CN109941035B

CN109941035B - A honeycomb distributed intelligent safety wheel with adjustable stiffness and damping and its working method

Info

Publication number: CN109941035B
Application number: CN201910243087.8A
Authority: CN
Inventors: 王秋伟; 赵又群
Original assignee: Nanjing University of Aeronautics and Astronautics
Current assignee: Nanjing University of Aeronautics and Astronautics
Priority date: 2019-03-27
Filing date: 2019-03-27
Publication date: 2021-07-27
Anticipated expiration: 2039-03-27
Also published as: CN109941035A

Abstract

The invention discloses a honeycomb distributed intelligent safety wheel with adjustable stiffness and damping, which is mainly composed of a honeycomb mesh inner tube, an outer tube (including wires), a magnetorheological fluid, a wheel hub, an adaptive controller and a monitoring unit; The honeycomb mesh inner tube is used to replace the traditional wheel inflatable inner tube, which is filled with magnetorheological fluid. The strength of the current is controlled to generate magnetic fields of different strengths. Under the interference of the external magnetic field, the physical properties of the magnetorheological fluid filled in the inner tube change, so that the overall wheel exhibits stiffness and damping changes, so as to achieve wheel stiffness damping under different driving conditions. The automatic adjustment improves the ride comfort of the vehicle, and the honeycomb-type inner tube structure effectively takes into account the driving safety and reduces the hazard of puncture accidents.

Description

Rigidity-damping-adjustable honeycomb distributed intelligent safety wheel and working method thereof

Technical Field

The invention relates to the technical field of safety wheels, in particular to a wheel with magnetorheological damping rigidity.

Background

At present, all traditional wheels are pneumatic rubber tires, have the characteristic of constant rigidity and damping, and are difficult to ensure the driving comfort of vehicles when facing complex and variable bumpy roads; and the traditional wheel is easy to have severe safety problems such as tire burst, puncture and the like, and brings serious threats to the lives and properties of passengers.

Disclosure of Invention

The purpose of the invention is as follows:

in order to overcome the defects of the prior art, the invention provides the honeycomb distributed intelligent safety wheel with adjustable rigidity damping, so that the rigidity damping of the wheel can be automatically changed according to environmental changes and vehicle body states, the riding comfort is improved, meanwhile, the threat caused by tire burst and puncture of the wheel is avoided, and the safety is improved.

The technical scheme is as follows:

a honeycomb distributed intelligent safety wheel with adjustable rigidity and damping comprises a honeycomb mesh inner tube, an outer tube, magnetorheological fluid, a wheel hub, a wheel rim, an adaptive controller and a monitoring unit, wherein the magnetorheological fluid is filled in the honeycomb mesh inner tube; independent wires which are uniformly distributed are buried in the outer tire, the current intensity in each wire is directly controlled by the self-adaptive controller, and space magnetic fields with different intensities can be excited; the monitoring unit is arranged on a vehicle body and comprises an environment perception sensor for monitoring road conditions, a vehicle speed sensor for monitoring the running state of the vehicle, an acceleration sensor, a yaw rate sensor and an A/D signal converter for signal transmission conversion and analysis, wherein the A/D signal converter is connected with each sensor, receives physical signals from each sensor, converts the physical signals into digital signals for calculation and analysis of the controller, and converts digital control signals of the controller into actually-controlled current signals so as to realize real-time signal transmission; the self-adaptive controller is internally provided with a single chip microcomputer with a self-adaptive control algorithm, can receive an environment signal and a vehicle running state signal of a monitoring unit, calculates the required rigidity damping, the required space magnetic field intensity and the required current intensity of the current wheel, and controls the current intensity in the outer tire wire to generate a magnetic field.

Furthermore, the honeycomb type netted inner tube is made of high-elasticity rubber, N hexagonal cells are arranged in the circular inner space, N is a natural number larger than 1, an independent small space is formed, and the hexagonal cells are connected and expanded with each other.

Furthermore, the mutually independent hexagonal honeycomb type inner tube is filled with the magnetorheological fluid, has high pressure resistance and wear resistance, and is wrapped by the outer tube.

