CN112428762A - Automatic trailer body height and body balance adjusting method based on air suspension - Google Patents
Automatic trailer body height and body balance adjusting method based on air suspension Download PDFInfo
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- CN112428762A CN112428762A CN202011466780.0A CN202011466780A CN112428762A CN 112428762 A CN112428762 A CN 112428762A CN 202011466780 A CN202011466780 A CN 202011466780A CN 112428762 A CN112428762 A CN 112428762A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 239000000725 suspension Substances 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 238000012795 verification Methods 0.000 claims description 18
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 claims description 12
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- 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
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- 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
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- 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
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- 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
- B60G17/018—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 use of a specific signal treatment or control method
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- 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
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- 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
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/90—Other conditions or factors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/914—Height Control System
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
本发明的基于空气悬架的挂车车身高度和车身平衡的自动调节方法，通过以下步骤来实现：a).车身升降速度判断；b).车身升降载重判断；c).车身平衡判断；d).路况判断；e).普通高度车身升降控制；f).智能高度车身升降控制。挂车车身平衡的自动调节方法通过以下步骤来实现：1).车身平衡检测；2).左倾调整；3).右倾调整。本发明的挂车车身高度和车身平衡的自动调节方法，根据当前速度、载重由公式计算，对车身高度进行调整，当车身发生倾斜时，通过抬升车桥一侧或降低另一侧来调整车身左右侧高度一致，确保了挂车载货行驶过程中的安全性。
The method for automatically adjusting the height and balance of the trailer body based on the air suspension of the present invention is realized through the following steps: a). . Road condition judgment; e). Body lift control at normal height; f). Intelligent height body lift control. The automatic adjustment method for the balance of the trailer body is realized through the following steps: 1) body balance detection; 2) left tilt adjustment; 3) right tilt adjustment. The automatic adjustment method for the height of the trailer body and the balance of the body of the trailer of the present invention is calculated by formulas according to the current speed and load, and the height of the body is adjusted. When the body tilts, the left and right sides of the body are adjusted by raising one side of the axle or lowering the other side The side height is the same, which ensures the safety of the trailer truck during driving.
Description
Technical Field
The present invention relates to an automatic adjustment method for trailer body height and body balance, and more particularly, to an automatic adjustment method for trailer body height and body balance based on an air suspension for performing height and balance adjustment of a trailer body according to detected load, vehicle speed, body balance state, and road surface condition.
Background
In GB7258-2017 motor vehicle operation safety technical conditions, the contents that a rear axle of a dangerous cargo transport truck with the total mass of more than or equal to 12000kg, all dangerous cargo transport semitrailers and three-axle railing type and bin grid type semitrailers are required to be provided with air suspensions are added, so that the replacement of leaf spring suspension by the air suspensions is necessary in the industry.
The mainstream technical scheme in the current market is as follows: the air spring suspension system realizes the stability of the height of the vehicle body when the load of the trailer changes by means of the height valve for detecting the height of the vehicle body. Meanwhile, a controllable lifting valve is generally installed for adjusting the height of the whole vehicle in order to adjust the height of the vehicle under different load conditions and improve the trafficability of the trailer. Also, the trailer train may employ multiple axles in order to increase the load while reducing the weight carried by a single axle. When the trailer runs, the higher the height of the trailer body is, the better the shock-absorbing effect of the air suspension air bag is, but the stability of the trailer is reduced. Therefore, the height of the vehicle body needs to be matched with the driving speed, the load, the road condition and the like, and the optimal matching of the height of the vehicle body, the speed and the load is realized on the premise that the trailer has good stability and safe driving. Meanwhile, whether the body of the trailer is balanced or not has great influence on safe driving, and particularly for the trailer with large load, if the body of the trailer is seriously unbalanced, the trailer can be caused to roll over. However, no method for automatically adjusting the height and the balance of the trailer body exists at present.
Disclosure of Invention
The invention provides an automatic trailer height and body balance adjusting method based on an air suspension, which aims to overcome the defects of the technical problems.
