5920results about "Resilient suspensions" patented technology

Methods of performing a dispatched logistics operation for delivery / pickup of items using a modular autonomous bot apparatus assembly (with a modular autonomy module, cargo storage system, auxiliary power module, and mobility base) and a dispatch server. The modular autonomy control module receives a dispatch command from the dispatch server and authenticates that each of the modular components in the assembly are compatible with the particular dispatched logistics operation. The bot assembly receives the transported item, autonomously moves from an origin location to a destination per the dispatch command using the mobility base autonomously controlled by the modular autonomy control module, receives authentication input that at least correlates to authentication information in the dispatch comment to allow selective access to the modular cargo storage system of the bot assembly, and then autonomously returns to the origin after the item is detected removed from the cargo storage system.

The invention provides an intelligent suspension control system based on complex road condition recognition, and relates to the technical field of suspension control. The system comprises a data acquisition module, a theoretical adjustment calculation module, an adjustment map generation module, a dynamic adjustment generation module and a real-time monitoring module. The data acquisition module generates structured road condition suspension matching data. The theoretical adjustment calculation module calculates a theoretical suspension adjustment reference value. The adjustment map generation module generates an initial suspension adjustment map. The dynamic adjustment generation module obtains a dynamic suspension adjustment map of the driving task. And the real-time monitoring module monitors the intelligent suspension control in real time. Various complex road conditions are recognized and classified through semantic analysis, an accurate road condition basis is provided, a theoretical adjustment reference value is calculated, meanwhile, a self-adaptive correction factor matrix is introduced, the adjustment reference and the fault-tolerant bandwidth are dynamically adjusted according to the real-time posture of the vehicle, vehicle body vibration and suspension air pressure, stable control is guaranteed, and the control accuracy is improved. And dynamic balance between comfort and controllability is realized.

The invention discloses a temperature compensation method and system, and the method comprises the steps: receiving a valve block temperature signal collected by a temperature sensor integrated with a pressure sensor in a closed gas supply unit, and an electronic element temperature and environment temperature signal collected by a temperature sensor on a control unit PCB, generating an initial temperature-working condition data set by combining the power of the air pump and the working duration of the electromagnetic valve; performing thermal resistance network modeling on the initial temperature-working condition data set, constructing a multi-node thermal characteristic matrix, and decomposing the matrix into a plurality of sub-matrixes; performing real-time operation on the sub-matrix by using a dynamic heat balance algorithm to generate a temperature estimation result of the key component; and generating a temperature compensation control instruction according to the temperature estimation result of the key component. According to the embodiment of the invention, the temperature of the key component can be accurately estimated, dynamic compensation is realized, and the control precision and stability of the closed gas supply unit are improved.

An electric wheel controller and methods for operating and manufacturing an electric wheel controller are disclosed. Embodiments include a controller forming a structural and / or load bearing component of the vehicle suspension system. Embodiments of the controller can be mounted to a wheel assembly, and in some embodiments the controller is a suspension knuckle. Embodiments include a controller with a cavity and electronic circuitry submerged in liquid coolant. During operation the coolant can absorb heat from the immersed circuitry. In some embodiments the coolant transitions to a gas and / or vapor, and can move to an upper portion of the cavity. When the coolant contacts the cooler surfaces of the cavity the coolant can transition back to a liquid and return to a pool of liquid coolant in which the circuitry is immersed. A heat sink can be connected to the controller, such as by laser soldering.

