Hydraulic active suspension system with multi-mode switching function and control method thereof

Abstract

The invention discloses a hydraulic active suspension system with a multi-mode switching function and a control method of the hydraulic active suspension system. The hydraulic active suspension system comprises a sensing module, a control module and a hydraulic suspension module. The sensing module is used for sensing road condition information and a vehicle state; the control module is used for working condition identification, working mode selection and hydraulic suspension module control; the hydraulic suspension module comprises a left front single-wheel suspension system, a left rear single-wheel suspension system, a right front single-wheel suspension system and a right rear single-wheel suspension system, the hydraulic suspension module achieves rapid switching of all the single-wheel suspension systems among a semi-active mode, a slow mode, a rapid mode, a pressurizing mode and a power generation mode through a mode switching valve, and mode switching of all the single-wheel suspension systems can be independently controlled. And the hydraulic suspension module has more flexible and diversified mode combinations. According to the technical scheme, the mode switching of the active suspension is controlled, the problem that an existing active suspension is single in mode and difficult to adapt to complex and changeable road conditions is solved, and the comprehensive performance of an active suspension system is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of automobile suspension, and in particular relates to a hydraulic active suspension system with a multi-mode switching function and a control method thereof. Background Art

[0002] The active suspension system can actively adjust the vehicle body position according to the road information and the vehicle status information obtained by the sensor, which greatly improves the vehicle's ride comfort. The hydraulic active suspension system is widely used in vehicles due to its advantages such as low cost, high reliability and high power-to-weight ratio.

[0003] However, the active suspension in the prior art usually needs to run continuously, which consumes a lot of energy. At the same time, the current active suspension system mode is relatively single, which makes it unable to always maintain good performance under different working conditions. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a hydraulic active suspension system with a multi-mode switching function and a control method thereof.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] A hydraulic active suspension system with a multi-mode switching function comprises: a sensing module, a control module and a hydraulic suspension module; the sensing module is used for sensing road condition information and vehicle status; the control module is used for working condition identification, working mode selection and hydraulic suspension module control; the hydraulic suspension module comprises four groups of single-wheel suspension systems, namely left front, left rear, right front and right rear; the hydraulic suspension module uses a mode switching valve to achieve rapid switching of each single-wheel suspension system between a semi-active mode, a mitigation mode, a fast mode, a charging mode and a power generation mode; the mode switching of each single-wheel suspension system can be independently controlled, so that the hydraulic suspension module has a more flexible and diverse mode combination.

[0007] Preferably, the perception module includes: a visual sensor, a suspension displacement sensor, a suspension acceleration sensor, a body posture sensor and a vehicle speed sensor; the control module includes: a vehicle controller, a left front suspension controller, a left rear suspension controller, a right front suspension controller and a right rear suspension controller; the hydraulic suspension module includes: a left front single-wheel suspension system, a left rear single-wheel suspension system, a right front single-wheel suspension system and a right rear single-wheel suspension system.

[0008] Preferably, the left front single-wheel suspension system comprises: a hydraulic actuator, a pipeline, a power module, a mode switching module, an accumulator module, a safety module, a damping adjustment module, a one-way valve module and a pressure sensing module; the structure of the left rear single-wheel suspension system, the right front single-wheel suspension system and the right rear single-wheel suspension system is the same as that of the left front single-wheel suspension system.

[0009] Preferably, the semi-active mode and the charging mode are performed separately or simultaneously.

[0010] Preferably, the left rear single wheel suspension system, the right front single wheel suspension system and the right rear single wheel suspension system have the same five working modes as the left front single wheel suspension system, and the control method is the same when the mode is switched.

[0011] The present invention also provides a control method for a hydraulic active suspension system with a multi-mode switching function, comprising the following steps:

[0012] Step S1: the perception module perceives road condition information and obtains vehicle status;

[0013] Step S2: the control module analyzes the acquired road conditions, vehicle status and pressures of the upper chamber, lower chamber, low-pressure accumulator and high-pressure accumulator of the hydraulic actuator in real time, and selects a working mode;

[0014] Step S3: The control module controls the motor, mode switching module and electromagnetic adjustable damping valve in the hydraulic suspension module to respond quickly according to the selected working mode, so as to realize the mode switching and the displacement and active force output of the hydraulic actuator.

