Intelligent hinge damping system control method

Abstract

The invention relates to the technical field of mechanical motion control, solves the technical problems that in the prior art, the balance of a vehicle cannot be considered while damping is controlled, and the operation control process is complex, and particularly relates to an intelligent hinged damping system control method which comprises the following steps: S1, obtaining operation data in the operation process of the vehicle, preprocessing the operation data to obtain a preprocessed data set; s2, a force balance equation of the whole vehicle is constructed, and a first balance coefficient K1 and a second balance coefficient K2 are calculated, the rotation angle of the steering wheel is divided into a plurality of angle intervals, so that the rotation radius of the vehicle can be known according to the rotation angle of the steering wheel, and the damping force for safe steering of the vehicle can be adjusted under the assistance of a kinetic model; the vehicle can turn safely and stably under the appropriate damping force, the turning safety of the vehicle is improved, and the turning radius obtaining accuracy of the vehicle under the turning condition is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical motion control, and in particular to a control method of an intelligent articulated damping system. Background Art

[0002] An articulated damping system generally refers to a buffer hydraulic hinge or a hydraulic hinge, which is a hinge that uses the buffering properties of liquid to achieve a sound-absorbing and buffering effect. In the application scenario of multi-section vehicles, compared with rail vehicles, trackless vehicles have more diverse and complex motion conditions. Due to the different operating habits of different drivers without track constraints, the design requirements for the control method of the articulated damping system are higher. The main reason is the diversity of road conditions, combined with the existence of multiple disturbance factors such as the operator's operating habits. When controlled in real time, it will lead to increased volatility of the damping control system, which is not conducive to the stability of the system. The existing technology applies appropriate damping to the hinge through an electronic control device. When the value is set, the damping size can only be controlled by the instantaneous value of the angular velocity. The balance state of the vehicle cannot be accurately evaluated while controlling, and the calculation and control process of the damping force is very complicated, which increases the complexity and cost of daily maintenance. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides an intelligent articulated damping system control method, which solves the technical problems that the prior art cannot take into account the balance of the vehicle while controlling the damping, and the calculation and control process is complicated. It achieves the purpose of building a vehicle dynamics model to keep the vehicle stable while controlling the damping force, and the calculation and control process is simple.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a method for controlling an intelligent articulated damping system, the method comprising the following steps:

[0005] S1. Acquire the operation data of the vehicle during operation, and preprocess the operation data to obtain a preprocessed data set;

[0006] S2, constructing a force balance equation of the whole vehicle, and calculating a first balance coefficient K1 and a second balance coefficient K2;

[0007] S3, constructing a force balance equation of the vehicle head, and calculating a third balance coefficient K3, a fourth balance coefficient K4, and a fifth balance coefficient K5;

[0008] S4, constructing a force balance equation of the middle carriage, and calculating the sixth balance coefficient K6, the seventh balance coefficient K7 and the eighth balance coefficient K8;

[0009] S5. Construct the force balance equation of the rear of the vehicle and calculate the ninth balance coefficient K9 and the tenth balance coefficient K 10 ;

[0010] S6. constructing a dynamic model of the vehicle according to the multiple balance coefficients and calculating a performance balance coefficient, and detecting whether the vehicle meets safety requirements based on the performance balance coefficient;

[0011] If yes, proceed to step S7;

[0012] If not, return to step S2;

[0013] S7, calculating a calibration value of the vehicle damping system according to the dynamics model;

[0014] S8. Establish a damping system control scheme for performing graded control on the vehicle damper according to the calibration value.