The invention discloses a self-adaptive constant-force vibration reduction mechanism base and a robot, and belongs to the technical field of specialized robots. Two sets of buffer units and vibration reduction units are arranged at the front end and the rear end of the base correspondingly; driving wheels are arranged on the buffer unit and the vibration reduction unit; the buffer unit comprises a horizontal buffer structure, a vertical buffer structure and a support; the horizontal buffer structure is slidably connected with the support in the vertical direction; the top of the vertical buffer structure is hinged to the support, and the bottom is fixedly connected with the driving wheel; the support is fixedly connected with the base; the vibration reduction unit comprises a rotating support and a constant force component. According to the self-adaptive constant-force vibration reduction mechanism base and the robot, the problems that in the prior art, a vibration reduction mechanism cannot completely avoid vibration generated by a wheel type moving device in the vertical direction when the wheel type moving device moves on an uneven road surface, and consequently bolt looseness, wire harness interface looseness, material fatigue strain and the like occur can be effectively solved; and therefore, the wheel type moving device has a fault in the operation process and cannot stably operate, and the like.

The invention discloses a self-balancing type light steering wheel for complex terrains. The self-balancing type light steering wheel comprises a wheel carrier, a steering assembly, a driving assembly and a suspension system. The steering assembly drives tires to steer through a motor via a three-stage gear pair. The driving assembly drives tires through a motor and a speed reducer; the suspension system is connected between the driving mounting plate and the wheel carrier and comprises a parallel connecting rod mechanism and symmetrically arranged spring suspension units, self-adaptive buffering is achieved through a compression spring and a fisheye knuckle bearing, and it is ensured that the tire continuously touches the ground on a rugged road surface; the driving speed reducer is integrated in the tire, the driving motor is arranged between the wheel carrier and the tire, and the whole steering assembly does not exceed the turning radius of the tire. The device is compact in structure, has good terrain adaptability and motion stability, and is suitable for an outdoor mobile robot system.

Active suspension actuator systems including an actuator with a compression volume and an extension volume are described. In some embodiments, the system includes one or more flow control devices in fluid communication with the compression volume and / or the extension volume of the actuator. In some instances, a flow control device may include a pressure balanced blow-off valve (PBOV). In some embodiments, the system includes a high capacity bidirectional base valve. In some embodiments, two or more flow control devices cooperate to, for example, damp low amplitude oscillations in the extension and / or compression volumes, and to allow the build-up of pump generated differential pressures while discharging rapid road induced differential pressure spikes between the extension and compression volumes.

According to the mass center self-balancing chassis system for U-rib weld defect detection and the control method, the problem that when detection equipment moves on a U-rib curved surface, the precision is reduced due to mass center deviation and view field inclination can be solved. The system integrates a Mecanum wheel omni-directional moving unit, four groups of electric telescopic supporting legs, a two-axis holder and an ECU (electronic control unit), and has the innovation point that dynamic mass center balance and posture self-correction are realized through rigid-flexible combined supporting leg design and multi-modal sensing fusion. The ECU adopts an improved Canny algorithm to process the image, extracts a U rib edge point set and fits a reference center; in combination with pressure and tilt angle sensor data, a real-time mass center is solved through a moment balance formula, and then an improved self-adaptive PID algorithm is used for driving the supporting legs to stretch out and draw back, so that the mass center returns to a reference center; the two-axis holder compensates the view field angle according to the inclination angle data to ensure that the view field angle is perpendicular to the weld joint. Through cooperation of a mechanical structure and an algorithm, the system can control centroid offset to be smaller than or equal to 5 mm and view field inclination to be smaller than or equal to 1 degree, the detection stability and precision are remarkably improved, and the algorithm is easy to deploy.

The invention relates to a chassis structure of a vehicle based on corner modules and a control system, the chassis structure of the vehicle comprises the corner modules corresponding to four wheels of the vehicle respectively, in each corner module, a wheel side motor driving assembly is used for directly driving the wheel corresponding to the corner module, and the wheel side motor driving assembly is used for directly driving the wheel corresponding to the corner module. The 90-degree two-way steering execution system is used for driving wheels corresponding to the angle module to realize positive and negative 90-degree steering; the wheel side motor driving assembly and the 90-degree bidirectional steering execution system are separately arranged; the suspension and supporting structure is used for keeping geometric stability of the suspension when the wheels corresponding to the angle modules steer and buffering road impact. The electronic mechanical braking unit is used for achieving braking of wheels corresponding to the angle modules. In this way, synchronous control over steering, driving, vibration reduction and braking of the vehicle in different running modes can be achieved through cooperative work of the angle modules in the wheels of the vehicle, and a vehicle chassis has higher flexibility and more scene adaptability in the running process of the vehicle.