[0015] Preferably, the working modes include: semi-active mode, moderate mode, fast mode, charging mode and power generation mode.

[0016] Preferably, if one of the single-wheel suspension motors fails, a high-pressure accumulator is used as a power source, and the opening and closing degree of the second three-position four-way solenoid valve port is adjusted to achieve a mild mode / fast mode; when multiple motors fail, it quickly switches to a semi-active mode and the hydraulic suspension system can still work.

[0017] The present invention controls the switching of each solenoid valve and the rotation of the motor in the mode switching module to achieve rapid switching of the hydraulic active suspension system among five working modes, namely, semi-active mode, relaxation mode, fast mode, charging mode and power generation mode, as well as corresponding mode combinations between each single-wheel suspension system, thereby ensuring that the suspension system can achieve good working performance under various working conditions. At the same time, in the event of motor failure, the mode switching can ensure the normal operation of the suspension system, thereby reducing energy consumption and achieving the effect of energy recovery while ensuring vehicle smoothness, safety and passenger comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the hydraulic active suspension system;

[0020] Figure 2 This is a schematic diagram of the operation in the semi-active mode; wherein the valve 41 is in the middle position, the valve 42 is in the middle position, the valve 43 is in the left position, the valve 44a is in the upper position, and the valve 44b is in the lower position;

[0021] Figure 3 It is a schematic diagram of the operation in the mitigation mode and the power generation mode; wherein the valve 41 is in the lower position, the valve 42 is in the middle position, the valve 43 is in the right position, the valve 44a is in the upper position, and the valve 44b is in the lower position;

[0022] Figure 4 This is a schematic diagram of the fast mode operation; wherein the valve 41 is in the lower position, the valve 42 is in the left position, the valve 43 is in the right position, the valve 44a is in the lower position, and the valve 44b is in the upper position;

[0023] Figure 5 This is a schematic diagram of the operation in the pressure charging mode; wherein the valve 41 is in the middle position, the valve 42 is in the right position, the valve 43 is in the right position, the valve 44a is in the upper position, and the valve 44b is in the upper position;

[0024] Figure 6 It is the control flow chart of hydraulic suspension system;

[0025] Figure 7 It is a single wheel suspension mode selection flow chart.

[0026] Among them, Ⅰ. Perception module, Ⅱ. Control module, Ⅲ. Hydraulic suspension module;

[0027] ①. Visual sensor, ②. Suspension displacement sensor, ③. Suspension acceleration sensor, ④. Body posture sensor, ⑤. Vehicle speed sensor, ⑥. Vehicle controller, ⑦. Left front suspension controller, ⑧. Left rear suspension controller, ⑨. Right front suspension controller, ⑩. Right rear suspension controller;

[0028] A. Left front single wheel suspension system, B. Left rear single wheel suspension system, C. Right front single wheel suspension system, D. Right rear single wheel suspension system;

[0029] 1. Hydraulic actuator, 11. upper chamber, 12. lower chamber, 13. air chamber, 14. piston rod, 15. piston, 16. cylinder body;

[0030] 2. Power module, 21. Motor, 22. Bidirectional hydraulic motor, 22a. First oil port of bidirectional hydraulic motor, 22b. Second oil port of bidirectional hydraulic motor;

[0031] 4. Mode switching module, 41. First three-position four-way solenoid valve, 42. Second three-position four-way solenoid valve, 43. Second two-position two-way solenoid valve, 44a. First two-position three-way solenoid valve, 44b. Second two-position three-way solenoid valve;

[0032] 5. Accumulator module, 51. Low-pressure accumulator, 52. High-pressure accumulator, 53. Buffer accumulator;

[0033] 6. Safety module, 6a. First overflow valve, 6b. Second overflow valve;

