CN202847371U - Device capable of actively detecting and controlling automotive suspension - Google Patents

Abstract

Translated fromChinese

本实用新型公开了一种主动探测和控制汽车悬架的装置，包括设置在四个车轮的半轴套上竖直安装的陀螺仪和加速度传感器，陀螺仪和加速度传感器分别与汽车上的行车电脑相连接。通过陀螺仪和加速度传感器探测四个半轴套的倾斜角度，会使得误差比较小，将探测到的角度传输给汽车上安装的ECU通过分析处理，然后由ECU发出信号，提前给空气弹簧中的气体进行充放气。

The utility model discloses a device for actively detecting and controlling an automobile suspension, which comprises a gyroscope and an acceleration sensor installed vertically on the semi-axle sleeves of four wheels, and the gyroscope and the acceleration sensor are respectively connected with a driving computer on the automobile. connected. Detecting the inclination angles of the four half-shaft sleeves through the gyroscope and the acceleration sensor will make the error relatively small. The detected angles will be transmitted to the ECU installed on the car for analysis and processing, and then the ECU will send a signal to the air spring in advance. The gas is charged and deflated.

Description

Translated fromChinese

一种主动探测和控制汽车悬架的装置A Device for Actively Detecting and Controlling a Car's Suspension

技术领域technical field

本实用新型涉及探测和控制技术领域，涉及到汽车悬架的控制，尤其涉及一种主动探测和控制汽车悬架的装置。The utility model relates to the technical field of detection and control, relates to the control of an automobile suspension, in particular to a device for actively detecting and controlling an automobile suspension.

背景技术Background technique

目前不少高级轿车或者越野车中，其悬架的弹性元件是空气弹簧。空气弹簧相比较与普通螺旋弹簧或者钢板弹簧，其优势在于弹簧高度、承载能力和弹簧刚度可调；固有振动频率较低；隔绝高频振动及隔噪音效果好；可利用空气的阻尼作用；使用寿命较长等。所以在平时乘坐时，空气弹簧非常柔软，会带来很高的乘坐舒适性。但是，当汽车在激烈驾驶时，由于汽车行驶速度较快，车辆侧倾较大，又由于空气弹簧充气和放气需要一个过程，所以会导致汽车的悬架反应会比汽车侧倾方向慢一些。而此时由于空气弹簧反应慢，又比较柔软，所以会大大影响汽车的操控性，也会影响驾驶员对车辆激烈驾驶的信心。At present, in many high-end cars or off-road vehicles, the elastic element of the suspension is an air spring. Compared with ordinary coil springs or leaf springs, air springs have the advantages of adjustable spring height, load capacity and spring stiffness; lower natural vibration frequency; good isolation of high-frequency vibration and noise; the damping effect of air can be used; Longer life etc. Therefore, when riding in normal times, the air spring is very soft, which will bring high riding comfort. However, when the car is driving vigorously, due to the high speed of the car, the large roll of the vehicle, and the need for a process to inflate and deflate the air spring, the suspension response of the car will be slower than the direction of the car roll . At this time, because the air spring responds slowly and is relatively soft, it will greatly affect the handling of the car, and it will also affect the driver's confidence in the intense driving of the vehicle.

发明内容Contents of the invention

针对上述现有汽车悬架技术存在的不足，本实用新型的目的在于，提供一种主动探测和控制汽车悬架的装置，该装置能够探测汽车悬架的侧倾程度并及时预先地控制空气弹簧中气体的充放，缩短空气弹簧的反应时间。Aiming at the deficiencies in the above-mentioned existing automobile suspension technology, the purpose of this utility model is to provide a device for actively detecting and controlling the automobile suspension, which can detect the roll degree of the automobile suspension and control the air spring in advance in time. The charging and discharging of the medium gas shortens the response time of the air spring.

为了实现上述任务，本实用新型的技术方案是这样实现的：In order to realize above-mentioned task, technical scheme of the present utility model is realized like this:

一种主动探测和控制汽车悬架的装置，其特征在于，包括设置在四个车轮的半轴套上竖直安装的陀螺仪和加速度传感器，陀螺仪和加速度传感器分别与汽车上的行车电脑相连接。A device for actively detecting and controlling the suspension of a car, characterized in that it includes a gyroscope and an acceleration sensor installed vertically on the half axle sleeves of the four wheels, and the gyroscope and the acceleration sensor are respectively connected with the driving computer on the car. connect.