The invention relates to the technical field of vehicle body posture leveling control, and provides a vehicle body posture leveling control method and system for an electric mountain transport vehicle, and the method comprises the steps: obtaining ground contact state data and a transverse shaft rotation angle in real time, and carrying out the contact terrain analysis according to the ground contact state data to obtain terrain parameter information; carrying out vehicle load distribution analysis according to the ground contact state data and the terrain inclination parameters to obtain pressure gravity center shift data; adjusting the horizontal axis rotation angle according to the pressure center-of-gravity shift data to obtain a target horizontal axis rotation angle; according to the target horizontal axis rotation angle and the terrain pressure distribution data, carrying out wheel bearing demand analysis to obtain a wheel pressure adjustment strategy; and driving the suspension system to level the posture of the vehicle body according to the wheel pressure adjusting strategy. The terrain environment change can be sensed in real time based on the wheel ground contact state change and the vehicle gravity center shift monitoring mechanism, the rotation angle of the transverse shaft and the wheel ground contact pressure are accurately adjusted, and self-adaptive leveling of the vehicle body posture is achieved.

The invention discloses an intelligent self-adaptive vehicle suspension system based on deep learning and a control method, and belongs to the technical field of vehicle suspensions.The system comprises a quantum state collaborative sensing module, a Lie group road condition prediction module, a topology invariant optimization module and a dual closed-loop control module; the quantum state collaborative perception module realizes multi-sensor deep fusion based on a quantum state entanglement theory, the fusion precision is improved by more than 40%, the Lie group road condition prediction module establishes a road surface dynamic evolution model by using a special Euclidean group SE (3), the prediction precision is improved by 45%, and the topology invariant optimization module extracts road surface topology invariants through continuous coherence, so that the road surface dynamic evolution model is optimized. The suspension parameters are optimized on the octyl manifold, the convergence speed is increased by 60%, the dual closed-loop control module constructs a forward prediction and backward correction double closed loop, the response time is shortened to 15 milliseconds, and the comfort and controllability of the vehicle are remarkably improved.

The invention belongs to the technical field of active suspension control, and particularly relates to an active suspension control method and system based on Skhook-ADRC-FFORC. According to the method, key parameters are obtained by establishing a 1 / 4 vehicle suspension dynamical model, a state space model is constructed, active disturbance suppression control is introduced on the basis, and the stability of the vehicle suspension is improved. Real-time estimation and compensation of vehicle body displacement and total disturbance of a system are realized, fractional order sliding mode control is combined, a fractional order sliding mode surface is constructed by using a Caputo operator, high robustness and smoothness are considered, the buffeting problem of a traditional sliding mode is suppressed, and finally, the high-frequency vibration isolation advantage of Skyhook control and the anti-interference capability of ADRC-FFORC are subjected to weighted fusion. The problems that in the prior art, model simplification and control distortion are caused, and a single strategy cannot give consideration to multi-target performance are solved, and by fusing ADRC, FOSMC and Skyhook control and realizing adaptive weighted switching, the robustness, smoothness and real-time performance of the active suspension under complex working conditions are effectively improved, so that collaborative optimization of vehicle comfort and safety is realized.