[0034] 7. electromagnetic adjustable damping valve, 7a. first oil port of electromagnetic adjustable damping valve, 7b. second oil port of electromagnetic adjustable damping valve;

[0035] 8. One-way valve module, 81a. First one-way valve, 81b. Second one-way valve, 82a. Third one-way valve, 82b. Fourth one-way valve;

[0036] 9. Pressure sensing module, 9a. First pressure transmitter, 9b. Second pressure transmitter, 9c. Third pressure transmitter, 9d. Fourth pressure transmitter. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] Embodiment 1:

[0040] like Figure 1 As shown, the present invention provides a hydraulic active suspension system with a multi-mode switching function, comprising: a perception module I, a control module II and a hydraulic suspension module III; the perception module I comprises a visual sensor ①, a suspension displacement sensor ②, a suspension acceleration sensor ③, a vehicle body posture sensor ④ and a vehicle speed sensor ⑤; the control module II comprises a vehicle controller ⑥, a left front suspension controller ⑦, a left rear suspension controller ⑧, a right front suspension controller ⑨ and a right rear suspension controller ⑩;

[0041] The hydraulic suspension module III includes a left front single wheel suspension system A, a left rear single wheel suspension system B, a right front single wheel suspension system C and a right rear single wheel suspension system D;

[0042] like Figure 2 , 3 As shown in , 4 and 5, the left front single wheel suspension system A includes a hydraulic actuator 1, a pipeline, a power module 2, a mode switching module 4, an accumulator module 5, a safety module 6, a damping adjustment module 7, a one-way valve module 8 and a pressure sensing module 9; the hydraulic actuator includes a piston rod 14, a piston 15 and a cylinder 16, the piston 15 divides the cylinder into an upper chamber 11 and a lower chamber 12, wherein the cylinder 16 is connected to the wheel or the axle, and one end of the piston rod 14 extending out of the cylinder is connected to the vehicle body;

[0043] The power module 2 includes a motor 21 and a bidirectional hydraulic motor 22, wherein the output shaft of the motor 21 is connected to the input shaft of the bidirectional hydraulic motor 22 through a coupling, the first oil port 22a of the bidirectional hydraulic motor is connected to the upper chamber 11 of the hydraulic actuator through a pipeline, and the second oil port 22b is connected to the lower chamber 12 of the hydraulic actuator through a pipeline;

[0044] The mode switching module 4 includes a first three-position four-way solenoid valve 41, a second three-position four-way solenoid valve 42, a two-position two-way solenoid valve 43, and a two-position three-way solenoid valve 44. The single-wheel suspension system is switched between the semi-active mode, the relaxation mode, the fast mode, the charging mode, and the power generation mode by opening and closing the solenoid valves. The first two-position three-way solenoid valve 44a is located between the first oil port 22a of the bidirectional hydraulic motor and the second three-position four-way solenoid valve 42, and one of the valve ports is connected to the first oil port 22a of the bidirectional hydraulic motor through the third one-way valve 82a. The second two-position three-way solenoid valve 44b is located between the second oil port 22b of the bidirectional hydraulic motor and the second three-position four-way solenoid valve 42, and one of the valve ports is connected to the second oil port 22b of the bidirectional hydraulic motor through the fourth one-way valve 82b.

[0045] The accumulator module 5 includes a low-pressure accumulator 51, a high-pressure accumulator 52 and a buffer accumulator 53; the high-pressure accumulator 52 is connected to the hydraulic actuator 1 through the second three-position four-way solenoid valve 42, and the high-pressure accumulator 52 can quickly release high-pressure oil to achieve a fast response of the hydraulic actuator 1; the second three-position four-way solenoid valve 42 controls the flow direction of the high-pressure oil; the low-pressure accumulator 51 is connected to the oil circuit of the upper chamber 11 of the hydraulic actuator through the first one-way valve 81a, and is connected to the oil circuit of the lower chamber 12 of the hydraulic actuator through the second one-way valve 81b, and the first one-way valve 81a and the second one-way valve 81b are arranged in reverse. On the one hand, the low-pressure accumulator 51 replenishes the leaked oil for the hydraulic suspension system, and on the other hand, it acts as an oil tank to store excess oil in the system when the high-pressure accumulator 52 is working;

