Suspension actuator integrating electromagnetic-oil gas-inerter characteristics and control method thereof

Abstract

The invention provides a suspension actuator integrating electromagnetic-oil-gas-inerter characteristics and a control method thereof.The actuator comprises a piston rod, a guide rod, a spiral groove sleeve, a stator iron core and a straight rod, a controllable damping valve assembly is arranged in the piston, the bottom end of the piston rod is connected with the piston, the top end of the guide rod penetrates through the piston and extends into the piston rod, and the spiral groove sleeve is arranged in the spiral groove sleeve; a spiral groove is formed in the inner circle face of the spiral groove sleeve, an electromagnetic coil is embedded in a groove of the stator iron core, the stator iron core is fixed to the spiral groove sleeve / piston rod, the outer circle face of the straight rod is sleeved with a permanent magnet, and the straight rod is fixed to the piston rod / spiral groove sleeve. A damping hole is formed in the piston in the axial direction; the piston rod, the piston and the stator core divide the interior of the actuator into an upper cavity, a middle cavity and a lower cavity. By electrifying the electromagnetic coil and the controllable damping valve assembly, the suspension can work in a passive mode, a semi-active mode and an active mode. The suspension actuator has the characteristics of electromagnetism, oil gas and inerter at the same time, the suspension control bandwidth is widened, and the energy consumption of an electromagnetic system is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle suspension, and in particular relates to a suspension actuator integrating electromagnetic-oil-gas-inertia characteristics and a control method thereof. Background Art

[0002] As a force transmission device connecting the car body and wheels, the suspension is an important component of the car chassis. Its working performance directly affects the vehicle's handling stability, ride comfort and driving safety. Traditional passive hydraulic shock absorbers cannot meet consumers' demand for vehicle driving performance because they cannot adjust the suspension working parameters in real time. Therefore, many suspension actuators with new configurations and new materials have emerged, including oil-gas springs, inertia vessels and electromagnetic actuators.

[0003] Among them, the oil-gas spring has nonlinear stiffness characteristics and strong load-bearing capacity, but the active oil-gas suspension system has a complex structure and high energy consumption, while the semi-active performance improvement is limited. The inertia container breaks through the traditional "spring-damper" vibration reduction system structure and adds a new type of mechanical element related to the acceleration at both ends of the suspension, the "inertia container", which further improves the vibration isolation performance of the suspension, especially the low-frequency vibration isolation characteristics.

[0004] Inertia vessels are mainly divided into mechanical and hydraulic types. The latter usually uses the inertia of oil flow to provide force, which is highly consistent with the working mode and use environment of oil-gas springs. Therefore, it is more feasible and practical to integrate the hydraulic inertia vessel and oil-gas springs. A Chinese patent (CN103016468A) discloses a hydraulic inertia vessel device, which sets a hydraulic motor between the two oil chambers of the hydraulic shock absorber. When the shock absorber is working, the oil flows in the two chambers, driving the hydraulic motor to rotate, so that the shock absorber has the characteristics of an inertia vessel. Although the device realizes the integrated design of oil-gas springs and hydraulic inertia vessels, the presence of the hydraulic motor makes the system space utilization and working reliability low.

[0005] The electromagnetic actuator is essentially an electric motor, which is divided into rotary motor type and linear motor type. The former has a high power density, while the latter has a simple structure, no transmission mechanism, and high reliability. Compared with oil-gas springs and inertia vessels, electromagnetic actuators have the advantages of fast response speed, large controllable bandwidth, high energy feeding efficiency, and compact structure, which are highly consistent with the functional requirements of the current electric intelligent chassis of new energy vehicles. However, they still have problems such as high energy consumption, low fault tolerance, and poor vibration isolation during energy feeding. Integrating an actuator that can provide base value damping, such as a hydraulic damper, in the electromagnetic actuator is a common solution. The Chinese patent (CN106224425A) discloses a semi-active energy feeding suspension shock absorber based on hybrid excitation and a method for determining its size. The patent integrates a hydraulic shock absorber inside the linear motor, and uses the base value damping of the hydraulic shock absorber to ensure the reliability and vibration isolation performance of the linear motor in the energy feeding mode. However, this structure cannot adjust the base damping size, and therefore cannot fully tap the performance potential of the linear motor, and its adaptability to vehicle driving conditions is also weak. In addition, since there are no elements that provide stiffness in the structure, springs are still required when it is actually loaded into the vehicle, which increases the design cost. Summary of the invention