The invention is suitable for the technical field of automobile chassis, and provides an angle module system and a modular extensible chassis, and the angle module system adopts an unequal-length double-wishbone suspension and has good geometric kinematics characteristics. And the offset distance of the main pin is reasonably controlled through the design of steering knuckle parts. By adopting the angle module bracket, the efficient integration of the driving unit and the frame structure is realized, the number of connecting points of the angle module system and the chassis is reduced, and the serialization, integration and modularization of the chassis system are facilitated. A distributed main pin steering gear is adopted, and the geometrical shape design of upper and lower control arms of the suspension is matched, so that wheels have a larger turning angle range, and the maneuverability is improved. In addition, the modular extensible chassis adopts modular design, and the number of shafts can be flexibly configured according to carrying requirements.

A wheel assembly to be coupled to a hub of a vehicle may include an inner rim to be coupled to the hub of the vehicle and an outer rim surrounding the inner rim. The wheel assembly may also include gas springs operatively coupled between the inner rim and the outer rim to provide a gas suspension for relative movement between the inner rim and the outer rim. Each of the gas springs may have a controllable gas pressure. The wheel assembly also includes a wheel rotational position sensor, a vehicle operator control input interface, and a controller configured to control the gas pressure in each of the gas springs in a pattern in response to the wheel rotational position sensor and vehicle operator control input interface to assist in one of overcoming a rolling resistance of the wheel and a braking of the wheel.

The present disclosure relates to a hydraulic damper comprising a main tube, a piston assembly, a base valve assembly, and at least one hydraulic compression stop assembly cooperating with a compression valve assembly, and comprising a pin disposed slidably within the piston rod and biased to project an activating tip towards the compression chamber. Said compression valve assembly comprises at least one deflectable or floating disc covering compression flow passages, and biased by a piston member slidable along said axis and normally abutting a retaining surface, and a pressure chamber having one surface defined by a surface of said piston member abutting said retaining surface, wherein said pin upon sliding inside the piston rod facilitates a flow of the working liquid from the compression chamber into said pressure chamber to increase biasing load on said at least one deflectable or floating disc.

The invention provides a semi-active suspension vibration control method and system based on preview fusion and game decision, and the method comprises the following steps: obtaining pavement preview information through a forward sensor, carrying out the signal processing, and generating a future pavement preview sequence in real time; establishing a two-degree-of-freedom 1 / 4 whole vehicle vertical dynamical model; under a model prediction control framework, participants of a non-cooperative Nash game model are defined, a corresponding cost function is designed, a damping coefficient is discretized by adopting mixed integer programming, Nash equilibrium is solved by adopting a branch and bound method, and an optimal damping coefficient is obtained; mapping the optimal damping coefficient into optimal damping force meeting constraint conditions; hysteresis force compensation is conducted through a hysteresis model, and target control current is obtained through damping force obtained after hysteresis compensation according to the mapping relation between the damping force of the magnetorheological damper and the control current; and outputting the target damping force according to the instruction of the target control current. According to the invention, autonomous balance adjustment of multiple control targets is realized.

The application discloses an intelligent electric chassis configuration and a fault-tolerant control method of the intelligent electric chassis, and relates to the technical field of electric chassis. The chassis configuration comprises a front axle centralized motor drive assembly, a rear axle distributed motor drive assembly, a front axle electronic hydraulic brake system, a rear axle electronic mechanical brake system and a chassis domain controller. The front axle centralized motor drive assembly comprises a centralized drive motor, a front wheel speed reducer and a drive half shaft which are sequentially connected. The rear axle distributed motor drive assembly comprises a left rear wheel end drive motor and a left rear wheel speed reducer which are sequentially connected, and a right rear wheel end drive motor and a right rear wheel speed reducer which are sequentially connected. The front axle electronic hydraulic brake system comprises a first main brake unit and a redundant brake unit. The rear axle electronic mechanical brake system comprises a second main brake unit. The chassis domain controller is used for controlling the centralized drive motor, the left and right rear wheel end drive motors, the first main brake unit, the redundant brake unit, the second main brake unit, a front axle steer-by-wire system, an intelligent suspension system and an intelligent tire. The application can improve the chassis safety and fault-tolerant capability to support high-level automatic driving functions.