[0046] The safety module 6 includes a first relief valve 6a and a second relief valve 6b, wherein the oil inlet of the first relief valve 6a is connected to the oil circuit of the upper chamber 11 of the hydraulic actuator, and the oil outlet of the first relief valve 6a is connected to the oil circuit of the lower chamber 12 of the hydraulic actuator; the oil inlet of the second relief valve 6b is connected to the oil circuit of the lower chamber 12 of the hydraulic actuator, and the oil outlet of the second relief valve 6b is connected to the oil circuit of the upper chamber 11 of the hydraulic actuator; when the internal pressure of the hydraulic system exceeds the set threshold of the first relief valve 6a / the second relief valve 6b, the first relief valve 6a / the second relief valve 6b is opened to achieve pressure relief, thereby ensuring the safety of the hydraulic suspension system;

[0047] The first oil port 7a of the electromagnetic adjustable damping valve is connected to the lower chamber 12 of the hydraulic actuator, and the second oil port 7b is connected to the first three-position four-way electromagnetic valve 41. The damping of the single-wheel suspension system is adjusted by real-time control of the opening and closing degree of the valve port of the electromagnetic adjustable damping valve 7;

[0048] The pressure sensing module 9 includes a first pressure transmitter 9a, a second pressure transmitter 9b, a third pressure transmitter 9c and a fourth pressure transmitter 9d; the first pressure transmitter 9a is located at the oil port of the upper chamber 11 of the hydraulic actuator, the second pressure transmitter 9b is located at the oil port of the lower chamber 12 of the hydraulic actuator, the third pressure transmitter 9c is located between the low-pressure accumulator 51 and the second three-position four-way solenoid valve 42, and the fourth pressure transmitter 9d is located between the high-pressure accumulator 52 and the second three-position four-way solenoid valve 42;

[0049] like Figure 1 As shown, the structures of the left rear single wheel suspension system B, the right front single wheel suspension system C and the right rear single wheel suspension system D are the same as those of the left front single wheel suspension system A, and the left front single wheel suspension system A, the left rear single wheel suspension system B, the right front single wheel suspension system C and the right rear single wheel suspension system D share a low pressure accumulator 51 and a high pressure accumulator 52.

[0050] According to some embodiments of the present invention, the left front single wheel suspension system A includes five working modes: semi-active mode, mitigation mode, fast mode, charging mode and power generation mode;

[0051] In the semi-active mode, the working process of the left front single wheel suspension system A is as follows: Figure 2 As shown, the first three-position four-way solenoid valve 41 is not energized and is in the middle position, so that the upper chamber 11 and the lower chamber 12 of the hydraulic actuator are connected; the two-position two-way solenoid valve 43 is energized and is in the left position, and the accumulator 53 is connected to the hydraulic actuator 1 to absorb and alleviate the hydraulic shock of the system; the other solenoid valves of the mode switching module are not energized and are in the original position; the control module II controls the opening and closing degree of the valve port of the electromagnetic adjustable damping valve 7 in real time, thereby adjusting the damping of the suspension system;

[0052] In the easing mode, the working process of the left front single wheel suspension system A is as follows Figure 3 As shown, the first three-position four-way solenoid valve 41 is energized in the lower position, so that the upper chamber 11 of the hydraulic actuator is connected to the first oil port 22a of the bidirectional hydraulic motor, and the lower chamber 12 of the hydraulic actuator is connected to the second oil port 22b of the bidirectional hydraulic motor; the other solenoid valves of the mode switching module are in their original positions; the control module II controls the rotation speed of the motor 21 to achieve real-time control of the displacement of the piston rod 14 of the hydraulic actuator and the output of the main force.