[0006] In view of the shortcomings in the prior art, the present invention provides a suspension actuator structure that integrates electromagnetic-oil-gas-inertia characteristics. On the basis of the linear motor structure, the oil-gas spring, controllable damping and hydraulic inertia are integrated through the guide rod structure, which fully utilizes the performance advantages of suspension actuators with different characteristics, broadens the suspension control bandwidth, and reduces the energy consumption of the electromagnetic system. In addition, the existence of the guide rod solves the problem of eccentricity when the linear motor mover and stator move; the flow of hydraulic oil also provides good heat dissipation for the electromagnetic coil, thereby improving the reliability of the system. In view of the proposed actuator structure, the present invention also designs a control method that can realize three working modes of the suspension: passive, semi-active and active.

[0007] The present invention achieves the above technical objectives through the following technical means.

[0008] Suspension actuator integrating electromagnetic, oil-gas and inertial characteristics, including:

[0009] A piston rod, the bottom end of which is connected to the piston; the inner cavity of the piston rod is filled with high-pressure nitrogen and hydraulic oil;

[0010] A guide rod, the top end of which passes through the piston and extends into the interior of the piston rod;

[0011] A spiral groove sleeve, the inner surface of which is provided with a spiral groove, one end of which is communicated with the flow hole of the positioning sleeve A, and the other end of which is communicated with the flow hole of the positioning sleeve B;

[0012] A stator core, wherein an electromagnetic coil is embedded in a groove; the stator core is fixed on a spiral groove sleeve / piston rod;

[0013] A straight rod, the outer cylindrical surface of which is sleeved with a permanent magnet, with a gap between the permanent magnet and the stator core; the straight rod is fixed on the piston rod / spiral groove sleeve, and when the straight rod is fixed on the piston rod, its bottom is connected to the piston;

[0014] The piston is processed with damping holes along the axial direction and evenly distributed along the circumferential direction; a controllable damping valve assembly is arranged inside the piston to change the flow area of ​​the damping holes;

[0015] The piston rod, piston and stator core divide the interior of the actuator into an upper cavity, a middle cavity and a lower cavity; the guide rod is processed with hydraulic oil channels along the axial and radial directions, respectively connecting the cavity of the piston rod and the lower cavity of the actuator.

[0016] In the above technical solution, the controllable damping valve assembly includes a damping hole valve plate, a spring seat, a diaphragm spring, an adjusting gasket, a force transmission gasket and a piezoelectric crystal; the spring seat is fixedly connected to the lower end of the piston, and a diaphragm spring is supported on the spring seat. The diaphragm spring presses the damping hole valve plate onto the damping hole of the piston through the force transmission gasket and the adjusting gasket, and the damping hole valve plate presses the piezoelectric crystal tightly into the piston.

[0017] In the above technical solution, the spring seat, the force transmission gasket, the adjustment gasket and the damping hole valve plate are all provided with flow holes for the hydraulic oil to flow.

[0018] In the above technical solution, the piezoelectric crystal is connected to an external power supply module, which can generate axial displacement after being powered on, and the displacement changes with the power current.

[0019] In the above technical solution, a sliding bearing is installed at the lower end of the piston rod, and the sliding bearing is supported on the outer circumferential surface of the guide rod.

[0020] In the above technical solution, the straight rod is made of a material with high magnetic permeability.

[0021] The above technical solution also includes an outer cylinder, and the lower end of the piston rod, the upper end of the guide rod, the straight rod, the spiral groove sleeve, the electromagnetic coil, the stator core, the piston and the permanent magnet are all located inside the outer cylinder.

[0022] In the above technical solution, the upper and lower ends of the outer cylinder are sealed by an upper end cover and a lower end cover respectively.

[0023] A control method for a suspension actuator integrating electromagnetic, oil-gas and inertia characteristics:

[0024] When the electromagnetic coil and the piezoelectric crystal are energized, the suspension realizes three working modes: passive, semi-active and active. In the passive and semi-active modes, the electromagnetic coil feeds the vibration energy of the suspension;

[0025] The electromagnetic coil is fed with three-phase alternating current of different magnitudes to adjust the electromagnetic active force output by the actuator;

[0026] The piezoelectric crystal is fed with direct current of different magnitudes to adjust the axial position of the damping hole valve plate, change the flow area of ​​the damping hole on the piston, and further adjust the hydraulic damping coefficient of the actuator.