本实用新型的其它特点是：Other features of the utility model are:

所述的陀螺仪采用ENC-03陀螺仪；Described gyroscope adopts ENC-03 gyroscope;

所述加速度传感器选择飞思卡尔公司的MMA7260加速度传感器。The acceleration sensor selects the MMA7260 acceleration sensor of Freescale Company.

本实用新型的主动探测和控制汽车悬架的装置，通过陀螺仪和加速度传感器探测四个半轴套的倾斜角度，会使得误差比较小，将探测到的角度传输给汽车上安装的ECU通过分析处理，然后由ECU发出信号，提前给空气弹簧中的气体进行充放气。The device for actively detecting and controlling the automobile suspension of the utility model detects the inclination angles of the four half-shaft sleeves through the gyroscope and the acceleration sensor, so that the error is relatively small, and the detected angles are transmitted to the ECU installed on the automobile for analysis. processing, and then the ECU sends a signal to charge and deflate the gas in the air spring in advance.

和现有技术相比，具有以下优点：Compared with the prior art, it has the following advantages:

（1）用于同时了ENC-03陀螺仪和飞思卡尔公司的MMA7260加速度传感器，并且更换费用低。且探测结果准确且误差较小。(1) It is used for the ENC-03 gyroscope and Freescale's MMA7260 acceleration sensor at the same time, and the replacement cost is low. And the detection result is accurate and the error is small.

（2）安全，只是在半轴套上安装部件，不影响汽车整体结构和配重。(2) Safe, just install components on the half-axle sleeve, without affecting the overall structure and counterweight of the car.

附图说明Description of drawings

图1是本实用新型的汽车悬架探测控制装置结构框图；Fig. 1 is a structural block diagram of the automobile suspension detection control device of the present utility model;

图2是汽车本身的运动所产生的加速度干扰信号和实际倾角变化的关系曲线图；Fig. 2 is the relation graph of the acceleration interference signal and the actual inclination change produced by the motion of the car itself;

图3是积分运算后变化形成的积累误差曲线图。Fig. 3 is a graph of the accumulated error formed by the change after the integral operation.

以下结合附图和实施例对本实用新型作进一步的详细说明。Below in conjunction with accompanying drawing and embodiment the utility model is described in further detail.

具体实施方式Detailed ways

参见图1，本实施例给出一种主动探测和控制汽车悬架的装置，包括设置在四个车轮的半轴套上竖直安装的陀螺仪和加速度传感器，陀螺仪和加速度传感器分别与汽车上的行车电脑相连接。Referring to Fig. 1, the present embodiment provides a device for actively detecting and controlling the suspension of an automobile, including a gyroscope and an acceleration sensor installed vertically on the semi-axle sleeves of the four wheels, and the gyroscope and the acceleration sensor are connected to the automobile suspension respectively. connected to the trip computer on the vehicle.

本实施例中，陀螺仪采用ENC-03陀螺仪，加速度传感器选择MMA7260加速度传感器。In this embodiment, the gyroscope is an ENC-03 gyroscope, and the acceleration sensor is an MMA7260 acceleration sensor.