Further, the magnetorheological fluid comprises a non-magnetic conductive liquid, magnetic particles with low magnetic hysteresis and high magnetic conductivity and an external additive, wherein the rheological property of the magnetorheological fluid is instantly changed in a magnetic field environment, and the magnetorheological fluid can be converted from liquid to semisolid.

Furthermore, the honeycomb-type mesh-shaped inner tube is manufactured by a 3D printing technology, magnetorheological fluid is injected into the single space of the hexagonal honeycomb of the inner tube by using the fluid filling needle, when the inner part is full, the pressure is increased, the inner wall of the cavity around the fluid filling needle is compacted around the needle opening, liquid is prevented from leaking, the fluid filling opening is repaired after the liquid filling is completed, and the process is repeated until the honeycomb-type mesh-shaped inner tube is manufactured.

Further, the monitoring unit operating frequency is kept above 100 Hz.

A working method of a honeycomb distributed intelligent safety wheel with adjustable rigidity damping comprises the following steps:

the method comprises the following steps: the monitoring unit monitors an environment signal, a vehicle speed signal, an acceleration signal and a yaw rate signal;

step two: the A/D signal converter receives the signal in the first step, and converts the signal into a digital signal for the calculation and analysis of the controller;

step three: the self-adaptive controller receives an environment signal and a vehicle running state signal of the monitoring unit, calculates the rigidity damping required by the current wheel, the magnetic field intensity in the required space and the required current intensity, converts a digital control signal of the controller into a current signal for actual control through the A/D signal converter, and controls the intensity of the current I in the outer tire conductor to generate a magnetic field.

Further, the magnetic field strength B in the space (x, y, z) excited by the current I is:

the magnetic field strength can further be expressed as:

wherein:

is the magnetic field intensity at any position (x, y, z) in space;

is the magnetic field strength component along each spatial axis; i is the current magnitude; mu.s₀Is a vacuum magnetic conductivity; r is the radius of the wheel;

is a unit vector on a spatial axis;

the space vector is a space vector at any position, and r is the distance from the any position to the tiny source current; dl is a tiny line element of the source current; beta is the angle of rotation of the tiny wire element of the source current about the z-axis.

Has the advantages that:

compared with the prior art, the honeycomb distributed intelligent safety wheel with adjustable rigidity and damping provided by the invention has the following advantages: the intelligent safety wheel belongs to the category of non-inflatable safety wheels, abandons the inner tube structure of the traditional tire, adopts a honeycomb mesh inner tube structure, and avoids the risks of air leakage and tire burst; meanwhile, magnetorheological fluid is used as an inner tube filling material and matched with a self-adaptive controller, and the rigidity and the damping of the wheels can be adjusted in real time according to the driving road condition and the self motion state of the vehicle, so that the vehicle can be well adapted to the rapid change of the external environment, and the riding comfort of the vehicle is further improved. The invention has the structural characteristics of non-inflatable and explosion-proof wheels and has the buffer and vibration damping performance; the automobile engine has the advantages of rigidity damping self-adaptive capacity, particularly excellent heat dissipation performance and suitability for various passenger vehicles.

Drawings

FIG. 1 is a schematic diagram of a honeycomb distributed intelligent safety wheel with adjustable rigidity and damping;

FIG. 2 is a schematic diagram of the operation of a honeycomb distributed intelligent safety wheel with adjustable stiffness damping;

FIG. 3 is a cross-sectional view of the inner tube;

FIG. 4 is a cross-sectional view of the outer tire;

fig. 5 shows the magnetic field strength B in space (x, y, z) excited by the current I.

Detailed Description

The invention is further explained below with reference to the drawings.