[0027] Further:

[0028] Step (1), during vehicle driving, the sensor transmits the current vehicle operating condition information to the ECU, and the ECU determines the current optimal operating mode of the suspension;

[0029] Step (2), if the optimal working mode is the passive mode, the ECU calculates the optimal hydraulic damping coefficient and the corresponding fixed current, and the piezoelectric crystal is fed with the fixed current. At this time, the actuator provides the optimal hydraulic damping, and the electromagnetic coil is fed with energy; otherwise, go to step (3);

[0030] Step (3), if the best working mode is the semi-active mode, the ECU calculates the optimal real-time equivalent damping coefficient and the corresponding variable current, and the piezoelectric crystal is fed with the variable current. At this time, the actuator provides the optimal real-time hydraulic damping, and the electromagnetic coil is fed with energy; otherwise, go to step (4);

[0031] Step (4), if the optimal working mode is the active mode, the ECU calculates the optimal real-time equivalent damping coefficient and the corresponding variable current, electromagnetic active force and the corresponding three-phase alternating current, the piezoelectric crystal is fed with the variable current in real time, and the electromagnetic coil is fed with the three-phase alternating current. At this time, the actuator provides the optimal hydraulic damping and electromagnetic active force.

[0032] The beneficial effects of the present invention are as follows: the high-pressure nitrogen and hydraulic oil filled in the piston rod cavity form an oil-gas spring to provide stiffness for the actuator; the controllable damping valve assembly provides variable base damping, which reduces the energy consumption of the linear motor and ensures the fault tolerance of the motor during energy feeding; the spiral groove structure not only ensures the smooth flow of hydraulic oil in the actuator cavity, but also realizes the inertia container function, providing low-frequency vibration isolation performance for the actuator. The present invention highly integrates electromagnetic, oil-gas and inertia container features, and designs a control method based on the structural characteristics, giving full play to the performance advantages of actuators with different characteristics, broadening the suspension control bandwidth, and greatly optimizing the spatial layout, which conforms to the integrated design trend of industrial equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] Figure 1 It is a schematic diagram of the structure of a suspension actuator with integrated electromagnetic-oil-gas-inertia characteristics of a fixed coil according to the present invention;

[0035] Figure 2It is a schematic diagram of the structure of a suspension actuator with integrated electromagnetic-oil-gas-inertia characteristics of a moving coil according to the present invention;

[0036] Figure 3 This is a schematic diagram of the structure of the spiral groove sleeve according to the present invention;

[0037] Figure 4 It is a schematic diagram of the structure of the controllable damping valve assembly of the present invention;

[0038] Figure 5 A flow chart of a control method for a suspension actuator structure integrating electromagnetic-oil-gas-inertia characteristics according to the present invention;

[0039] Figure 6 This is a three-dimensional structural diagram of a suspension actuator with integrated electromagnetic-oil-gas-inertial characteristics of a fixed coil as described in the present invention.

[0040] In the figure: 1-upper lifting ear, 2-piston rod, 3-upper end cover, 4-outer cylinder, 5-straight rod, 6-positioning sleeve A, 7-spiral groove sleeve, 8-electromagnetic coil, 9-stator core, 10-piston, 11-damping hole valve plate, 12-spring seat, 13-positioning sleeve B, 14-lower end cover, 15-lower lifting ear, 16-guide rod, 17-diaphragm spring, 18-adjusting gasket, 19-force transmission gasket, 20-piezoelectric crystal, 21-sliding bearing, 22-permanent magnet, 23-spiral groove, 10a-upper cavity, 10b-middle cavity, 10c-lower cavity, 6a-positioning sleeve A flow hole, 13a-positioning sleeve B flow hole. DETAILED DESCRIPTION

[0041] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0042] Figure 1 The invention is a first embodiment of a suspension actuator integrating electromagnetic, oil-gas and inertia characteristics, comprising a piston rod 2, an outer cylinder 4, a straight rod 5, a spiral groove sleeve 7, an electromagnetic coil 8, a stator core 9, a piston 10, a guide rod 16 and a permanent magnet 22.

[0043] The upper and lower ends of the outer cylinder 4 are sealed by an upper end cover 3 and a lower end cover 14 respectively. The lower end of the piston rod 2, the straight rod 5, the spiral groove sleeve 7, the electromagnetic coil 8, the stator core 9, the piston 10 and the permanent magnet 22 are all located inside the outer cylinder 4, and the lower end of the guide rod 16 is installed on the lower end cover 14.