设在四个车轮的半轴套上竖直安装陀螺仪和加速度传感器，并进行初始化归零设置。当汽车激烈驾驶时，随着汽车的侧倾，半轴套会随着半轴向下倾斜一个角度。加速度传感器只需使用Z轴方向上的加速度信号，当汽车静止或者匀速行驶时，固定加速度传感器在Z轴方向水平，此时输出信号为零的电压信号，当车轴套发生倾斜时，重力加速度g便会在Z轴方向形成加速度分量，从而跟该轴一起输出电压变化信号。然而，在汽车行驶时由于汽车本身的运动所产生的加速度会产生很大的干扰信号加在上述测量信号上，使得输出信号无法准确反映半轴套的倾角，从而使得探测的半轴套倾角准确度下降（如图2所示），为此还需要陀螺仪和加速度传感器同时工作。陀螺仪可以测量物体的旋转角速度，将角速度信号进行积分便可以得到半轴套的倾角。The gyroscope and the acceleration sensor are installed vertically on the semi-axle sleeves of the four wheels, and are initialized and reset to zero. When the car is driven vigorously, as the car rolls, the half-axle sleeve will tilt downward at an angle with the half-axle. The acceleration sensor only needs to use the acceleration signal in the Z-axis direction. When the car is stationary or driving at a constant speed, the fixed acceleration sensor is horizontal in the Z-axis direction. At this time, the output signal is a voltage signal of zero. When the axle sleeve is tilted, the gravitational acceleration g An acceleration component will be formed in the direction of the Z axis, thereby outputting a voltage change signal together with the axis. However, when the car is running, the acceleration generated by the movement of the car itself will generate a large interference signal added to the above-mentioned measurement signal, so that the output signal cannot accurately reflect the inclination angle of the half-axle sleeve, so that the detected inclination angle of the half-axle sleeve is accurate. Acceleration drops (as shown in Figure 2), for which the gyroscope and acceleration sensor are also required to work at the same time. The gyroscope can measure the rotational angular velocity of the object, and the inclination angle of the half-shaft sleeve can be obtained by integrating the angular velocity signal.

由于陀螺仪输出的是半轴套的角速度，不会受到车体振动影响。因此该信号中噪音很小。半轴套的角度又是通过对角速度积分而得，这可进一步平滑信号。但是由于从陀螺仪的角速度获得角度信息，需要经过行车电脑（ECU）进行积分运算。如果角速度信号存在微小的偏差，经过积分运算后，变化形成积累误差（如图3所示）。这个误差会随着时间延长逐步增加，导致最终误差较大。Since the output of the gyroscope is the angular velocity of the half-shaft sleeve, it will not be affected by the vibration of the vehicle body. Therefore, there is very little noise in this signal. The half bushing angle is again obtained by integrating the angular velocity, which further smoothes the signal. However, since the angle information is obtained from the angular velocity of the gyroscope, it needs to be integrated by the driving computer (ECU). If there is a slight deviation in the angular velocity signal, after the integral operation, the change forms an accumulated error (as shown in Figure 3). This error will gradually increase with time, resulting in a larger final error.

行车电脑（ECU）通过加速度传感器获得的角度信息对此进行校正，利用加速度器所获得的角度信息α与陀螺仪积分后的角度θ进行比较，将比较的误差经过比例放大T之后与陀螺仪输出的角速度信号叠加之后再进行积分。对于加速度计给定的角度α，经过比例，积分环节之后产生的角度θ必然最终等于α。由于加速度计获得的角速度信息不会存在积累误差，所以最终将输出角度中的积累误差消除了。The driving computer (ECU) corrects this through the angle information obtained by the acceleration sensor, and compares the angle information α obtained by the accelerometer with the integrated angle θ of the gyroscope, and the compared error is scaled up by T and then output by the gyroscope. The angular velocity signals are superimposed and then integrated. For the angle α given by the accelerometer, the angle θ generated after the proportional and integral link must eventually be equal to α. Since there is no accumulation error in the angular velocity information obtained by the accelerometer, the accumulation error in the output angle is finally eliminated.

然后将陀螺仪和加速度传感器综合分析的角度及角速度传送给汽车ECU，由ECU分析，根据角度及角速度的不同主动控制四个车轮的空气弹簧中气体的充气和放气，进而提高汽车的操控性能。Then, the angle and angular velocity comprehensively analyzed by the gyroscope and the acceleration sensor are transmitted to the car ECU, and the ECU analyzes and actively controls the inflation and deflation of the gas in the air springs of the four wheels according to the angle and angular velocity, thereby improving the handling performance of the car .

Claims (3)

1. the device of an active probe and control automotive suspension is characterized in that, comprises gyroscope and the acceleration pick-up vertically installed on the half-axile sleeve that is arranged on four wheels, and gyroscope and acceleration pick-up are connected with car running computer on the automobile respectively.

2. the device of active probe as claimed in claim 1 and control automotive suspension is characterized in that, described gyroscope adopts the ENC-03 gyroscope.

3. the device of active probe as claimed in claim 1 and control automotive suspension is characterized in that, described acceleration pick-up is selected the MMA7260 acceleration pick-up.

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