The invention relates to an automatic adjustment method of trailer body height and body balance based on an air suspension, wherein an air storage cylinder, a vehicle body control host, a first vehicle height adjustment electromagnetic valve, a second vehicle height adjustment electromagnetic valve, a first height sensor, a second height sensor and a lift valve are arranged on a trailer, 2 or more than 2 axles are arranged on the trailer, a left air bag and a right air bag for adjusting the heights of the left and right ends of each axle are respectively arranged, and a lifting air chamber is arranged on the axle at the foremost end; the air storage cylinder supplies air to the left air bags on all the axles through the first vehicle height adjusting electromagnetic valve, the air storage cylinder supplies air to the right air bags on all the axles through the second vehicle height adjusting electromagnetic valve, the air storage cylinder supplies air to the lifting air chamber through the lifting valve, and the control ends of the first vehicle height adjusting electromagnetic valve, the second vehicle height adjusting electromagnetic valve and the lifting valve are connected with the output end of the vehicle body control host; the first height sensor and the second height sensor respectively detect the height of the left side and the height of the right side of the vehicle body, and the vehicle body control host machine respectively detects the pressure of the left air bag and the pressure of the right air bag through the first pressure sensor and the second pressure sensor; the vehicle body control host comprises a GPS module and a speed sensor module which are used for acquiring trailer position information and running speed; the method is characterized in that: the trailer lifting bridge and the vehicle body height adjusting method are realized through the following steps:
a) judging the lifting speed of the vehicle body, acquiring the current running speed Vt of the trailer by the vehicle body control host, and judging whether the Vt is less than the intelligent lifting speed V of the vehicle bodyIntelligenceIf Vt is ≦ VIntelligenceIf so, indicating that the current running speed allows the vehicle body to ascend and descend, and executing the step b); if Vt > VIntelligenceExecuting step f);
b) judging the lifting load of the vehicle body, judging whether the current load Gt is smaller than a safety threshold G1 of the lifting load of the vehicle body by the vehicle body control host, if the Gt is smaller than or equal to G1, indicating that the load of the trailer allows the vehicle body to lift, and executing the step c); if Gt > G1, performing step f);
c) judging the balance of the vehicle body, wherein the main vehicle body control unit detects the height H1 at the left side and the height H2 at the right side of the chassis of the vehicle body through a first height sensor and a second height sensor respectively, and judges whether | H1-H2| is smaller than a threshold value delta H, if | H1-H2| is smaller than or equal to delta H, the current balance state of the vehicle body is indicated to allow the vehicle body to lift, step d) is executed, and if | H1-H2| is greater than delta H, step f) is executed;
d) judging road conditions, judging whether the trailer is in a continuous turning road section and a bumpy road section by the vehicle body control host, if the trailer is not in the continuous turning road section and not in the bumpy road section, allowing the vehicle body to ascend and descend by the surface road conditions, and executing the step e); if the trailer is in a continuous turning or bumpy road section, executing step f);
e) the vehicle body control host controls the pressure gas in the gas storage cylinder to enter the left air bag and the right air bag or discharge the gas in the left air bag and the right air bag by controlling the first vehicle body height adjusting electromagnetic valve and the second vehicle body height adjusting electromagnetic valve to respectively realize the lifting of the vehicle body height and the falling of the vehicle body height and adjust the vehicle body height to the common height hGeneralAnd feeding back the vehicle height through the first height sensor and the second height sensor, and maintaining the vehicle height at a value calculated by using the formula (1):
hGeneral(t)=f1(Vt)+f2(Gt) （1）
wherein h isGeneral(t) is the height value of the current vehicle body, f1() is the height function of the vehicle body determined by the current vehicle speed, f2() is the height function of the vehicle body determined by the current load, Vt, Gt are the current speed and the current load of the vehicle respectively, namely the values obtained by detecting the real-time speed and the load, and the functions f1(), f2() are monotone decreasing functions; then circularly executing the step a) again;
f) the intelligent height vehicle body lifting control system is characterized in that a vehicle body control host controls a first vehicle body height adjusting electromagnetic valve and a second vehicle body height adjusting electromagnetic valve to control pressure gas in a gas storage cylinder to enter a left air bag and a right air bag or release gas in the left air bag and the right air bag, so that the lifting of the vehicle body height or the falling of the vehicle body height are respectively realized, and the vehicle body height is adjusted to an intelligent height hIntelligenceAnd feeding back the body height through the first height sensor and the second height sensor, and maintaining the body height at a value calculated by using the formula (2):
hintelligence(t)=f3(Vt)+f4(Gt) （2）
Wherein h isIntelligence(t) is the current vehicle body target height value, f3() is the vehicle body height function determined by the current vehicle speed, f4() is the vehicle body height function determined by the current load, Vt, Gt are the current speed and current load of the vehicle respectively, namely the values obtained by detecting the real-time speed and the load, and the functions f3(), f4() are monotone decreasing functions; and then circularly executing the step a) again.