The invention belongs to the technical field of shock absorption, and discloses a shock absorber. According to the shock absorber, the temperature change of a shock absorber medium is monitored in real time through the detection piece, and the distance between the one-way valve element and the fastening plug is automatically adjusted through the driving assembly, so that the damping force of the shock absorber can be adaptively adjusted along with the temperature change of the medium. When the viscosity is reduced due to the rising of the medium temperature, the gap between the one-way valve element and the fastening plug is automatically reduced, and the damping force is increased to maintain the vibration reduction performance; when the viscosity is increased due to reduction of the medium temperature, the gap between the one-way valve element and the fastening plug is automatically enlarged, and the situation that damping force is too large, and vibration reduction comfort is affected is avoided. According to the automatic adjusting mechanism, the problem of damping force fluctuation caused by temperature change of a traditional shock absorber is effectively solved, and the stable shock absorption effect of a vehicle can be kept at different environment temperatures.

A suspension system (400) for supporting a chassis (200) of a vehicle (100). The suspension system (400) comprises a suspension unit (442). The suspension unit (442) comprises a wheel arm assembly (444) comprising a first wheel arm (402) having a chassis mount end (410) and a wheel mount end (412). The chassis mount end (410) of the first wheel arm (402) are provided with a chassis mounting member (414), the chassis mount end (410) of the first wheel arm (402) and chassis mounting member (414) being pivotable relative to one another around a chassis mount pivoting axis (230). The chassis mounting member (414) is configured to support the chassis mount end (410) of the first wheel arm (402) so that the first wheel arm (402) and chassis mounting member (414) are operable to pivot 180 degrees relative to one another about the chassis mount pivoting axis (230).

The invention discloses a four-wheel drive lifting type agricultural universal chassis with an adjustable wheel tread. The four-wheel drive lifting type agricultural universal chassis comprises a frame and four groups of leg-wheel assemblies, the vehicle leg-wheel assembly comprises a vehicle leg assembly, the vehicle leg assembly comprises a vehicle leg support and a wheel assembly, and a lifting adjusting mechanism is arranged between the vehicle leg support and a wheel; the vehicle leg support is in running fit with the vehicle frame through a fixed shaft, wheel track adjusting driving mechanisms are arranged on the vehicle frame in one-to-one correspondence with the vehicle leg assemblies, and the wheel track adjusting driving mechanisms are used for adjusting the wheel track between the wheel assemblies; the lifting adjusting mechanism comprises an electric cylinder and a sliding square tube guide structure, the sliding square tube guide structure comprises an outer square tube fixedly connected to the vehicle leg support and an inner square tube capable of sliding in the outer square tube, one end of the electric cylinder is connected with the vehicle leg support, and the other end of the electric cylinder is connected with a welding plate integrally welded with the inner square tube; a steering execution mechanism is arranged in the inner square tube; the wheel assembly comprises a wheel support and wheels installed on the wheel support, and hub motors are integrated in the wheels to achieve four-wheel independent driving.

The present application relates to a kind of vehicle steering body posture and control method of handling stability, comprising the following steps: the signal input required for control is collected, vehicle total anti-lateral moment is calculated by body posture feedforward-feedback controller, front and rear axle anti-roll moment distribution ratio is calculated by handling stability feedforward-feedback controller, total anti-roll moment and its front and rear axle distribution ratio are calculated, revised by control comprehensive module, finally output each suspension angle vertical force control instruction of vehicle.The present application has the following advantages:1) vehicle body posture control and handling stability control are comprehensively considered, and both are simultaneously optimized;2) vehicle body posture control and handling stability control both use feedback-feedforward, avoid the problem of pure feedforward control or feedback control, so that the overall performance of vehicle is more "natural";3) steering input and road input are decoupled, and four high sensors are saved.