[0015] Preferably, in step S1, the specific implementation steps are as follows:

[0016] S11. Acquire multiple running data Yx of the vehicle during turning. a , calculate the missing value Yx of the e-th running data e , the calculation formula is:

[0017]

[0018] Among them, Yx e Indicates the missing value of the e-th running data, Yx e-1 Indicates the e-1th running data, Yx e+1 Indicates the e+1th running data;

[0019] S12. Calculate the running data Yx a Fluctuation value B D , the calculation formula is:

[0020]

[0021] Among them, B D Indicates the fluctuation value, Yx a Indicates the ath running data Yx a , d represents the number of running data;

[0022] S13, according to the fluctuation value B D For the running data Yx a Remove abnormal data;

[0023] If |Yx a -Yx a-1 |≥B D , then it is abnormal data and the running data Yx a Eliminate;

[0024] If |Yx a -Yx a-1 | <BD , then it is normal data and the running data Yx is retained a , according to the retained operating data Yx a Generate preprocessed dataset;

[0025] The preprocessed data set includes the left damper thrust F z , right damper thrust F y , wheel angle A0, maximum wheel lateral force F 11max 、F 12max 、F 21max 、F 22max 、F 31max 、F 32max .

[0026] Preferably, in step S2, the specific implementation steps are as follows:

[0027] S21. Establish the torque balance equation of the whole vehicle according to the wheel angle A0. The expression of the torque balance equation is:

[0028]

[0029] Among them, F q1 Indicates the driving force of the front vehicle, F q2 represents the driving force of the rear car, R represents the operating radius of the center circle of the middle car, and F f11 Indicates the rolling resistance of the front wheel of the lead vehicle, F f12 Indicates the rolling resistance of the rear wheels of the lead vehicle, F f21 Indicates the rolling resistance of the front wheels of the middle car, F f22 Indicates the rolling resistance of the rear wheels of the middle car, F f31 Indicates the rolling resistance of the front wheel of the trailing vehicle, F f32 Indicates the rolling resistance of the rear wheels of the trailing vehicle, F k1 Indicates the air resistance of the leading vehicle, F k2 Indicates the air resistance of the middle compartment, F k3 represents the air resistance of the rear vehicle, θ 41 Indicates the relative wind direction angle of the lead vehicle, θ 42 Indicates the relative wind direction angle of the middle compartment, θ 43 represents the relative wind direction angle of the rear car, n1 represents the mass of the leading car, n2 represents the mass of the middle car, m3 represents the mass of the rear car, a1 represents the acceleration of the center of mass of the leading car, a2 represents the acceleration of the center of mass of the middle car, and a3 represents the acceleration of the center of mass of the rear car;

[0030] S22, let F q1 =F q2 , the force balance equation of the whole vehicle is constructed according to the moment balance equation. The expression of the force balance equation of the whole vehicle is:

[0031]

[0032] Among them, F q1 Indicates the driving force of the front vehicle;

[0033] S23. Calculate the first balance coefficient K1 according to the force balance equation of the whole vehicle. The calculation formula is:

[0034] K1=(F q1 +F q2 -F f11 -F f32 )×cos(A0+B0)-F k1 ×cos(θ 41 +B0)+F m1 ×sin(B0-θ1)-(F f12 +F f31 )×cos(B0-A0)-(F f21 +F f22 )×cosA0-F k2 ×cosθ 42 -F m2 ×sinθ2-F k3 ×cos(θ 43 -B0)-F m3 ×sin(B0+θ3)-m1×a1×cos(B0-θ1)-m2×a2×cosθ2-m3×a3×cos(B0+θ3)

[0035] Among them, K1 represents the first balance coefficient, B0 represents the relative rotation angle between the carriages, and F m1 Indicates the centrifugal force on the lead car, F m2 Indicates the centrifugal force on the middle carriage, F m3 represents the centrifugal force on the rear car, θ1 represents the angle between the center of mass of the front car and its axis, θ2 represents the angle between the center of mass of the middle car and its axis, and θ3 represents the angle between the center of mass of the rear car and its axis;

[0036] S24, simplifying the first balance coefficient K1 to obtain the simplest expression of K1, the calculation formula is:

[0037] K1=F 11 ×sin(A0+B0)+F 12 ×sin(B0-A0)+F 21 ×sinA0-F 22 ×sinA0-F 31 ×sin(B0-A0)-F 32 ×sin(A0+B0)

