公开(公告)号：US11813915B2

公开(公告)日：2023-11-14

申请号：US18320228

申请日：2023-05-19

申请人： Yanshan University

发明人： Dingxuan Zhao ,  Tao Ni ,  Mingde Gong ,  Shuang Liu ,  Zhuxin Zhang ,  Zhiguo Sun

IPC分类号： B60G17/0165 ,  B60G17/018

CPC分类号： B60G17/018 ,  B60G17/0165 ,  B60G2600/09 ,  B60G2600/17 ,  B60G2600/182 ,  B60G2600/1873 ,  B60G2600/70 ,  B60G2800/915

摘要： Disclosed in the present invention are an inertial regulation method of active suspensions based on terrain ahead of a vehicle and a control system thereof. According to the scanned terrain ahead of the vehicle, a center of mass trajectory and attitude history are calculated when the vehicle passes through the terrain ahead of the vehicle with passive suspensions. After smoothing the trajectory, the active suspension is controlled to make the vehicle drives according to the smoothed trajectory. During this period, a smoothness coefficient is adjusted to make each suspension stroke be limited within a limit stroke, and according to the supporting force and stroke of each active suspension calculated from a dynamics model, the impedance control based on force-displacement is carried out on an actuator of the suspension. The present invention can significantly improve the driving comfort and handling stability of the vehicle driving on an uneven road surface.

公开(公告)号：US11813914B2

公开(公告)日：2023-11-14

申请号：US18313317

申请日：2023-05-06

申请人： Yanshan University

发明人： Dingxuan Zhao ,  Jianxu Zhu ,  Mingde Gong ,  Shuang Liu ,  Zhuxin Zhang ,  Zhiguo Sun ,  Tao Ni ,  Bin Yang ,  Hao Chen ,  Mingyuan Han

IPC分类号： B60G17/018 ,  F15B13/02

CPC分类号： B60G17/018 ,  F15B13/024 ,  B60G2202/413 ,  F15B2211/405

摘要： A hydraulic active suspension flow control system includes a hydraulic oil tank, a variable displacement pump with an oil suction port communicating with the hydraulic oil tank, a check valve, a servo valve, a suspension cylinder controlled by the servo valve, an engine revolution speed sensor configured to detect an engine revolution speed, a vehicle speed sensor configured to detect a vehicle speed, an oil pressure sensor configured to detect an accumulator outlet pressure, a flow controller configured to control displacement of the variable displacement pump by receiving data from the engine revolution speed sensor, the vehicle speed sensor and the oil pressure sensor, and a relief valve connected to the check valve in parallel and provided at an oil outlet of the variable displacement pump. The variable displacement pump is connected to an engine through a clutch; and an accumulator is connected between the servo valve and the check valve.

公开(公告)号：US11326985B2

公开(公告)日：2022-05-10

申请号：US16978721

申请日：2019-08-01

申请人： Yanshan University

发明人： Dingxuan Zhao ,  Mingde Gong ,  Shuang Liu ,  Zhuxin Zhang ,  Zhiguo Sun ,  Bin Yang ,  Tao Ni ,  Qinghe Guo ,  Mengke Yang

IPC分类号： G01M17/04 ,  B60G17/015 ,  B60G17/016 ,  B60G17/018 ,  B60G17/0195

摘要： An inertial regulation active suspension system based on posture deviation of a vehicle and a control method thereof are provided. The system comprises a vehicle body, an inertial measurement unit, an electronic control unit, a servo controller group, a plurality of wheels, suspension servo actuating cylinders respectively corresponding to the wheels, and displacement sensors for measuring a stroke of the suspension servo actuating cylinders. The electronic control unit reads posture parameters of the vehicle body measured by the inertial measurement unit, and calculates a deviation between the postures of the vehicle body at a current moment and at a previous moment, and then outputs posture control parameters to the servo controller group. The servo controller group controls extension and retraction of each of the suspension servo actuating cylinders according to the posture control parameters and displacement feedback values of the displacement sensors.