[0044] After the top end of the piston rod 2 passes through the upper end cover 3, it is connected to the upper lifting ear 1 through a thread. A sliding bearing 21 is installed at the lower end of the piston rod 2, and the sliding bearing 21 is supported on the outer circumferential surface of the guide rod 16; the piston rod 2 is nested in the straight rod 5, and the bottom ends of both are connected to the piston 10; the top end of the guide rod 16 passes through the piston 10 and extends into the interior of the piston rod 2, and the bottom end of the guide rod 16 is connected to the lower lifting ear 15 through a thread; the inner cavity of the piston rod 2 is filled with high-pressure nitrogen and hydraulic oil.

[0045] The piston 10 is processed with damping holes along the axial direction and evenly distributed along the circumferential direction; a controllable damping valve assembly is arranged in the piston 10, such as Figure 4 As shown, the controllable damping valve assembly includes a damping hole valve plate 11, a spring seat 12, a diaphragm spring 17, an adjusting gasket 18, a force transmission gasket 19 and a piezoelectric crystal 20; the spring seat 12 is fixedly connected to the lower end of the piston 10, and the diaphragm spring 17 is supported on the spring seat 12. The diaphragm spring 17 presses the damping hole valve plate 11 on the damping hole of the piston 10 through the force transmission gasket 19 and the adjusting gasket 18, and the damping hole valve plate 11 presses the piezoelectric crystal 20 tightly on the piston 10, the piezoelectric crystal 20 is connected to an external power supply module, and can generate axial displacement after power is supplied, and the displacement varies with the current supplied; when the piezoelectric crystal 20 is not powered, the damping hole valve plate 11 closes the damping hole, and when the piezoelectric crystal 20 generates axial displacement, it drives the damping hole valve plate 11 to move, thereby changing the flow area of ​​the damping hole; the spring seat 12, the force transmission gasket 19, the adjustment gasket 18 and the damping hole valve plate 11 are all provided with flow holes for the flow of hydraulic oil.

[0046] The spiral groove sleeve 7 is mounted on the inner circumference of the outer cylinder 4, the stator core 9 is fixed on the inner circumference of the spiral groove sleeve 7, and the electromagnetic coil 8 is embedded in the groove of the stator core 9; Figure 3 As shown, a spiral groove 23 is provided on the inner circumferential surface of the spiral groove sleeve 7. One end of the spiral groove 23 is communicated with the flow hole 6a of the positioning sleeve A6, and the other end is communicated with the flow hole 13a of the positioning sleeve B13. The positioning sleeve A6 and the positioning sleeve B13 are both installed on the inner circumferential surface of the inner cylinder 4.

[0047] The outer circumferential surface of the straight rod 5 is covered with a permanent magnet 22, and a gap is left between the permanent magnet 22 and the stator core 9; the straight rod 5 is made of a material with high magnetic permeability.

[0048] The piston rod 2, the piston 10 and the stator core 9 divide the interior of the actuator into an upper chamber 10a, a middle chamber 10b and a lower chamber 10c.

[0049] The guide rod 16 is machined with hydraulic oil channels along the axial and radial directions, respectively connecting the cavity of the piston rod 2 and the lower cavity 10c of the actuator. When the actuator is working, the hydraulic oil plays a role in lubrication and friction reduction, providing damping, and dissipating heat and cooling the electromagnetic coil 8.

[0050] When the suspension is in a compression stroke, the hydraulic oil flows from the lower chamber 10c into the middle chamber 10b through the piston damping hole, providing hydraulic damping force for the suspension. The hydraulic oil in the lower chamber 10c flows into the cavity of the piston rod 2 through the hydraulic oil channel of the guide rod 16. The high-pressure nitrogen filled in the cavity provides elastic force for the suspension to cushion the impact when the suspension is compressed.

[0051] When the suspension is in the extension stroke, part of the hydraulic oil flows from the middle cavity 10b into the lower cavity 10c through the piston damping hole, providing damping force for the suspension, and the other part of the hydraulic oil flows from the middle cavity 10b into the upper cavity 10a through the spiral groove 23, providing inertia force for the suspension. The sum of the damping force and the inertia force provides a greater force for the extension stroke of the suspension to quickly attenuate vibration.

[0052] Figure 6 It is a three-dimensional diagram corresponding to the structure of the first embodiment of the suspension actuator integrating electromagnetic-oil-gas-inertia characteristics.