[0038] Among them, A0 represents the wheel angle, F 11Indicates the lateral force on the front wheel of the lead vehicle, F 12 Indicates the lateral force on the rear wheel of the lead vehicle, F 21 Indicates the lateral force on the front wheel of the middle car, F 22 Indicates the lateral force on the rear wheel of the middle car, F 31 Indicates the lateral force on the front wheel of the trailing vehicle, F 32 Indicates the lateral force on the rear wheels of the trailing vehicle;

[0039] S25, calculate the second balance coefficient K2, the calculation formula is:

[0040] K2=F 11 ×cos(A0+B0)+F 12 ×cos(B0-A0)+F 21 ×cosA0+F 22 ×cosA0+F 31 ×cos(B0-A0)+F 32 ×sin(A0+B0)

[0041] Wherein, K2 represents the second balance coefficient.

[0042] Preferably, in step S3, the specific implementation steps are as follows:

[0043] S31, according to the left damper thrust F z and right damper thrust F y Calculate the moment M of the damper using the formula:

[0044] M=F y ×r2-F z ×r1

[0045] Where M represents the moment of the damper, r1 represents the thrust radius of the left damper, and r2 represents the thrust radius of the right damper;

[0046] S32. Establish a force balance equation for the front of the vehicle according to the moment M of the damper. The force balance equation for the front of the vehicle is expressed as:

[0047]

[0048] Among them, F j11 It represents the equivalent component force of the damping system on the leading car along the forward direction of the leading car, F j12 It represents the equivalent component of force of the damping system acting on the lead vehicle perpendicular to the forward direction of the lead vehicle;

[0049] S33, calculating the third balance coefficient K3 according to the force balance equation of the vehicle head, the calculation formula is:

[0050] K3=F j11 ×R+F j12 ×L4

[0051] Wherein, K3 represents the third balance coefficient, and L4 represents the distance from the rotation center of the damping system to the wheelbase center;

[0052] S34, according to the rolling resistance F of the front wheel of the lead vehicle f11 and the rolling resistance F of the rear wheel of the leading vehicle f12 Calculate the fourth balance coefficient K4, the calculation formula is:

[0053] K4=(F 11 -F 12 )×sinA0-F j11

[0054] Wherein, K4 represents the fourth balance coefficient;

[0055] S35, calculating the fifth balance coefficient K5, the calculation formula is:

[0056] K5=(F 11 +F 12 )×cosA0-F j12

[0057] Here, K5 represents the fifth balance coefficient.

[0058] Preferably, in step S4, the specific implementation steps are as follows:

[0059] S41, according to the equivalent force F of the damping system of the lead car along the forward direction of the lead car j11 The equivalent force F of the damping system of the lead car perpendicular to the forward direction of the lead car j12 Establish the force balance equation of the middle carriage. The expression of the force balance equation of the middle carriage is:

[0060]

[0061] Among them, F j21 It represents the equivalent force of the damping system on the middle car along the forward direction of the middle car, F j22 It represents the equivalent component of force of the damping system on the middle car perpendicular to the forward direction of the middle car;

[0062] S42. Calculate the sixth balance coefficient K6 according to the force balance equation of the middle carriage. The calculation formula is:

[0063] K6=F j21 ×R+F j22 ×L4-F j11 ×RF j12 ×L4

[0064] Wherein, K6 represents the sixth balance coefficient;

[0065] S43, calculating the seventh balance coefficient K7, the calculation formula is:

[0066] K7=F j21 -F j11 ×cosB0-F j12 ×sinB0+(F 22 -F 21 )×sinA0

[0067] Wherein, K7 represents the seventh balance coefficient;

[0068] S44, calculating the eighth balance coefficient K8, the calculation formula is:

[0069] K8=F j22 +F j11 ×sinB0-F j12 ×cosB0-(F 22 +F 21 )×cosA0

[0070] Here, K8 represents the eighth balance coefficient.