The invention relates to an automatic trailer body height and body balance adjusting method based on an air suspension, which is realized by the following steps:
1) detecting the balance of the vehicle body, wherein the vehicle body control host machine respectively detects the height H1 of the left side of the vehicle body and the height H2 of the right side of the vehicle body through a first height sensor and a second height sensor, and judges the sizes of H1 and H2, if H1 is less than H2, and H2-H1 is more than or equal to delta H, the vehicle body is indicated to tilt left, and the tilt degree exceeds a safety threshold delta H, and then step 2) is executed; if H1 is more than H2 and H1-H2 is more than delta H, the vehicle body is indicated to be inclined rightly and the inclination degree exceeds a safety threshold delta H, and then step 3) is executed; if the absolute value of H1-H2 is less than delta H, the vehicle body is in a balanced state, the vehicle body is not required to be adjusted, and the vehicle body balance detection is continued;
2) the left side of the vehicle body is adjusted, and the vehicle body control host controls the first vehicle body height adjusting electromagnetic valve to enable pressure gas in the gas storage cylinder to enter the left air bag so as to improve the height of the left side of the vehicle body; or the gas in the right air bag is discharged through controlling the second vehicle height adjusting electromagnetic valve, so that the height of the right side of the vehicle body is reduced, and finally the height of the left side and the height of the right side of the vehicle body are consistent;
3) the vehicle body control host controls the second vehicle height adjusting electromagnetic valve to enable pressure gas in the gas storage cylinder to enter the right airbag to lift the height of the right side of the vehicle body; or the gas in the left air bag is discharged through controlling the first vehicle height adjusting electromagnetic valve, so that the height of the left side of the vehicle body is reduced, and finally the height of the left side and the height of the right side of the vehicle body are consistent.
According to the automatic adjustment method for the height and the balance of the trailer body based on the air suspension, the road condition judgment in the step d) is realized by the following method:
A) judging continuous turning road sections, forming a driving path curve of the trailer by the vehicle body control host through the geographical position coordinate information of the trailer collected in the latest time period t1, judging whether 2 or more than 2 continuous turning exist according to the driving path curve, if so, indicating that the current road section is the continuous turning road section, and if not, indicating that the current road section is the discontinuous turning road section;
B) the road surface level judgment is that the vehicle body control host machine respectively acquires the height of the left side and the height of the right side of the vehicle body in the latest time period t2 through the first height sensor and the second height sensor, judges whether the change frequency and the change amplitude of the height of the left side and the height of the right side of the vehicle body in the time period t2 exceed a safety threshold value, if the change frequency and the change amplitude of the height of the left side and the height of the right side of the vehicle body in the time period t2 exceed the safety threshold value, the trailer is located on;
C) and judging the bumpy road section, wherein the vehicle body control host acquires the pressures of the left air bag and the right air bag in the latest time period t3 through the first pressure sensor and the second pressure sensor respectively, judges whether the pressure change of the left air bag or the right air bag in the time period t3 exceeds a safety threshold value, if one of the pressure change and the pressure change exceeds the safety threshold value, the trailer is positioned in the bumpy road section, and if the pressure change and the pressure change do not exceed the safety threshold value, the trailer is positioned in the non-bumpy road section.
The invention relates to an automatic adjustment method for trailer body height and body balance based on an air suspension, wherein a vehicle body lifting speed threshold value V is used in step a)IntelligenceHas a value range of 0.8VVerification of～0.9VVerification of；VVerification ofIs the maximum allowable speed of the trailer; the value range of the vehicle body lifting load threshold G2 in the step b) is 0.8GVerification of～0.9GVerification of，GVerification ofAnd c), determining the maximum load of the trailer, wherein the value of the threshold value delta H in the step c) is adjustable within the range of 1-3 cm.