[0053] Figure 2 This is the second embodiment of the integrated electromagnetic-oil-gas-inertial suspension actuator. The difference between the two embodiments is that the electromagnetic coil 8 and the stator core 9 in the first embodiment are fixed on the spiral groove sleeve 7 (i.e., the outer cylinder 4), and the straight rod 5 and the permanent magnet 22 are fixed on the piston rod 2; the electromagnetic coil 8 and the stator core 9 in the second embodiment are fixed on the piston rod 2, the straight rod 5 and the permanent magnet 22 are fixed on the spiral groove sleeve 7 (i.e., the outer cylinder 4), and the bottom end of the straight rod 5 is no longer connected to the piston 10.

[0054] The present invention provides a control method for a suspension actuator structure integrating electromagnetic-oil-gas-inertia characteristics. By energizing an electromagnetic coil 8 and a piezoelectric crystal 20, the suspension can realize three working modes: passive, semi-active and active. In the passive and semi-active modes, the electromagnetic coil 8 can feed the vibration energy of the suspension. By supplying three-phase alternating current of different magnitudes to the electromagnetic coil 8, the electromagnetic active force output by the actuator can be adjusted. By supplying direct current of different magnitudes to the piezoelectric crystal 20, the axial position of the damping hole valve plate 11 can be adjusted, thereby changing the flow area of ​​the damping hole on the piston 10, and further adjusting the hydraulic damping coefficient of the actuator.

[0055] Figure 5 It is a control flow chart of the suspension actuator structure integrating electromagnetic-oil-gas-inertia characteristics, including the following steps:

[0056] Step 1: During vehicle driving, the sensor transmits the current vehicle operating condition information to the electronic control unit ECU, and the ECU determines the current optimal working mode of the suspension;

[0057] Step 2: If the best working mode is the passive mode, the ECU calculates the best hydraulic damping coefficient and the corresponding fixed current (the current calculation is realized by calibration), and the piezoelectric crystal 20 of the actuator is fed with the fixed current. At this time, the actuator provides the best hydraulic damping, and the electromagnetic coil 8 can be fed with energy; otherwise, go to step 3;

[0058] Step 3: If the best working mode is the semi-active mode, the ECU calculates the optimal real-time equivalent damping coefficient and the corresponding variable current (the current calculation is realized by calibration), and the piezoelectric crystal 20 of the actuator passes the variable current. At this time, the actuator provides the optimal real-time hydraulic damping, and the electromagnetic coil 8 can feed energy; otherwise, go to step 4;

[0059] Step 4, if the best working mode is the active mode, the ECU calculates the optimal real-time equivalent damping coefficient and the corresponding variable current, electromagnetic main force and the corresponding three-phase alternating current (the current calculation is realized by calibration), and the piezoelectric crystal 20 of the actuator is supplied with the variable current in real time, and the electromagnetic coil 8 is supplied with the three-phase alternating current. At this time, the actuator provides the optimal hydraulic damping and electromagnetic main force.

[0060] The above describes the specific implementation in detail based on the technical solution of the present invention. According to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the specific implementation modes and the accompanying drawings described above are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as the whole of the present invention or as a limitation or restriction to the technical solution of the present invention.

Claims

1. A suspension actuator integrating electromagnetic, oil-gas and inertia characteristics, characterized in that: include: A piston rod (2), the bottom end of which is connected to the piston (10); the inner cavity of the piston rod (2) is filled with high-pressure nitrogen and hydraulic oil; A guide rod (16), the top end of which passes through the piston (10) and extends into the interior of the piston rod (2); A spiral groove sleeve (7), the inner circumferential surface of which is provided with a spiral groove (23), one end of the spiral groove (23) being in communication with the flow hole (6a) of the positioning sleeve A, and the other end of the spiral groove (23) being in communication with the flow hole (13a) of the positioning sleeve B; A stator core (9), wherein an electromagnetic coil (8) is embedded in a groove; the stator core (9) is fixed on a spiral groove sleeve (7) / piston rod (2); A straight rod (5) has a permanent magnet (22) on its outer circumferential surface, and a gap is left between the permanent magnet (22) and the stator core (9); the straight rod (5) is fixed on the piston rod (2) / the spiral groove sleeve (7), and when the straight rod (5) is fixed on the piston rod (2), its bottom is connected to the piston (10); The piston (10) is machined with damping holes along the axial direction and evenly distributed along the circumferential direction; a controllable damping valve assembly is arranged inside the piston (10) for changing the flow area of ​​the damping holes; The piston rod (2), the piston (10) and the stator core (9) divide the interior of the actuator into an upper chamber (10a), a middle chamber (10b) and a lower chamber (10c); the guide rod (16) is processed with hydraulic oil channels in the axial direction and radial direction, respectively connecting the cavity of the piston rod (2) and the lower chamber (10c) of the actuator.