[0071] Preferably, in step S5, the specific implementation steps are as follows:

[0072] S51, according to the lateral force F on the front wheel of the rear vehicle 31 and the lateral force F acting on the rear wheel of the trailing vehicle 32 Establish the force balance equation of the rear of the vehicle. The expression of the force balance equation of the rear of the vehicle is:

[0073] (F 32 -F 31 )×sinA0-F j21 ×cosB0-F j22 ×sinB0

[0074] =m3×a3×cosθ3-(F q2 -F f31 -F f32 )×cosA0+F k3 ×cosθ 43 +F m3 ×sinθ3

[0075] Among them, F k3 Indicates the air resistance of the rear vehicle;

[0076] S52. Calculate the ninth balance coefficient K9 according to the force balance equation of the rear of the vehicle. The calculation formula is:

[0077] K9=(F 32 -F 31 )×sinA0-F j21 ×cosB0-Fj22 ×sinB0

[0078] Among them, K9 represents the ninth balance coefficient;

[0079] S53, calculate the tenth balance coefficient K 10 , the calculation formula is:

[0080] K 10 =F j21 ×sinB0-F j22 ×cosB0-(F 32 +F 31 )×cosA0

[0081] Among them, K 10 Represents the tenth balance coefficient.

[0082] Preferably, in step S6, the specific implementation steps are as follows:

[0083] S61, according to a plurality of balance coefficients K1~K 10 Establish the coefficient matrix C3, the expression is:

[0084]

[0085] Among them, C3 represents the coefficient matrix;

[0086] S62, establish a force matrix C2 based on the preprocessed data set, the expression is:

[0087]

[0088] Where C2 represents the force matrix;

[0089] S63, calculating the angle matrix C1 according to the wheel angle A0 and the relative angle B0 between the carriages, the calculation formula is:

[0090]

[0091]

[0092] Among them, C1 represents the angle matrix;

[0093] S64. Construct a dynamic model of the vehicle according to the angle matrix C1, the force matrix C2 and the coefficient matrix C3. The expression is:

[0094] C1×C2=C3

[0095] Among them, C3 represents the coefficient matrix;

[0096] S65, according to the maximum lateral force F of the wheel 11max 、F 12max 、F21max 、F 22max 、F 31max 、F 32max Calculate the performance balance coefficient K 11 , K 12 , K 21 , K 22 , K 31 and K 32 , the calculation formula is:

[0097]

[0098] Among them, K 11 , K 12 , K 21 , K 22 , K 31 and K 32 They represent the performance balance coefficients respectively;

[0099] S66. Check the safety of the vehicle based on the performance balance coefficient;

[0100] If -1≤k 11 ≤1, and -1≤k 12 ≤1, and -1≤k 21 ≤1, and -1≤k 22 ≤1, and -1≤k 31 ≤1, and -1≤k 32 ≤1, the vehicle operation is safe and ends;

[0101] If k 11 <-1, and k 12 <-1, and k 21 <-1, and k 22 <-1, and k 31 <-1, and k 32 <-1 or k 11 ≥1, and k 12 ≥1, and k 21 ≥1, and k 22 ≥1, and k 31 ≥1, and k 32 ≥1, the vehicle operation is dangerous, and a warning message is continuously sent to the driver to prompt the driver to adjust the dynamic model and return to step S65.

[0102] Preferably, in step S7, the specific implementation steps are as follows:

[0103] S71. Calculate the steering wheel angle A according to the wheel angle A0. The calculation formula is:

[0104] A=p×A0

[0105] Among them, A represents the steering wheel angle, and p represents the vehicle steering coefficient;

[0106] S72, calculating the circular motion radius R of the vehicle according to the wheel turning angle A0 yz , the calculation formula is:

[0107]

[0108] Among them, R yz represents the circular motion radius of the vehicle, and L represents the wheelbase of the vehicle;

[0109] S73: Divide the steering wheel angle A into multiple angle intervals A w , according to the angle interval A w Calculate the radius R of circular motion yz , and the circular motion radius R yz Substituting into the vehicle's dynamic model and force balance equation, we can obtain the turning radius calibration value R of the vehicle damping system. yz1 , R yz2 , R yz3 and damping force calibration value F y1 、F z1 、F z2 .