公开(公告)号：US20220097471A1

公开(公告)日：2022-03-31

申请号：US17497912

申请日：2021-10-09

申请人： Yanshan University

发明人： Dingxuan Zhao ,  Mingde Gong ,  Shuang Liu ,  Zhuxin Zhang ,  Zhiguo Sun ,  Tao Ni ,  Zhaoyang Yan ,  Qinghe Guo

IPC分类号： B60G17/018 ,  B60G17/08

摘要： An active-passive dual mode switchable vehicle suspension system is provided. The suspension system includes a filter, a hydraulic pump, a one-way valve, a power takeoff, a servo valve, a suspension cylinder, an overflow valve, an energy accumulator, a reversing valve, a first pressure sensor, a second pressure sensor, a controller, an oil tank and a displacement sensor. Further related is a switching method for the active-passive dual mode switchable vehicle suspension system. When the active and passive dual-mode switchable vehicle suspension system is switched between modes, an oil pressure in the rodless cavity of the suspension cylinder and an oil pressure in the energy accumulator are adjusted to be equal in advance, so that the stable switching of the active-passive suspension system can be realized, and the vibration of the vehicle body is eliminated when the existing active-passive suspension system is switched. Moreover, the accumulator and overflow valve can be shared in the active and passive suspension mode, thereby effectively reducing the use number of accumulators and overflow valves, greatly saving the layout space of the vehicle body, effectively reducing the total weight of the vehicle body, which is favorable to the lightweight of the vehicle chassis.

公开(公告)号：US20220088786A1

公开(公告)日：2022-03-24

申请号：US17541406

申请日：2021-12-03

申请人： Yanshan University

发明人： Changchun Hua ,  Yilu Wang ,  Yana Yang ,  Weili Ding ,  Liuliu Zhang ,  Shuang Liu ,  Guanglei Zhao ,  Wenliang Pei

IPC分类号： B25J9/16 ,  B25J3/00

摘要： The present invention provides a fractional order sliding mode synchronous control method for a teleoperation system based on an event trigger mechanism. The method comprises: establishing a dynamics model for the teleoperation system by considering external disturbance and parameter uncertainty, selecting a master robot and a slave robot, interactively establishing the teleoperation system through a communication network, determining system parameters of the dynamics model, designing a fractional order nonsingular rapid terminal sliding mode surface equation by utilizing a position tracking error and a fractional order calculus, setting a trigger event condition of information interaction between the master robot and the slave robot, designing a self-adaptive fractional order nonsingular rapid terminal sliding mode controller based on the sliding mode, designing a Lyapunov function to carry out stability analysis, proving the boundedness of a closed-loop state signal of the system.

公开(公告)号：US11280703B2

公开(公告)日：2022-03-22

申请号：US16971328

申请日：2019-08-01

申请人： Yanshan University

发明人： Dingxuan Zhao ,  Shuang Liu ,  Mingde Gong ,  Zhiguo Sun ,  Zhuxin Zhang ,  Tao Ni ,  Bin Yang ,  Qinghe Guo ,  Mengke Yang

IPC分类号： G01M17/04 ,  B60G17/015 ,  B60G17/016 ,  B60G17/018 ,  B60G17/0195

摘要： A vehicle-mounted motion simulation platform based on active suspension and a control method thereof is provided. The vehicle-mounted motion simulation platform includes a vehicle body, a motion simulation platform fixedly connected to the vehicle body, an upper computer for posture control, a gyroscope, a plurality of wheels, and suspension servo actuating cylinders and displacement sensors corresponding to the wheels respectively, an electronic control unit, and a servo controller group. The electronic control unit calculates posture control parameters based on the posture instructions of the motion simulation platform input by the upper computer for posture control and posture information of the motion simulation platform measured by the gyroscope, and then outputs the posture control parameters to the servo controller group. The servo controller group controls extension of the respective suspension servo actuating cylinders according to the posture control parameters to realize follow-up control over the posture of the motion simulation platform.

公开(公告)号：US11618294B2

公开(公告)日：2023-04-04

申请号：US17497912

申请日：2021-10-09

申请人： Yanshan University

发明人： Dingxuan Zhao ,  Mingde Gong ,  Shuang Liu ,  Zhuxin Zhang ,  Zhiguo Sun ,  Tao Ni ,  Zhaoyang Yan ,  Qinghe Guo

IPC分类号： B60G17/08 ,  B60G17/018

摘要： An active-passive dual mode switchable vehicle suspension system is provided. The suspension system includes a filter, a hydraulic pump, a one-way valve, a power takeoff, a servo valve, a suspension cylinder, an overflow valve, an energy accumulator, a reversing valve, a first pressure sensor, a second pressure sensor, a controller, an oil tank and a displacement sensor. Further related is a switching method for the active-passive dual mode switchable vehicle suspension system. When the active and passive dual-mode switchable vehicle suspension system is switched between modes, an oil pressure in the rodless cavity of the suspension cylinder and an oil pressure in the energy accumulator are adjusted to be equal in advance, so that the stable switching of the active-passive suspension system can be realized, and the vibration of the vehicle body is eliminated when the existing active-passive suspension system is switched. Moreover, the accumulator and overflow valve can be shared in the active and passive suspension mode, thereby effectively reducing the use number of accumulators and overflow valves, greatly saving the layout space of the vehicle body, effectively reducing the total weight of the vehicle body, which is favorable to the lightweight of the vehicle chassis.