The invention discloses a honeycomb distributed intelligent safety wheel with adjustable rigidity and damping, which mainly comprises a honeycomb mesh inner tube, an outer tube, magnetorheological fluid, a hub, an adaptive controller and a monitoring unit, wherein the outer tube contains a lead; the inner space of the honeycomb type netted inner tube is provided with N hexagonal cells, N is a natural number larger than 1 to form independent small spaces, the hexagonal cells are connected and expanded with each other, magnetorheological fluid fills the independent small spaces in the honeycomb type netted inner tube, the whole inner tube is wrapped by an outer tube and clamped on a wheel hub through a rim structure, independent wires which are uniformly distributed are buried in the outer tube, the intensity of current in each wire is directly controlled by an adaptive controller, a singlechip with an adaptive control algorithm is arranged in the adaptive controller, receives road surface fluctuation and friction coefficient environment signals and vehicle running state signals from a monitoring unit, automatically controls the intensity of current in the outer tube wires, excites a space magnetic field with any intensity, and the rheological property of the magnetorheological fluid filled in the inner tube in a magnetic field environment changes instantly and can be converted from liquid to semisolid so that the whole wheel shows the change of rigidity damping, so as to adapt to the running environment of the vehicle.

Examples

As shown in fig. 1, the invention discloses a honeycomb distributed intelligent safety wheel with rigidity damping adaptive variable, which comprises a honeycomb mesh inner tube, an outer tube (containing wires), magnetorheological fluid, a hub, an adaptive controller, a monitoring unit and the like. The honeycomb-type netted inner tube is adopted to replace the traditional wheel inflatable inner tube, magnetorheological fluid is used for filling, and the honeycomb-type netted inner tube is wrapped by the outer tube and clamped and installed on the wheel hub through the rim structure.

As shown in fig. 2, the adaptive controller senses the external environment and the vehicle body state in real time according to the monitoring unit, controls the current intensity to generate magnetic fields with different intensities, and under the interference of an external magnetic field, the physical characteristics of magnetorheological fluid filled in the inner tire are changed, so that the whole wheel shows rigidity damping change, the rigidity damping of the wheel is automatically adjusted under different driving conditions, the driving smoothness of the vehicle is improved, meanwhile, the honeycomb inner tire structure effectively considers the driving safety, and the damage of tire burst accidents is reduced.

As shown in fig. 3, the honeycomb-type mesh inner tube is made of high-elasticity rubber, N hexagonal cells are arranged in the annular inner space, N is a natural number greater than 1, so that independent small spaces are formed, the hexagonal cells are connected and expanded with each other, and the mutually independent small spaces are filled with the magnetorheological fluid, so that the honeycomb-type mesh inner tube has high pressure-resistant and wear-resistant characteristics.

As shown in fig. 4, the outer tire is embedded with uniformly distributed independent wires, the current intensity in each wire is directly controlled by the adaptive controller, and the spatial magnetic field with any intensity can be excited.

Fig. 5 shows the magnetic field strength B in the space (x, y, z) excited by the current I, where the magnetic field strength B in the space (x, y, z) excited by the current I is:

the magnetic field strength can further be expressed as:

wherein:

is the magnetic field intensity at any position (x, y, z) in space;

is a unit vector on a spatial axis;

In the working method of the honeycomb distributed intelligent safety wheel with adjustable rigidity damping, in the moving process, the monitoring unit obtains road environment information and vehicle moving information through various sensors, the information is transmitted to the adaptive controller through the signal converter, the adaptive controller calculates ideal wheel rigidity damping under the current road condition, and the wheel damping rigidity is reduced on a bumpy road section so as to obtain better riding experience; on a good road surface, the gripping performance is ensured, and the rigidity damping is larger; the required magnetic field intensity is deduced, the current intensity of the outer tire embedded in the wire is further controlled, the required magnetic field is generated, and in the excited magnetic field environment, the characteristics of the magnetorheological fluid in the honeycomb-type reticular inner tire change along with the magnetic field, and the whole phenomenon is that the rigidity and the damping of the inner tire change, so that the rigidity and the damping required by the current road condition are achieved, and the improvement of the comfort of the vehicle is realized; and through adopting the netted inner tube structure of honeycomb formula, the vacuole of independent distribution makes vehicle security improve.