The invention relates to a vehicle control method and device, a vehicle and a storage medium. The method comprises the steps of determining an elevation curve and a road surface type of a driving track in front of a vehicle based on image information acquired in a vehicle driving process; if the road surface type of the front driving track is a special road surface, determining whether a front axle and / or a rear axle of the vehicle is driven into a special road surface area or not according to the running parameters and the static parameters of the vehicle; under the condition that a front axle and / or a rear axle of the vehicle is driven into a special road surface area and the special road surface is a pulse disturbance road surface, the vertical movement distance of a front axle electromagnetic suspension and / or a rear axle electromagnetic suspension of the vehicle is determined based on the elevation curve and the motion parameters of the vehicle; and according to the vertical movement distance of the front axle electromagnetic suspension, a front axle linear motor of the vehicle is controlled to output first control force, and / or according to the vertical movement distance of the rear axle electromagnetic suspension, a rear axle linear motor of the vehicle is controlled to output second control force, so that adjustment of the vehicle electromagnetic suspension is achieved, and the riding comfort is improved.

A length-adjustable shock absorber includes a tubular body and an adjusting cylinder. The tubular body has one end formed with threads to form a threaded section. The threaded section is interrupted in an axial direction by at least one recessed groove. The adjusting cylinder is threadedly connected to the threaded section and has at least one through hole. The through hole is rotated along with the adjusting cylinder to face the recessed groove. A locking lever is pivotally connected outside the through hole. The locking lever is pivotable between a locking position and an unlocking position. When the locking lever is pivoted to the locking position, it is engaged in the recessed groove to lock the adjusting cylinder. When the locking lever is pivoted to the unlocking position, it is disengaged from the recessed groove to unlock the adjusting cylinder.

The invention discloses an integrated rigidity damping inerter self-control type two-stage vibration reduction hydro-pneumatic suspension and a working method in the field of automobiles, a hollow plunger extends into an upper cavity of an oil cylinder, the lower end of the hollow plunger is fixedly connected with a piston, and an upper lifting lug runner is sequentially connected with an inerter pipe, an electric control throttle valve and a large hydro-pneumatic chamber through a first hydraulic oil pipe; a lower lifting lug runner is sequentially connected with a damper and a small oil gas chamber through a second hydraulic oil pipe, a built-in rigidity control valve outer cylinder with the lower end fixedly connected with a piston is arranged in the plunger, an inner cylinder with the upper end sealed and the lower end connected with the lower lifting lug through a spherical hinge is coaxially sleeved with the outer cylinder, and three rows of holes are formed in the side wall of the inner cylinder from bottom to top. Two rows of holes are formed in the side wall of the outer cylinder from bottom to top; the flow direction of oil liquid is changed when the suspension works, a seal does not need to be arranged on a piston, a longer oil through hole is formed in an outer barrel, the safety of the control valve is improved, a wheel dynamic vibration absorber is integrated to an oil cylinder, integration is achieved, an external rigidity control valve is replaced with an internal rigidity control valve, and the size of the whole suspension is reduced.

The invention relates to the technical field of automobile dynamics control, in particular to an ambulance suspension intelligent agent based on deep reinforcement learning and an optimization method thereof, and the optimization method comprises the steps: S1, initializing an evaluation network and a control strategy network; s2, adopting a swarm intelligence algorithm to initialize a population; s3, the number M of evolution generations of the controller and the time step T of each generation are set, in each time step, the initial fitness of the controller is set to be 0, and the fitness of the controller is updated according to the reward value and the auxiliary reward of the current time step; s4, after each intergeneration is finished, updating the population according to the fitness by adopting a swarm intelligence algorithm, and training the evaluation network and the control strategy network to update network parameters; and S5, after M generations of evolution are completed, screening out the controller with the highest fitness from the controllers, and setting the network parameters corresponding to the controller in the control strategy network. The invention is at least beneficial to improving the adaptability of the ambulance to different working conditions.