公开(公告)号：US11999211B2

公开(公告)日：2024-06-04

申请号：US18320230

申请日：2023-05-19

申请人： Yanshan University

发明人： Dingxuan Zhao ,  Shuang Liu ,  Mingde Gong ,  Zhuxin Zhang ,  Zhiguo Sun ,  Bin Yang

IPC分类号： B60G17/016 ,  B60G17/015 ,  B60G17/0165 ,  B60G17/018 ,  B60G17/019

CPC分类号： B60G17/0164 ,  B60G17/0155 ,  B60G17/0165 ,  B60G17/018 ,  B60G17/01933 ,  B60G2202/242 ,  B60G2400/25

摘要： An inertial regulation method and control system of vehicle active suspension based on a supporting force of each wheel comprises an inner loop control and an outer loop control. The inner loop control is to calculate, according to the dynamics, a theoretical supporting force of each wheel when the vehicle is driving on a virtual slope plane with a 6-dimensional acceleration and a pitch angle measured by an inertial measurement unit; compare the theoretical supporting force with the measured supporting force of each wheel; and control the expansion of each suspension cylinder according to the difference value, so that the supporting force of each wheel changes according to the theoretical supporting force. The outer loop control is to control each suspension cylinder for the same expansion of displacement, so that the average value of all the suspension cylinder strokes tends to a median value.

公开(公告)号：US11926063B2

公开(公告)日：2024-03-12

申请号：US17541406

申请日：2021-12-03

申请人： Yanshan University

发明人： Changchun Hua ,  Yilu Wang ,  Yana Yang ,  Weili Ding ,  Liuliu Zhang ,  Shuang Liu ,  Guanglei Zhao ,  Wenliang Pei

IPC分类号： B25J9/16 ,  B25J3/00

CPC分类号： B25J9/1689 ,  B25J3/00 ,  B25J9/163

摘要： The present invention provides a fractional order sliding mode synchronous control method for a teleoperation system based on an event trigger mechanism. The method comprises: establishing a dynamics model for the teleoperation system by considering external disturbance and parameter uncertainty, selecting a master robot and a slave robot, interactively establishing the teleoperation system through a communication network, determining system parameters of the dynamics model, designing a fractional order nonsingular rapid terminal sliding mode surface equation by utilizing a position tracking error and a fractional order calculus, setting a trigger event condition of information interaction between the master robot and the slave robot, designing a self-adaptive fractional order nonsingular rapid terminal sliding mode controller based on the sliding mode, designing a Lyapunov function to carry out stability analysis, proving the boundedness of a closed-loop state signal of the system.

公开(公告)号：US11906392B2

公开(公告)日：2024-02-20

申请号：US16980002

申请日：2019-08-01

申请人： Yanshan University

发明人： Dingxuan Zhao ,  Mingde Gong ,  Shuang Liu ,  Zhiguo Sun ,  Zhuxin Zhang ,  Bin Yang ,  Tao Ni ,  Qinghe Guo ,  Mengke Yang

IPC分类号： G01M17/04 ,  B60G17/00 ,  B60G17/015 ,  B60G17/016 ,  B60G17/018 ,  B60G17/0195

CPC分类号： G01M17/04 ,  B60G17/018 ,  B60G17/0152 ,  B60G17/0161 ,  B60G17/0195 ,  B60G17/015 ,  B60G2202/413 ,  B60G2204/62 ,  B60G2400/0511 ,  B60G2400/0512 ,  B60G2400/252 ,  B60G2500/30 ,  B60G2600/182 ,  B60G2600/602 ,  B60G2800/01

摘要： An in-vehicle stable platform system employing active suspension and a control method thereof is provided. The system includes a vehicle body, an in-vehicle stable platform, an inertial measurement device, an electronic control device, a servo controller set, multiple wheels, and suspension servo actuation cylinders and displacement sensors respectively corresponding to the wheels. The wheels are divided into three groups, which form three support points. The heights of the three support points are controlled to control orientation of the vehicle body. An amount of extension/retraction of the suspension servo actuation cylinders required to cause the in-vehicle stable platform to return to a horizontal level is calculated according to a measured pitch angle and a roll angle of the in-vehicle stable platform, and when a vehicle travels on an uneven road, the extension/retraction of each suspension servo actuation cylinder is controlled to cause the in-vehicle stable platform to be horizontal.