Characteristic analysis of a novel energy-harvesting hydraulically-interconnected suspension
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摘要: 提出了一種可回收車輛振動能量的新型液電式互聯饋能懸架系統（Energy-harvesting hydraulically interconnected suspension, EH-HIS），并對其垂向、側傾、俯仰工作模式進行了原理分析。基于系統流量關系和壓降原理建立了液電式互聯饋能懸架的數學模型，并通過臺架試驗對仿真模型進行了驗證。通過諧波激勵下的仿真測試，對系統的阻尼特性與饋能特性進行了分析，驗證了液電式互聯饋能懸架的阻尼特性具備非對稱性和可調節性，可以滿足大部分乘用車輛的許用范圍。當負載電阻從5
$ \mathrm{\Omega } $ 增加到25$ \mathrm{\Omega } $ 時，相應的等效阻尼系數從7558 N?s?m?1降低至3134 N?s?m?1。饋能特性分析顯示當負載電阻等于電機內阻時，系統饋能功率將達到最高值，在頻率2 Hz振幅30 mm的激勵下，系統平均饋能功率可以達到875.9 W。Abstract: The vehicle suspension system is not only used to consume the vibration energy transmitted from the ground to the vehicle body but also provides good handling stability for the vehicle. This can be a challenging tradeoff, especially for vehicles with a high center of gravity and heavy loads, such as trucks and SUVs. These vehicles are prone to large load deviations during emergency steering, causing the vehicle to roll over. The emergence of a hydraulically-interconnected suspension (HIS) could effectively maintain the vehicle body’s stability. As a unique hydropneumatic suspension, the HIS system has prominent nonlinear damping characteristics and can decouple the bounce motion and roll motion of the vehicle. This increases the vehicle’s roll stiffness without affecting the vertical rigidity of the vehicle, thereby substantially reducing the possibility of rollover accidents. This paper introduces a novel energy-harvesting hydraulically-interconnected suspension (EH-HIS), which has the dynamic characteristics of the HIS and can even harvest the vibration energy that is traditionally dissipated into heat using the oil shock absorbers. Working principles of bounce motion, roll motion, and pitch motion of the EH-HIS system have been analyzed. A mathematical model of the system was established based on the pressure drop principle and validated by a bench test. Damping characteristics and the energy harvesting capability are studied via simulations. Results show that the EH-HIS has considerable asymmetric and tunable damping characteristics that can meet the allowable range of most passenger vehicles. When the external resistance increases from 5 to 25$ \mathrm{\Omega } $ , the corresponding equivalent damping coefficient decreases from 7558 to 3134 N?s·m?1. The energy harvesting capability analysis shows that maximum energy harvesting power is achieved when the external resistance is equal to the internal resistance. Furthermore, the average harvesting power can reach 875.9 W under the excitation of 2 Hz (frequency) 30 mm (amplitude). -
圖 1 液電式互聯饋能懸架運動模式. (a) 垂向模式; (b) 側傾模式; (c) 俯仰模式
Figure 1. Working modes of EH?HIS: (a) bounce motion; (b) roll motion; (c) pitch motion
圖 2 液電式互聯饋能懸架系統. (a) 單缸子模塊; (b) 系統流量關系
Figure 2. EH-HIS system: (a) sub-module of the EH-HIS; (b) system volumetric flow
圖 4 不同負載電阻下的阻尼特性測試與仿真結果. (a) 10
$ \mathrm{\Omega } $ ；(b) 20$ \mathrm{\Omega } $ Figure 4. Test and simulation results of damping characteristics under different external resistances: (a) 10
$ \mathrm{\Omega } $ ; (b) 20$ \mathrm{\Omega } $ 
圖 5 不同負載電阻下的阻尼特性. (a) 示功特性; (b) 速度特性
Figure 5. Damping characteristic under different external resistances: (a) force-displacement curves; (b) force-velocity curves
圖 6 不同負載電阻下的等效阻尼系數
Figure 6. Equivalent damping coefficient under different external resistances
圖 7 液電式互聯饋能懸架與原廠阻尼器的速度特性對比
Figure 7. Velocity characteristic comparison between the EH-HIS and original damper
圖 8 不同激勵下的能量輸入與回收. (a) 0.5 Hz 30 mm; (b) 1 Hz 30 mm; (c) 2 Hz 30 mm
Figure 8. Harvested energy and input energy under different excitations: (a) 0.5 Hz 30 mm; (b) 1 Hz 30 mm; (c) 2 Hz 30 mm
圖 9 不同負載電阻與激勵頻率下的平均饋能功率
Figure 9. Average power under different external resistances and frequencies
表 1 液電式互聯饋能懸架系統相關參數
Table 1. Parameters of the EH-HIS system
Parameter Value Unit Nomenclature $ {D}_{\mathrm{p}} $ 50.8 mm Piston diameter $ {D}_{\mathrm{r}} $ 19.05 mm Piston rod diameter $ {P}_{0} $ 5×105 Pa Gas pressure of accumulators at Initial State $ {P}_{\mathrm{s}} $ 6×105 Pa Gas pressure of accumulators at Static State $ {V}_{0} $ 0.16 L Gas volume of accumulators at Initial State $ {V}_{\mathrm{s}} $ 0.13 L Gas volume of accumulators at Static State $ \rho $ 802 kg?m?3 Oil density $ l $ 1 m Length of the pipeline $ d $ 6.35 mm Inner diameter of the pipeline $ {C}_{\mathrm{v}} $ 3.7×103 Pa?min?L?1 Damping coefficient of check valves $ q $ 32 cm3?rev?1 Displacement of the hydraulic motor $ {\eta }_{\mathrm{v}} $ 0.92 Volumetric efficiency of the hydraulic motor $ {\eta }_{\mathrm{m}} $ 0.95 Mechanical efficiency of the hydraulic motor $ {n}_{\mathrm{g}} $ 3.5 Gear ratio of the gearbox $ {J}_{\mathrm{g}} $ 6×10?5 kg?m2 Rotational inertia of the energy harvesting unit $ {R}_{\mathrm{i}\mathrm{n}} $ 3.9 $ \mathrm{\Omega } $ Generator internal resistance $ {R}_{\mathrm{e}\mathrm{x}} $ Adjustable $ \mathrm{\Omega } $ External resistance $ {k}_{\mathrm{e}} $ 0.242 V?s?rad?1 Generator EMF constant $ {k}_{\mathrm{t}} $ 0.242 N?m?A?1 Generator torque constant 
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表 2 液電式互聯饋能懸架能量回收特性
Table 2. Energy harvesting characteristics
Excitation Avg. power/W Efficiency/% Frequency/Hz amplitude/mm 0.5 30 54.7 32.9 1 30 219.0 26.4 2 30 875.9 19.0
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