The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like including the magnetorheological fluid selection, the tire casing lead arrangement, the tire casing space division shape, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A honeycomb distributed intelligent safety wheel with adjustable stiffness and damping, characterized in that it comprises a honeycomb mesh inner tube (1), an outer tire (2), a magnetorheological fluid (3), a wheel hub (4), a rim ( 5), an adaptive controller (6) and a monitoring unit (7), the magnetorheological fluid is filled in the honeycomb mesh inner tube, the honeycomb mesh inner tube is wrapped by the outer tire, and is distributed in a concentric circle, passing through the rim belt. The flange of the shoulder is clamped to place the bead of the outer tire, so that the outer tire is installed on the hub; the outer tire is embedded with evenly distributed independent wires (8), and the current strength in each wire is directly controlled by the said outer casing. an adaptive controller capable of exciting spatial magnetic fields of different intensities; the monitoring unit is installed on the vehicle body, and includes an environmental perception sensor for monitoring road conditions, a vehicle speed sensor for monitoring the driving state of the vehicle, an acceleration sensor, and a yaw rate sensor And the A/D signal converter for signal transmission conversion and analysis, the A/D signal converter is connected with each sensor, and receives the physical signal from each sensor, converts it into a digital signal for the controller to calculate and analyze, and at the same time The digital control signal of the controller is converted into the actual control current signal, so as to realize the real-time transmission of the signal; the self-adaptive controller has a built-in single-chip microcomputer of the self-adaptive control algorithm, which can accept the environmental signal of the monitoring unit and the vehicle driving state signal, and calculate the The stiffness and damping required by the current wheel, the required spatial magnetic field strength and the required current strength, control the current strength in the outer tire wire to generate a magnetic field, and the magnetorheological liquid characteristics in the honeycomb mesh inner tire change with the magnetic field, and the overall performance is as follows: The inner tube stiffness damping changes, so as to achieve the stiffness damping required by the current road conditions; the honeycomb mesh inner tube is made of high-elasticity rubber, and N hexagonal cells are arranged in the annular inner space, where N is a natural number greater than 1, An independent small space is formed, and the hexagonal cells are connected to each other to expand; the interior of the mutually independent hexagonal cells inside the honeycomb mesh inner tube is filled with the magnetorheological fluid, which has high compressive and wear-resistant properties, and is filled by the magneto-rheological fluid. The outer tire is wrapped; the magnetorheological fluid includes non-magnetic liquid, magnetic particles with low magnetic hysteresis and high magnetic permeability, and external additives, and the rheological properties change instantaneously in a magnetic field environment, and can be converted from liquid to semi-solid; the The honeycomb mesh inner tube is completed by 3D printing technology, and then the magnetorheological fluid is injected into the separate space of the hexagonal cell of the inner tube by the liquid filling needle, and the filling port can be repaired after completion.

2 . The honeycomb distributed intelligent safety wheel with adjustable stiffness and damping according to claim 1 , wherein the working frequency of the monitoring unit is above 100 Hz. 3 .

3. A kind of honeycomb distributed intelligent safety wheel working method with adjustable stiffness damping according to claim 1, is characterized in that, comprises the steps:

Step 1: the monitoring unit monitors environmental signals, vehicle speed signals, acceleration signals, and yaw rate signals;

Step 2: The A/D signal converter receives the signal in step 1 and converts it into a digital signal for the controller to calculate and analyze;

Step 3: The adaptive controller receives the environmental signal of the monitoring unit and the vehicle driving state signal, calculates the required stiffness and damping of the current wheel, the required spatial magnetic field strength and the required current strength, and converts the digital signal of the controller through the A/D signal converter. The control signal is converted into an actual controlled current signal, and the strength of the current I in the tire casing wire is controlled to generate a magnetic field; the magnetic field strength B at the space (x, y, z) excited by the current I is:

The magnetic field strength can be further expressed as:

in:

is the magnetic field strength at any position (x, y, z) in space;

is the magnetic field strength component along each space axis; I is the magnitude of the current; μ ₀ is the vacuum permeability; R is the radius of the wheel;

is the unit vector on the space axis;

is the space vector of any position, r is the distance from any position to the tiny source current; dl is the tiny line element of the source current; β is the rotation angle of the tiny line element of the source current around the z-axis.