[0053] The fast mode includes two forms: the rapid descent and rapid ascent of the piston rod 14. When the piston rod 14 is required to be rapidly descended, the working process of the left front single wheel suspension system A is as follows: Figure 4 As shown, the first three-position four-way solenoid valve 41 is energized in the lower position, so that the upper chamber 11 of the hydraulic actuator is connected to the first oil port 22a of the bidirectional hydraulic motor, and the lower chamber 12 of the hydraulic actuator is connected to the second oil port 22b of the bidirectional hydraulic motor, the two-position two-way solenoid valve 43 is not energized and is in the right position, the second three-position four-way solenoid valve 42 is in the left position, the high-pressure accumulator 52 is connected to the upper chamber 11 of the hydraulic actuator, the first two-position three-way solenoid valve 44a is energized in the lower position, so that the third one-way valve 82a is connected to the upper chamber 11 of the hydraulic actuator, the second two-position three-way solenoid valve 44b is not energized and is in the lower position, the power module 2 and the high-pressure accumulator 52 simultaneously supply oil to the upper chamber 11 of the hydraulic actuator, and the piston rod 14 moves downward rapidly;

[0054] When the piston rod 14 needs to rise quickly, the second three-position four-way solenoid valve 42 is switched to the right position, the high-pressure accumulator 52 is connected to the lower chamber 12 of the hydraulic actuator, the first two-position three-way solenoid valve 44a is powered off and switched to the upper position, and the second two-position three-way solenoid valve 44b is powered on and switched to the upper position, the power module 2 and the high-pressure accumulator 52 simultaneously supply oil to the lower chamber 12 of the hydraulic actuator, and the piston rod 14 rises quickly.

[0055] The charging mode includes two modes: forward rotation and reverse rotation of the bidirectional hydraulic motor 22. When the bidirectional hydraulic motor 22 rotates forward, the working process of the left front single wheel suspension system A is as follows: Figure 5As shown, the first three-position four-way solenoid valve 41 is not energized and is in the middle position, so that the upper chamber 11 and the lower chamber 12 of the hydraulic actuator are connected, the two-position two-way solenoid valve 43 is energized and is in the left position, and the accumulator 53 is connected to the hydraulic actuator 1 to absorb and alleviate the hydraulic shock of the system, the second three-position four-way solenoid valve 42 is in the right position, the first two-position three-way solenoid valve 44a is not energized and is in the upper position, and the second two-position three-way solenoid valve 44b is energized and is in the upper position, and the bidirectional hydraulic motor 22 sucks oil from the low-pressure accumulator 51 to the high-pressure accumulator 52 Fill with oil to increase the pressure of the high-pressure accumulator 52; when the two-way hydraulic motor 22 reverses, the first three-position four-way solenoid valve 41 and the two-position two-way solenoid valve 43 are in the same valve position as when the two-way hydraulic motor 22 rotates forward, the second three-position four-way solenoid valve 42 switches to the left position, the first two-position three-way solenoid valve 44b is energized and is in the lower position, and the second two-position three-way solenoid valve 44b is not energized and is in the lower position, and the two-way hydraulic motor 22 draws oil from the low-pressure accumulator 51 to charge the high-pressure accumulator 52, thereby increasing the pressure of the high-pressure accumulator 52.

[0056] In the power generation mode, the opening and closing of each solenoid valve in the mode switching module 4 is the same as the relaxation mode, except that the motor 21 acts as a generator and is driven by the hydraulic motor 22 to generate electricity. Figure 3 As shown, the first three-position four-way solenoid valve 41 is energized in the lower position, so that the upper chamber 11 of the hydraulic actuator is connected to the first oil port 22a of the two-way hydraulic motor, and the lower chamber 12 of the hydraulic actuator is connected to the second oil port 22b of the two-way hydraulic motor. The two-position two-way solenoid valve 43 is energized in the left position, so that the accumulator 53 is connected to the hydraulic actuator 1, which is used to absorb and alleviate the hydraulic shock of the system. The other solenoid valves of the mode switching module are not energized. Under the action of the external road impact force, the piston 15 of the hydraulic actuator 1 moves up and down, pushing the oil in the upper chamber 11 and the lower chamber 12 to move, pushing the two-way hydraulic motor 22 to rotate, and then driving the motor 21 to generate electricity.