The invention has the beneficial effects that: the invention relates to an automatic adjusting method for trailer body height and body balance, which comprises the steps of firstly judging whether the trailer running speed and the trailer load are within the range of the set safety threshold value or not in the process of adjusting the vehicle body lifting, and then adjusting the trailer body height and the trailer body balanceJudging the balance state of the vehicle body and the road condition, and under the condition that the speed, the load and the balance of the vehicle body of the trailer or the road condition allow the height of the vehicle body to be adjusted, selecting the formula h according to the current speed and the loadIntelligence(t)=f3(Vt)+f4(Gt) 、hGeneral(t) = f1(Vt) + f2(Gt) and adjusting the vehicle height so that the vehicle height is maintained at the height calculated by the formula (1) or the formula (2);
hGeneral(t)=f1(Vt)+f2(Gt) （1）
hintelligence(t)=f3(Vt)+f4(Gt) （2）
Wherein h isGeneral(t) is the current vehicle height value, hIntelligence(t) is the current vehicle body target height value, f1(), f3() are the vehicle body height function determined by the current vehicle speed, f2(), f4() are the vehicle body height function determined by the current load, Vt, Gt are the current vehicle speed and current load, namely the values obtained by detecting the real-time speed and load, and the functions f1(), f2(), f3(), f4() are all monotone decreasing functions.
Furthermore, whether the vehicle body inclines or not is detected through the first height sensor and the second height sensor, when the vehicle body inclines, the height of the left side and the height of the right side of the vehicle body are adjusted to be consistent through lifting one side of the axle or lowering the other side of the axle, and safety of the trailer in the cargo carrying running process is guaranteed.
Drawings
FIG. 1 is a system schematic of the automatic adjustment of the body height and body balance of an air suspension based trailer of the present invention;
FIG. 2 is a flow chart of the overall control for automatic adjustment of trailer body height and body balance of the present invention;
FIG. 3 is a flow chart of trailer body height control according to the present invention;
fig. 4 is a control flowchart of the vehicle body balance in the present invention.
In the figure: the air storage device comprises a vehicle body control host, 2 air storage cylinders, 3 left air bags, 4 right air bags, 5 first vehicle height adjusting electromagnetic valves, 6 second vehicle height adjusting electromagnetic valves, 7 first height sensors, 8 second height sensors, 9 first pressure sensors, 10 second pressure sensors, 11 lifting air chambers and 12 lifting valves.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1, a schematic diagram of a system for automatically adjusting a trailer lift bridge and a vehicle body balance based on an air suspension is provided, the system comprises a vehicle body height control host 1, an air reservoir 2, a left air bag 3, a right air bag 4, a first vehicle height adjusting electromagnetic valve 5, a second vehicle height adjusting electromagnetic valve 6, a first height sensor 7, a second height sensor 8, a first pressure sensor 9, a second pressure sensor 10, a lifting air chamber 11 and a lifting valve 12, the vehicle body control host 1 has the functions of signal acquisition, data operation and control output, and the vehicle body control host 1 is further connected with a GPS module and a beidou module to acquire geographical position information of a trailer and calculate the running speed of the trailer. The trailer described in the figure is provided with 3 axles, the left and right sides of each axle are respectively provided with a left air bag 3 and a right air bag 4, and the foremost 1 axle is a liftable axle.
The air outlet of the air storage cylinder 2 is connected with the air inlets of a first vehicle height adjusting electromagnetic valve 5, a second vehicle height adjusting electromagnetic valve 6 and a lifting valve 12 through pipelines, the air outlet of the first vehicle height adjusting electromagnetic valve 5 is communicated with the left air bags 3 on all the vehicle axles through pipelines, the air outlet of the second vehicle height adjusting electromagnetic valve 6 is communicated with the right air bags 4 on all the vehicle axles through pipelines, and the air outlet of the lifting valve 12 is communicated with a lifting air chamber 11 through pipelines; the control ends of the first vehicle height adjusting electromagnetic valve 5, the second vehicle height adjusting electromagnetic valve 6 and the lifting valve 12 are all connected with the output end of the vehicle body control host 1. When the pressurized air is introduced into the lifting air chamber 11, it can lift the axle to be lifted (e.g. the foremost axle) so that the tires on both sides of the axle to be lifted (e.g. the foremost axle) are separated from the ground. When pressure gas is introduced into the left air bag 3, the vehicle body part on the left side of the axle can be lifted; when pressurized gas is introduced into the right airbag 4, the vehicle body part on the right side of the axle can be lifted. Meanwhile, the first vehicle height adjusting solenoid valve 5, the second vehicle height adjusting solenoid valve 6 and the lift valve 12 are all provided with air release ports so as to discharge the pressure gas in the left air bag 3, the right air bag 4 and the lift air chamber 11.
