Determine the absolute value of the lateral acceleration signal on the bus. If it is greater than the set threshold, proceed to step A6; otherwise, proceed to step A5. A5：判断总线上纵向加速度信号的绝对值，若大于设定阈值，则进入步骤A7，否则返回至初始状态；A5: Determine the absolute value of the longitudinal acceleration signal on the bus. If it is greater than the set threshold, go to step A7, otherwise return to the initial state; A6：判断总线上方向盘转角的正负方向，若为正值，则关闭右前双腔空气弹簧电磁阀和右后双腔空气弹簧电磁阀，提升车辆右前悬和右后悬刚度，抑制车身姿态右侧下沉；若为负值，则关闭左前双腔空气弹簧电磁阀和左后双腔空气弹簧电磁阀，提升车辆左前悬和左后悬刚度，抑制车身姿态左侧下沉。A6: Determine the positive and negative directions of the steering wheel angle on the bus. If it is a positive value, close the right front double-chamber air spring solenoid valve and the right rear double-chamber air spring solenoid valve to increase the stiffness of the right front and right rear overhang of the vehicle and suppress the right side of the body posture from sinking. If it is a negative value, close the left front double-chamber air spring solenoid valve and the left rear double-chamber air spring solenoid valve to increase the stiffness of the left front and left rear overhang of the vehicle and suppress the left side of the body posture from sinking. A7：判断总线上纵向加速度的正负方向，若为正值，则关闭左后双腔空气弹簧电磁阀和右后双腔空气弹簧电磁阀，提升车辆左后悬和右后悬刚度，抑制车身姿态后部下沉；若为负值，则关闭左前双腔空气弹簧电磁阀和右前双腔空气弹簧电磁阀，提升车辆左前悬和右前悬刚度，抑制车身姿态前部下沉。A7: Determine the positive and negative directions of the longitudinal acceleration on the bus. If it is a positive value, close the left rear double-chamber air spring solenoid valve and the right rear double-chamber air spring solenoid valve to increase the stiffness of the left rear overhang and the right rear overhang of the vehicle and suppress the rear sinking of the vehicle body posture; if it is a negative value, close the left front double-chamber air spring solenoid valve and the right front double-chamber air spring solenoid valve to increase the stiffness of the left front overhang and the right front overhang of the vehicle and suppress the front sinking of the vehicle body posture. 3.根据权利要求1所述的，其特征在于，所述四轮行程独立调整的具体步骤包括：3. The method according to claim 1, characterized in that the specific steps of independently adjusting the four-wheel travel include: B1：车辆默认调整次数为0；B1: The default vehicle adjustment times is 0; B2：判断车辆自水平功能是否开启，若为关闭状态，则不进行自水平调整，返回；若为开启状态，则进入步骤B3；B2: Determine whether the vehicle self-leveling function is turned on. If it is turned off, no self-leveling adjustment is performed and the process returns. If it is turned on, the process proceeds to step B3. B3：判断当前车辆是否满足自水平状态设定要求，若大于设定阈值，则判断车辆当前为非水平状态，需要进行调整，进入步骤B4，否则判断车辆当前处于水平状态，不需要再进行调整，结束调整流程；B3: Determine whether the current vehicle meets the self-leveling state setting requirements. If it is greater than the set threshold, it is determined that the vehicle is currently in a non-level state and needs to be adjusted, and enter step B4. Otherwise, it is determined that the vehicle is currently in a level state and no further adjustment is required, and the adjustment process ends; B4：进行四个空气弹簧单独充放气调整动作，并记录充放气调整动作调整的次数；B4: Perform separate inflation and deflation adjustments on the four air springs, and record the number of inflation and deflation adjustments; B5：判断步骤B4中的动作调整次数，如果判定充放次数小于预设次数值，则进入步骤B6，否则回到初始状态；B5: Determine the number of action adjustments in step B4. If it is determined that the number of charge and discharge times is less than the preset number, proceed to step B6, otherwise return to the initial state; B6：判断当前悬架行程是否接近车辆行程能力极限，如接近悬架行程能力极限，则结束调整流程，否则进入步骤B7；B6: Determine whether the current suspension travel is close to the vehicle travel capacity limit. If so, end the adjustment process; otherwise, proceed to step B7; B7：再次校核当前车辆水平度，如车辆不满足自水平标定要求，则返回步骤B4继续调整，否则开始计时5s后进入步骤B8；B7: Check the current vehicle level again. If the vehicle does not meet the self-leveling calibration requirements, return to step B4 to continue adjustment. Otherwise, start timing for 5 seconds and then go to step B8. B8：进行车辆自水平调整后稳定性校核，如车辆不满足自水平标定要求，则返回步骤B4继续调整，否则结束调整流程。B8: Perform stability check after the vehicle self-leveling adjustment. If the vehicle does not meet the self-leveling calibration requirements, return to step B4 to continue adjustment, otherwise the adjustment process ends. 4.一种四轮刚度和行程独立调整的多腔空气悬架系统，用于实施如上述权利要求1～3任一所述的四轮刚度和行程独立调整的方法，其特征在于，包括：4. A multi-chamber air suspension system with independent adjustment of four-wheel stiffness and travel, used to implement the method for independent adjustment of four-wheel stiffness and travel as claimed in any one of claims 1 to 3, characterized in that it comprises: 多腔空气弹簧：分别设置于车辆四轮，用于调整悬架刚度和行程；Multi-chamber air spring: installed on the four wheels of the vehicle to adjust the suspension stiffness and travel; 电磁阀控制装置：设置于多腔空气弹簧内部，用于控制空气弹簧的气室切换，从而调整悬架刚度；Solenoid valve control device: It is set inside the multi-chamber air spring and is used to control the air chamber switching of the air spring to adjust the suspension stiffness; 空气悬架控制器：用于接收车辆速度、方向盘转角、纵向加速度、侧向加速度信号，根据车身姿态变化趋势向电磁阀控制装置发送控制指令，实现四轮刚度独立调整和四轮行程独立调整；Air suspension controller: used to receive vehicle speed, steering wheel angle, longitudinal acceleration, and lateral acceleration signals, and send control instructions to the solenoid valve control device according to the trend of vehicle body posture changes to achieve independent adjustment of four-wheel stiffness and four-wheel travel; 高度传感器和惯性测量单元IMU传感器：用于检测悬架高度、悬架行程和车辆倾斜角度，空气悬架控制器基于传感器信号调整四轮行程，实现车身水平。Height sensor and inertial measurement unit (IMU) sensor: used to detect suspension height, suspension travel and vehicle tilt angle. The air suspension controller adjusts the four-wheel travel based on the sensor signal to achieve vehicle body leveling.
CN202411852732.3A 2024-12-16 2024-12-16 A method for independently adjusting four-wheel stiffness and travel and a multi-chamber air suspension system Pending CN119388941A (en)

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