[0057] The semi-active mode and the charging mode can be performed simultaneously or separately.

[0058] The left rear single wheel suspension system B, the right front single wheel suspension system C, the right rear single wheel suspension system D and the left front single wheel suspension system A have the same five working modes, and the control method is the same when the mode is switched.

[0059] The present invention realizes that the hydraulic active suspension system can switch working modes quickly and in real time according to the actual working conditions to meet the performance requirements. At the same time, since the semi-active mode does not require the motor to work, energy loss is reduced; the power generation mode can use road excitation to generate electricity and realize energy recovery function; the four single-wheel suspension systems work independently without affecting each other, which improves the flexibility of the hydraulic active suspension system and has practical engineering application value.

[0060] Embodiment 2:

[0061] like Figure 6 As shown in the figure, an embodiment of the present invention provides a control method for a hydraulic active suspension system with a multi-mode switching function, including the following steps:

[0062] Step S1: Condition perception. The perception module Ⅰ can perceive road condition information and obtain vehicle states.

[0063] Step S2: Mode selection. The control module Ⅱ analyzes information such as the obtained road conditions, vehicle states, and pressures of the upper chamber 11, lower chamber 12, low-pressure accumulator 51, and high-pressure accumulator 52 of the hydraulic actuator in real time, and selects a working mode.

[0064] Step S3: Action execution. The control module Ⅱ controls the motor 21, mode switching module 4, and electromagnetic adjustable damping valve 7 in the hydraulic suspension module Ⅲ to respond quickly according to the selected working mode, realizing mode switching and the output of the displacement and active force of the hydraulic actuator.

[0065] In the above control method, step S2 is mode selection, and the specific process is as Figure 7 shown. The vehicle controller ⑥ discriminates the road conditions ahead by obtaining information such as the road conditions perceived by the perception module Ⅰ, the suspension displacement of the vehicle, suspension acceleration, changes in vehicle body attitude, and vehicle speed.

[0066] When it is determined that the road conditions ahead are a smooth road surface, the pressure Ph of the high-pressure accumulator is then compared with the threshold value PT. If Ph≥PT, the semi-active mode is selected; if Ph<PT, the semi-active mode + pressurization mode is selected.

[0067] When it is determined to be a pothole / obstacle road surface, the vehicle speed Vt is then compared with the vehicle speed threshold value VT. If Vt≤VT, the pothole depth h (obstacle height H) is then compared with its corresponding threshold value hF (HF). If h>hF (H>HF), the mitigation mode is selected; if h≤hF (H≤HF), the power generation mode is selected. If Vt>VT, the pothole depth h (obstacle height H) is then compared with its corresponding threshold value hT (HT). If h>hT (H>HT), the fast mode is selected; if h≤hT (H≤HT), the mitigation mode is selected.

[0068] As an implementation manner of an embodiment of the present invention, for the pressurization mode, the selection of whether the bidirectional hydraulic motor 22 rotates forward or backward is the same as the rotation direction of the bidirectional hydraulic motor 22 at the previous moment when switching to the pressurization mode. If the bidirectional hydraulic motor 22 does not rotate at the previous moment when switching to the pressurization mode, the forward rotation form is preferentially selected.

[0069] As an implementation mode of an embodiment of the present invention, the semi-active mode and the charging mode can be carried out simultaneously or separately; the working modes of the left front single-wheel suspension system A, the left rear single-wheel suspension system B, the right front single-wheel suspension system C and the right rear single-wheel suspension system D are carried out independently and do not affect each other, and the modes can be combined according to actual road conditions.

[0070] As an implementation mode of an embodiment of the present invention, protection control for motor failure in the active mode of the hydraulic suspension system is also provided. If a single-wheel suspension motor 21 fails, the high-pressure accumulator 52 can still be used as a power source. By adjusting the opening and closing degree of the second three-position four-way solenoid valve 42, the mild mode / fast mode can still be achieved. Even when multiple motors 21 fail, it can quickly switch to the semi-active mode and the hydraulic suspension system can still work.