The first height sensor 7 and the second height sensor 8 are shown to detect the height of the left side of the vehicle body and the height of the right side of the vehicle body, respectively, to determine whether the vehicle body is tilted. The first pressure sensor 9 is arranged on a pipeline between the first vehicle height adjusting electromagnetic valve 5 and the left air bag 3 and used for detecting the pressure in the left air bag 3, and the second pressure sensor 10 is arranged on a pipeline between the second vehicle height adjusting electromagnetic valve 6 and the right air bag 4 and used for detecting the pressure in the right air bag 4. The main body control machine 1 can calculate the load of the trailer by detecting the pressure in the left air bag 3 and the right air bag 4.
The vehicle body control host comprises a network communication module for carrying out GPRS, 3G, 4G and 5G communication with a remote server; the vehicle body control host comprises a Bluetooth communication module for carrying out Bluetooth communication with a nearby Bluetooth communication terminal; the remote operation control host machine is used for controlling the operation of the remote operation control host machine.
As shown in fig. 2 and fig. 3, an overall control flow chart of the trailer body height and body balance automatic adjustment and a control flow chart of the body lifting are respectively given, and the trailer body height and body height adjusting method of the invention is realized by the following steps:
a) judging the lifting speed of the vehicle body, acquiring the current running speed Vt of the trailer by the vehicle body control host, and judging whether the Vt is less than the intelligent lifting speed V of the vehicle bodyIntelligenceIf Vt is ≦ VIntelligenceIf so, indicating that the current running speed allows the vehicle body to ascend and descend, and executing the step b); if Vt > VIntelligenceExecuting step f);
in this step, the vehicle body lifting speed threshold value VIntelligenceHas a value range of 0.8VVerification of～0.9VVerification of，VVerification ofThe maximum allowable speed of the trailer.
b) Judging the lifting load of the vehicle body, judging whether the current load Gt is smaller than a safety threshold G1 of the lifting load of the vehicle body by the vehicle body control host, if the Gt is smaller than or equal to G1, indicating that the load of the trailer allows the vehicle body to lift, and executing the step c); if Gt > G1, performing step f);
in the step, the value range of the vehicle body lifting load threshold G2 is 0.8GVerification of～0.9GVerification of，GVerification ofThe maximum payload of the trailer is determined.
c) Judging the balance of the vehicle body, wherein the main vehicle body control unit detects the height H1 at the left side and the height H2 at the right side of the chassis of the vehicle body through a first height sensor and a second height sensor respectively, and judges whether | H1-H2| is smaller than a threshold value delta H, if | H1-H2| is smaller than or equal to delta H, the current balance state of the vehicle body is indicated to allow the vehicle body to lift, step d) is executed, and if | H1-H2| is greater than delta H, step f) is executed;
in the step, the value of the threshold value delta H is adjustable within the range of 1-3 cm.
d) Judging road conditions, judging whether the trailer is in a continuous turning road section and a bumpy road section by the vehicle body control host, if the trailer is not in the continuous turning road section and not in the bumpy road section, allowing the vehicle body to ascend and descend by the surface road conditions, and executing the step e); if the trailer is in a continuous turning or bumpy road section, executing step f);
in this step, the road condition determination is implemented by the following method:
A) judging continuous turning road sections, forming a driving path curve of the trailer by the vehicle body control host through the geographical position coordinate information of the trailer collected in the latest time period t1, judging whether 2 or more than 2 continuous turning exist according to the driving path curve, if so, indicating that the current road section is the continuous turning road section, and if not, indicating that the current road section is the discontinuous turning road section;
B) the road surface level judgment is that the vehicle body control host machine respectively acquires the height of the left side and the height of the right side of the vehicle body in the latest time period t2 through the first height sensor and the second height sensor, judges whether the change frequency and the change amplitude of the height of the left side and the height of the right side of the vehicle body in the time period t2 exceed a safety threshold value, if the change frequency and the change amplitude of the height of the left side and the height of the right side of the vehicle body in the time period t2 exceed the safety threshold value, the trailer is located on;
C) and judging the bumpy road section, wherein the vehicle body control host acquires the pressures of the left air bag and the right air bag in the latest time period t3 through the first pressure sensor and the second pressure sensor respectively, judges whether the pressure change of the left air bag or the right air bag in the time period t3 exceeds a safety threshold value, if one of the pressure change and the pressure change exceeds the safety threshold value, the trailer is positioned in the bumpy road section, and if the pressure change and the pressure change do not exceed the safety threshold value, the trailer is positioned in the non-bumpy road section.