2. The suspension actuator integrating electromagnetic, oil-gas and inertia characteristics according to claim 1, characterized in that: The controllable damping valve assembly comprises a damping hole valve plate (11), a spring seat (12), a diaphragm spring (17), an adjusting gasket (18), a force transmission gasket (19) and a piezoelectric crystal (20); the spring seat (12) is fixedly connected to the lower end of the piston (10), the spring seat (12) supports a diaphragm spring (17), the diaphragm spring (17) presses the damping hole valve plate (11) onto the damping hole of the piston (10) through the force transmission gasket (19) and the adjusting gasket (18), and the damping hole valve plate (11) presses the piezoelectric crystal (20) tightly into the piston (10).

3. The suspension actuator integrating electromagnetic, oil-gas and inertia characteristics according to claim 2 is characterized in that: The spring seat (12), the force transmission gasket (19), the adjustment gasket (18) and the damping hole valve plate (11) are all provided with flow holes for the hydraulic oil to flow.

4. The suspension actuator integrating electromagnetic, oil, gas and inertia characteristics according to claim 2, characterized in that: The piezoelectric crystal (20) is externally connected to a power supply module and can generate axial displacement after being energized, and the displacement changes with the energized current.

5. The suspension actuator integrating electromagnetic, oil-gas and inertia characteristics according to claim 1, characterized in that: A sliding bearing (21) is installed at the lower end of the piston rod (2), and the sliding bearing (21) is supported on the outer circumferential surface of the guide rod (16).

6. The suspension actuator integrating electromagnetic, oil-gas and inertia characteristics according to claim 1, characterized in that: The straight rod (5) is made of a material with high magnetic permeability.

7. The suspension actuator integrating electromagnetic, oil-gas and inertia characteristics according to claim 1, characterized in that: It also includes an outer cylinder (4), wherein the lower end of the piston rod (2), the upper end of the guide rod (16), the straight rod (5), the spiral groove sleeve (7), the electromagnetic coil (8), the stator core (9), the piston (10) and the permanent magnet (22) are all located inside the outer cylinder (4).

8. The suspension actuator integrating electromagnetic, oil-gas and inertia characteristics according to claim 7, characterized in that: The upper and lower ends of the outer cylinder (4) are sealed by an upper end sealing cover (3) and a lower end sealing cover (14) respectively.

9. A control method for a suspension actuator integrating electromagnetic-oil-gas-inertia characteristics according to any one of claims 2 to 8, characterized in that: The electromagnetic coil (8) and the piezoelectric crystal (20) are energized, and the suspension realizes three working modes: passive, semi-active and active. In the passive and semi-active modes, the electromagnetic coil (8) feeds the vibration energy of the suspension; The electromagnetic coil (8) is fed with three-phase alternating current of different magnitudes to adjust the electromagnetic active force output by the actuator; Direct currents of different magnitudes are passed through the piezoelectric crystal (20) to adjust the axial position of the damping hole valve plate (11), change the flow area of ​​the damping hole on the piston (10), and further adjust the hydraulic damping coefficient of the actuator.

10. The control method according to claim 9, characterized in that: Step (1), during vehicle driving, the sensor transmits the current vehicle operating condition information to the ECU, and the ECU determines the current optimal operating mode of the suspension; Step (2), if the optimal working mode is the passive mode, the ECU calculates the optimal hydraulic damping coefficient and the corresponding fixed current, and the piezoelectric crystal (20) passes the fixed current. At this time, the actuator provides the optimal hydraulic damping, and the electromagnetic coil (8) feeds energy; otherwise, go to step (3); Step (3), if the best working mode is the semi-active mode, the ECU calculates the best real-time equivalent damping coefficient and the corresponding variable current, and the piezoelectric crystal (20) passes the variable current. At this time, the actuator provides the best real-time hydraulic damping, and the electromagnetic coil (8) feeds energy; otherwise, go to step (4); Step (4), if the best working mode is the active mode, the ECU calculates the optimal real-time equivalent damping coefficient and the corresponding variable current, electromagnetic active force and the corresponding three-phase alternating current, the piezoelectric crystal (20) is fed with the variable current in real time, and the electromagnetic coil (8) is fed with the three-phase alternating current. At this time, the actuator provides the optimal hydraulic damping and electromagnetic active force.

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