The utility model discloses a controller, a suspension system, a mounting structure, a vehicle body and a vehicle. The controller is applied to the suspension system, the controller is suitable for being arranged in a mounting cavity defined by a vehicle body dash panel, a first cover plate and a second cover plate, and the controller is detachably connected to the first cover plate. In this way, the controller is installed through the space in the installation cavity, the situation that the controller occupies the space of the axle is avoided, and arrangement of other structures on the axle is facilitated.

The invention discloses an automobile semi-active suspension PID parameter adaptive adjustment and vibration control method and system based on reinforcement learning, and the method mainly comprises the following working steps: 1, constructing a reinforcement learning environment comprising a suspension dynamics high-fidelity simulation model and a PID controller; 2, defining a state space including a vehicle body vertical acceleration error e (t), an error integral term summa e (t) dt, an error differential term de (t) / dt, a suspension dynamic stroke zdef (t), a driving vehicle speed v (t) and road surface unevenness estimation xi (t); and 3, defining an action space including a proportion coefficient increment delta Kp, an integral coefficient increment delta Ki, a differential coefficient increment delta Kd and an output compensation amount delta e (t) of the PID controller. According to the method, the problem that the suspension performance is reduced due to the fact that control parameters of a traditional PID control method are fixed under the non-linear and time-varying working conditions is solved, and the riding comfort and the handling stability of the vehicle are remarkably improved.

The utility model relates to the technical field of conveying equipment, in particular to an oil cylinder lifting frame of a conveying vehicle frame, which comprises a conveying vehicle bottom frame and a conveying vehicle top frame provided with walking wheel sets, and a first supporting arm and a second supporting arm which are mutually hinged are arranged between the conveying vehicle bottom frame and the conveying vehicle top frame. One end of the first supporting arm and one end of the second supporting arm are hinged to the conveying vehicle underframe and the conveying vehicle top rack correspondingly, and the other ends of the first supporting arm and the second supporting arm are in sliding fit with the conveying vehicle underframe and the conveying vehicle top rack correspondingly. The design of the oil cylinder lifting frame is introduced, so that the limitation of the fixed height design of a traditional conveying vehicle is effectively solved. The telescopic movement of the oil cylinder can flexibly adjust the height of the top rack of the conveying vehicle, so that the distance between the traveling wheels and the ground is adjusted to adapt to platforms with different heights and loading and unloading operation environments; when the conveying vehicle moves to a cargo loading and unloading area, the wheels can be lifted to be in contact with the ground, and the chassis of the conveying vehicle is fixed to the ground, so that the cargo loading and unloading stability is ensured.

The invention relates to an active suspension control method and device of a corner module vehicle, computer equipment and a readable storage medium. The method comprises the following steps: acquiring vehicle state parameters and attribute information; according to the vehicle state parameters, the attribute information and preset anti-rollover constraints, the anti-rollover moment and the suspension total active force in the current vehicle state are determined; distributing the control force corresponding to each suspension based on a preset optimization target, the anti-rollover moment and the total active force of the suspension to obtain a target control force corresponding to each suspension; the target control force is used for performing active suspension control on each suspension. By adopting the method, the accuracy of anti-rollover control can be improved, and the safety of the angle module vehicle is improved.

Embodiments of the present disclosure include systems and methods for attaching components to integrated circuits and devices thereby produced. In one example a heat sink is attached to an integrated circuit with a thermal interface material, such as solder. In some embodiments the laser is applied to the heat sink, and the heat from the heat sink heats the solder and the integrated circuit to a sufficient temperature to form an intermetallic bond between the integrated circuit and the solder and between the heat sink and the solder. In some embodiments the heat sink includes a base and cooling fins, and a laser is applied to a portion of the base between two cooling fins. In some embodiments the laser is moved across the base. In some embodiments the integrated circuit is immersed in liquid coolant and the liquid coolant absorbs heat from the integrated circuit and heat sink.