e) The vehicle body control host controls the pressure gas in the gas storage cylinder to enter the left air bag and the right air bag or discharge the gas in the left air bag and the right air bag by controlling the first vehicle body height adjusting electromagnetic valve and the second vehicle body height adjusting electromagnetic valve to respectively realize the lifting of the vehicle body height and the falling of the vehicle body height and adjust the vehicle body height to the common height hGeneralAnd feeding back the vehicle height through the first height sensor and the second height sensor, and maintaining the vehicle height at a value calculated by using the formula (1):
hGeneral(t)=f1(Vt)+f2(Gt) （1）
wherein h isGeneral(t) is the height value of the current vehicle body, f1() is the height function of the vehicle body determined by the current vehicle speed, f2() is the height function of the vehicle body determined by the current load, Vt, Gt are the current speed and the current load of the vehicle respectively, namely the values obtained by detecting the real-time speed and the load, and the functions f1(), f2() are monotone decreasing functions; then circularly executing the step a) again;
f) the intelligent height vehicle body lifting control system is characterized in that a vehicle body control host controls a first vehicle body height adjusting electromagnetic valve and a second vehicle body height adjusting electromagnetic valve to control pressure gas in a gas storage cylinder to enter a left air bag and a right air bag or release gas in the left air bag and the right air bag, so that the lifting of the vehicle body height or the falling of the vehicle body height are respectively realized, and the vehicle body height is adjusted to an intelligent height hIntelligenceAnd feeding back the body height through the first height sensor and the second height sensor, and maintaining the body height at a value calculated by using the formula (2):
hintelligence(t)=f3(Vt)+f4(Gt) （2）
Wherein h isIntelligence(t) is the current target height, f3() is the height function determined by the current vehicle speed, f4() is a vehicle body height function determined by the current load, Vt and Gt are respectively the current speed and the current load of the vehicle, namely values obtained by detecting the real-time speed and the load, and functions f3(), f4() are monotone decreasing functions; and then circularly executing the step a) again.
As shown in fig. 4, a control flow chart of the body balance of the trailer according to the invention is given, and the automatic trailer body balance adjusting method is realized by the following steps:
1) detecting the balance of the vehicle body, wherein the vehicle body control host machine respectively detects the height H1 of the left side of the vehicle body and the height H2 of the right side of the vehicle body through a first height sensor and a second height sensor, and judges the sizes of H1 and H2, if H1 is less than H2, and H2-H1 is more than or equal to delta H, the vehicle body is indicated to tilt left, and the tilt degree exceeds a safety threshold delta H, and then step 2) is executed; if H1 is more than H2 and H1-H2 is more than delta H, the vehicle body is indicated to be inclined rightly and the inclination degree exceeds a safety threshold delta H, and then step 3) is executed; if the absolute value of H1-H2 is less than delta H, the vehicle body is in a balanced state, the vehicle body is not required to be adjusted, and the vehicle body balance detection is continued;
2) the left side of the vehicle body is adjusted, and the vehicle body control host controls the first vehicle body height adjusting electromagnetic valve to enable pressure gas in the gas storage cylinder to enter the left air bag so as to improve the height of the left side of the vehicle body; or the gas in the right air bag is discharged by controlling the second vehicle height adjusting electromagnetic valve to reduce the height of the right side of the vehicle body, and finally the height of the left side and the height of the right side of the vehicle body are consistent, so that the height of the vehicle body is maintained at the height calculated by the formula (1) or the formula (2);
3) the vehicle body control host controls the second vehicle height adjusting electromagnetic valve to enable pressure gas in the gas storage cylinder to enter the right airbag to lift the height of the right side of the vehicle body; or the gas in the left air bag is discharged through the control of the first vehicle height adjusting electromagnetic valve, so that the height of the left side of the vehicle body is reduced, and finally the height of the left side and the height of the right side of the vehicle body are consistent, so that the vehicle height is maintained at the height calculated by the formula (1) or the formula (2).