[0071] As an implementation mode of an embodiment of the present invention, the hydraulic active suspension system with a multi-mode switching function can also realize a parking leveling function. When parking, according to user needs, on a road surface within a certain unevenness range, the system automatically levels the vehicle body through working condition identification using a mitigation mode. Then, the first three-position four-way solenoid valve 41 is energized in the upper position, and the hydraulic actuator 1 is locked to keep the vehicle body posture unchanged.

[0072] The embodiments described above are only descriptions of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A hydraulic active suspension system with multi-mode switching function, characterized in that: include: A perception module, a control module and a hydraulic suspension module; the perception module is used to perceive road condition information and vehicle status; the control module is used to identify working conditions, select working modes and control the hydraulic suspension module; the hydraulic suspension module includes four groups of single-wheel suspension systems, namely left front, left rear, right front and right rear. The hydraulic suspension module uses a mode switching valve to achieve rapid switching of each single-wheel suspension system between a semi-active mode, a mitigation mode, a fast mode, a charging mode and a power generation mode. The mode switching of each single-wheel suspension system can be independently controlled, so that the hydraulic suspension module has a more flexible and diverse mode combination.

2. The hydraulic active suspension system with multi-mode switching function as claimed in claim 1, characterized in that: The perception module includes: a visual sensor, a suspension displacement sensor, a suspension acceleration sensor, a body posture sensor and a vehicle speed sensor; the control module includes: a vehicle controller, a left front suspension controller, a left rear suspension controller, a right front suspension controller and a right rear suspension controller; the hydraulic suspension module includes: a left front single-wheel suspension system, a left rear single-wheel suspension system, a right front single-wheel suspension system and a right rear single-wheel suspension system.

3. The hydraulic active suspension system with multi-mode switching function as claimed in claim 2, characterized in that: The left front single-wheel suspension system includes: a hydraulic actuator, a pipeline, a power module, a mode switching module, an accumulator module, a safety module, a damping adjustment module, a one-way valve module and a pressure sensing module; the structure of the left rear single-wheel suspension system, the right front single-wheel suspension system and the right rear single-wheel suspension system is the same as that of the left front single-wheel suspension system.

4. The hydraulic active suspension system with multi-mode switching function as claimed in claim 3, characterized in that: The semi-active mode and the charging mode are performed separately or simultaneously.

5. The hydraulic active suspension system with multi-mode switching function as claimed in claim 4, characterized in that: The left rear single wheel suspension system, the right front single wheel suspension system and the right rear single wheel suspension system have the same five working modes as the left front single wheel suspension system, and the control method is the same when the mode is switched.

6. A control method for a hydraulic active suspension system with a multi-mode switching function, characterized in that: The following steps are involved: Step S1: the perception module perceives road condition information and obtains vehicle status; Step S2: the control module analyzes the acquired road conditions, vehicle status and pressures of the upper chamber, lower chamber, low-pressure accumulator and high-pressure accumulator of the hydraulic actuator in real time, and selects a working mode; Step S3: The control module controls the motor, mode switching module and electromagnetic adjustable damping valve in the hydraulic suspension module to respond quickly according to the selected working mode, so as to realize the mode switching and the displacement and active force output of the hydraulic actuator.

7. The control method of the hydraulic active suspension system with multi-mode switching function according to claim 6, characterized in that: The working modes include: semi-active mode, moderate mode, fast mode, charging mode and power generation mode.

8. The control method of the hydraulic active suspension system with multi-mode switching function according to claim 7, characterized in that: If one of the single-wheel suspension motors fails, the high-pressure accumulator is used as the power source, and the opening and closing degree of the second three-position four-way solenoid valve port is adjusted to achieve the mild mode / fast mode; when multiple motors fail, it quickly switches to the semi-active mode and the hydraulic suspension system can still work.

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