Claims (4)
1. An air storage cylinder (2), a vehicle body control host (1), a first vehicle height adjusting electromagnetic valve (5), a second vehicle height adjusting electromagnetic valve (6), a first height sensor (7), a second height sensor (8) and a lifting valve (12) are arranged on a trailer, 2 or more than 2 axles are arranged on the trailer, a left air bag (3) and a right air bag (4) for adjusting the heights of the axles are respectively arranged at the left end and the right end of each axle, and a lifting air chamber (11) is arranged on the axle to be lifted; the air storage cylinder supplies air to all the left air bags through the first vehicle height adjusting electromagnetic valve, the air storage cylinder supplies air to all the right air bags through the second vehicle height adjusting electromagnetic valve, the air storage cylinder supplies air to the lifting air chamber through the lifting valve, and control ends of the first vehicle height adjusting electromagnetic valve, the second vehicle height adjusting electromagnetic valve and the lifting valve are connected with an output end of the vehicle body control host; the first height sensor and the second height sensor respectively detect the lifting height of the left side and the right side of the vehicle body, and the vehicle body control host machine respectively detects the pressure of the left air bag and the pressure of the right air bag through the first pressure sensor (9) and the second pressure sensor (10); the vehicle body control host is connected with a GPS module and a speed sensor module which are used for acquiring trailer position information and running speed; the method is characterized in that: the trailer body height adjusting method is realized through the following steps:
a) judging the lifting speed of the vehicle body, acquiring the current running speed Vt of the trailer by the vehicle body control host, and judging whether the Vt is less than the intelligent lifting speed V of the vehicle bodyIntelligenceIf Vt is ≦ VIntelligenceIf so, indicating that the current running speed allows the vehicle body to ascend and descend, and executing the step b); if Vt > VIntelligenceExecuting step f);
b) judging the lifting load of the vehicle body, judging whether the current load Gt is smaller than a safety threshold G1 of the lifting load of the vehicle body by the vehicle body control host, if the Gt is smaller than or equal to G1, indicating that the load of the trailer allows the vehicle body to lift, and executing the step c); if Gt > G1, performing step f);
c) judging the balance of the vehicle body, wherein the main vehicle body control unit detects the height H1 at the left side and the height H2 at the right side of the chassis of the vehicle body through a first height sensor and a second height sensor respectively, and judges whether | H1-H2| is smaller than a threshold value delta H, if | H1-H2| is smaller than or equal to delta H, the current balance state of the vehicle body is indicated to allow the vehicle body to lift, step d) is executed, and if | H1-H2| is greater than delta H, step f) is executed;
d) judging road conditions, judging whether the trailer is in a continuous turning road section and a bumpy road section by the vehicle body control host, if the trailer is not in the continuous turning road section and not in the bumpy road section, allowing the vehicle body to ascend and descend by the surface road conditions, and executing the step e); if the trailer is in a continuous turning or bumpy road section, executing step f);
e) the vehicle body control host controls the pressure gas in the gas storage cylinder to enter the left air bag and the right air bag or discharge the gas in the left air bag and the right air bag by controlling the first vehicle body height adjusting electromagnetic valve and the second vehicle body height adjusting electromagnetic valve to respectively realize the lifting of the vehicle body height and the falling of the vehicle body height and adjust the vehicle body height to the common height hGeneralAnd feeding back the vehicle height through the first height sensor and the second height sensor, and maintaining the vehicle height at a value calculated by using the formula (1):
hGeneral(t)=f1(Vt)+f2(Gt) （1）
wherein h isGeneral(t) is the height value of the current vehicle body, f1() is the height function of the vehicle body determined by the current vehicle speed, f2() is the height function of the vehicle body determined by the current load, Vt, Gt are the current speed and the current load of the vehicle respectively, namely the values obtained by detecting the real-time speed and the load, and the functions f1(), f2() are monotone decreasing functions; then circularly executing the step a) again;
f) the intelligent height vehicle body lifting control system is characterized in that a vehicle body control host controls a first vehicle body height adjusting electromagnetic valve and a second vehicle body height adjusting electromagnetic valve to control pressure gas in a gas storage cylinder to enter a left air bag and a right air bag or release gas in the left air bag and the right air bag, so that the lifting of the vehicle body height or the falling of the vehicle body height are respectively realized, and the vehicle body height is adjusted to an intelligent height hIntelligenceAnd feeding back the body height through the first height sensor and the second height sensor, and maintaining the body height at a value calculated by using the formula (2):
hintelligence(t)=f3(Vt)+f4(Gt) （2）
Wherein h isIntelligence(t) is the current vehicle body target height value, f3() is the vehicle body height function determined by the current vehicle speed, f4() is the vehicle body height function determined by the current load, Vt, Gt are the current speed and current load of the vehicle respectively, namely the values obtained by detecting the real-time speed and the load, and the functions f3(), f4() are monotone decreasing functions; and then circularly executing the step a) again.
2. The method for automatically adjusting the height and balance of a trailer body based on an air suspension as claimed in claim 1, wherein: the automatic trailer body balance adjusting method is realized by the following steps:
1) detecting the balance of the vehicle body, wherein the vehicle body control host machine respectively detects the height H1 of the left side of the vehicle body and the height H2 of the right side of the vehicle body through a first height sensor and a second height sensor, and judges the sizes of H1 and H2, if H1 is less than H2, and H2-H1 is more than or equal to delta H, the vehicle body is indicated to tilt left, and the tilt degree exceeds a safety threshold delta H, and then step 2) is executed; if H1 is more than H2 and H1-H2 is more than delta H, the vehicle body is indicated to be inclined rightly and the inclination degree exceeds a safety threshold delta H, and then step 3) is executed; if the absolute value of H1-H2 is less than delta H, the vehicle body is in a balanced state, the vehicle body is not required to be adjusted, and the vehicle body balance detection is continued;
2) the left side of the vehicle body is adjusted, and the vehicle body control host controls the first vehicle body height adjusting electromagnetic valve to enable pressure gas in the gas storage cylinder to enter the left air bag so as to improve the height of the left side of the vehicle body; or the gas in the right air bag is discharged through controlling the second vehicle height adjusting electromagnetic valve, so that the height of the right side of the vehicle body is reduced, and finally the height of the left side and the height of the right side of the vehicle body are consistent;
3) the vehicle body control host controls the second vehicle height adjusting electromagnetic valve to enable pressure gas in the gas storage cylinder to enter the right airbag to lift the height of the right side of the vehicle body; or the gas in the left air bag is discharged through controlling the first vehicle height adjusting electromagnetic valve, so that the height of the left side of the vehicle body is reduced, and finally the height of the left side and the height of the right side of the vehicle body are consistent.
3. The method for automatically adjusting the height and balance of a trailer body based on an air suspension as claimed in claim 1, wherein: the road condition judgment in the step d) is realized by the following method:
A) judging continuous turning road sections, forming a driving path curve of the trailer by the vehicle body control host through the geographical position coordinate information of the trailer collected in the latest time period t1, judging whether 2 or more than 2 continuous turning exist according to the driving path curve, if so, indicating that the current road section is the continuous turning road section, and if not, indicating that the current road section is the discontinuous turning road section;
B) the road surface level judgment is that the vehicle body control host machine respectively acquires the height of the left side and the height of the right side of the vehicle body in the latest time period t2 through the first height sensor and the second height sensor, judges whether the change frequency and the change amplitude of the height of the left side and the height of the right side of the vehicle body in the time period t2 exceed a safety threshold value, if the change frequency and the change amplitude of the height of the left side and the height of the right side of the vehicle body in the time period t2 exceed the safety threshold value, the trailer is located on;
C) and judging the bumpy road section, wherein the vehicle body control host acquires the pressures of the left air bag and the right air bag in the latest time period t3 through the first pressure sensor and the second pressure sensor respectively, judges whether the pressure change of the left air bag or the right air bag in the time period t3 exceeds a safety threshold value, if one of the pressure change and the pressure change exceeds the safety threshold value, the trailer is positioned in the bumpy road section, and if the pressure change and the pressure change do not exceed the safety threshold value, the trailer is positioned in the non-bumpy road section.
4. The method for automatically adjusting the height and balance of a trailer body based on an air suspension as claimed in claim 1, wherein: the threshold value V of the lifting speed of the vehicle body in the step a)IntelligenceHas a value range of 0.8VVerification of～0.9VVerification of；VVerification ofIs the maximum allowable speed of the trailer; the value range of the vehicle body lifting load threshold G2 in the step b) is 0.8GVerification of～0.9GVerification of，GVerification ofAnd c), determining the maximum load of the trailer, wherein the value of the threshold value delta H in the step c) is adjustable within the range of 1-3 cm.
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Denomination of invention: Automatic adjustment method for trailer body height and body balance based on air suspension Granted publication date: 20220329 Pledgee: Shandong Mengyin Rural Commercial Bank Co.,Ltd. Pledgor: SHANDONG LUOXIANG AUTOMOBILE MANUFACTURING Co.,Ltd. Registration number: Y2025980005317 |
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