[0110] Preferably, in step S8, the specific implementation steps are as follows:

[0111] S81, according to the turning radius calibration value R yz1 , R yz2 , R yz3 Divide the steering wheel angle A into multiple angle intervals A f1 , A f2 , A f3 ;

[0112] S82. Obtain the steering wheel angle A at time t ft , according to the angle interval A f1 and A f2 Determine the damping force of the damping system;

[0113] If A f1 ≤A ft f2 , then the damping force is determined to be F y1 and F z1 ;

[0114] If A ft ≥A f2 , then proceed to step S83;

[0115] S83, according to the angle interval A f2 and A f3 Determine the damping force of the damping system;​

[0116] If A f2 ≤A ft f3 , then the damping force is determined to be F y1 and F z2 ;

[0117] If A ft ≥A f3 , then proceed to step S84;

[0118] S84, according to angle interval A f3 Determine the damping force of the damping system;

[0119] If A f3 ft , then the damping force is determined to be F z1

[0120] S85. According to steps S81 to S84, a damping system control scheme for performing graded control on the vehicle damper is obtained.

[0121] By means of the above technical solution, the present invention provides an intelligent hinge damping system control method, which has at least the following beneficial effects:

[0122] 1. The present invention divides the steering wheel rotation angle into multiple angle intervals, and makes the steering wheel rotation angle and the vehicle rotation radius correspond to each other, so that the vehicle rotation radius can be known according to the steering wheel rotation angle, and with the assistance of the dynamic model, the damping force of the vehicle's safe steering can be adjusted, so that the vehicle can turn safely and smoothly under appropriate damping force, thereby increasing the safety of vehicle turning and improving the accuracy of the vehicle obtaining the turning radius when turning.

[0123] 2. The present invention conducts multi-point force analysis on the vehicle as a whole, the front of the vehicle, the middle compartment and the rear of the vehicle, and constructs a dynamic model of the vehicle based on the results of the force analysis. This can better conduct a more accurate force analysis on the vehicle as a whole and the individual compartments, making the analysis results more accurate, thereby increasing the accuracy of the damping system control, preventing emergencies caused by unbalanced forces on the vehicle, and reducing the risk of vehicle turning.

[0124] 3. The present invention establishes a connection between the establishment of a dynamic model and the steering of the steering wheel, calculates the calibration value of vehicle safety through force balance, and divides the turning radius and the damping force into multiple levels, so that the damping force can better control the balance of the vehicle in turning conditions, and there is no risk of the damper providing too much or too little force causing the damper to malfunction during use. This not only improves the turning stability of the vehicle, but also reduces the failure rate of the damper. BRIEF DESCRIPTION OF THE DRAWINGS

[0125] ​​The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0126] Figure 1 It is a flow chart of the control method of the intelligent hinge damping system in the present invention;

[0127] Figure 2 A top view of the vehicle in the present invention when it is moving forward;

[0128] Figure 3 is an equivalent model diagram of the vehicle in the present invention;

[0129] Figure 4 This is a force analysis diagram of the whole vehicle when the multi-section vehicle turns in the present invention;

[0130] Figure 5 This is a force analysis diagram of the front of a multi-section vehicle when turning in the present invention;

[0131] Figure 6 This is a force analysis diagram of the middle carriage when the multi-section vehicle turns in the present invention;

[0132] Figure 7 This is a force analysis diagram of the rear end of a multi-section vehicle when turning in the present invention;

[0133] Figure 8 It is the damping moment analysis diagram in the present invention;

[0134] Fig. 9 It is a bidirectional flow chart of the damping control system in the present invention;

[0135] Fig.10 It is the k-Fz curve diagram in the present invention. DETAILED DESCRIPTION

[0136] In order to make the above-mentioned purposes, 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 implementation methods, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0137] Due to the existing technology, it is not possible to take into account the balance of the vehicle while controlling the damping, and the technical problems of the calculation and control process are complicated. Please refer to Figure 1-Figure 10 This embodiment provides an intelligent articulated damping system control method, which can control the damping force while building a vehicle dynamics model to keep the vehicle stable, and the calculation control process is simple. The method includes the following steps:

[0138] S1. Obtain the running data of the vehicle during operation, and pre-process the running data to obtain a pre-processed data set; during the turning process of multiple vehicles, various data can be obtained through sensors and other devices, including the force at different positions of the car, the rotation angle and other data. These data need to be pre-processed. In step S1, the specific implementation steps are as follows:

[0139] S11. Acquire multiple running data Yx of the vehicle during turning. a , calculate the missing value Yx of the e-th running data e , the calculation formula is:

[0140]

[0141] Among them, Yx e Indicates the missing value of the e-th running data, Yx e-1 Indicates the e-1th running data, Yx e+1 Indicates the e+1th running data. The running data in this step includes various data of the vehicle during the turning process, including force data of multiple positions of the vehicle, angle data of the vehicle turning, etc. The same method can be used for preprocessing during processing, and no distinction is made in this step;

[0142] S12. Calculate the running data Yx a Fluctuation value B D , the calculation formula is:

[0143]

[0144] Among them, B D Indicates the fluctuation value, Yx a Indicates the ath running data Yx a , d represents the number of running data;

[0145] S13, according to the fluctuation value B D For the running data Yx a Remove abnormal data;

[0146] If |Yx a -Yx a-1 |≥B D , then it is abnormal data and the running data Yx a Eliminate;

[0147] If |Yx a -Yx a-1 | D , then it is normal data and the running data Yx is retained a , according to the retained operating data Yx a ​Generate a preprocessing data set. In this step, the fluctuation of the two operating data is evaluated. If the fluctuation is very large, it means that the data is abnormal data and needs to be eliminated. After the data is extracted, the method of step S11 can be used to supplement the extracted data to ensure the integrity of the data;

[0148] The preprocessed data set includes the left damper thrust F z , right damper thrust F y , wheel angle A0, maximum wheel lateral force F 11max 、F 12max 、F 21max 、F 22max 、F 31max 、F 32max By preprocessing the data, we can avoid missing and discontinuous data, improve the usability and accuracy of the data, and make the calculation of subsequent steps more accurate.

[0149] S2. Construct the force balance equation of the whole vehicle and calculate the first balance coefficient K1 and the second balance coefficient K2. First, construct the force balance equation of the whole vehicle according to the physical quantities in the preprocessed data. Please refer to Figure 2-Figure 8 In step S2, the specific implementation steps are as follows:

[0150] S21. Establish the torque balance equation of the whole vehicle according to the wheel angle A0. The expression of the torque balance equation is:

[0151]

[0152] Among them, F q1 Indicates the driving force of the front vehicle, F q2 represents the driving force of the rear car, R represents the operating radius of the center circle of the middle car, and F f11 Indicates the rolling resistance of the front wheel of the lead vehicle, F f12 Indicates the rolling resistance of the rear wheels of the lead vehicle, F f21 Indicates the rolling resistance of the front wheels of the middle car, F f22 Indicates the rolling resistance of the rear wheels of the middle car, F f31 Indicates the rolling resistance of the front wheel of the trailing vehicle, F f32 Indicates the rolling resistance of the rear wheels of the trailing vehicle, F k1 Indicates the air resistance of the leading vehicle, F k2 Indicates the air resistance of the middle compartment, F k3 represents the air resistance of the rear vehicle, θ 41 Indicates the relative wind direction angle of the lead vehicle, θ 42 Indicates the relative wind direction angle of the middle compartment, θ 43represents the relative wind direction angle of the tail car, m1 represents the mass of the leading car, m2 represents the mass of the middle car, m3 represents the mass of the tail car, a1 represents the acceleration of the center of mass of the leading car, a2 represents the acceleration of the center of mass of the middle car, a3 represents the acceleration of the center of mass of the tail car, the central circular running radius of the middle car refers to the radius of the circle of the trajectory of the center of the middle car during the turning process, the air resistance of the leading car refers to the air resistance of the front of the car during the movement process, and the relative wind direction angle of the leading car refers to the angle between the moving direction of the front of the car and the wind direction. These physical quantities are all physical quantities obtained from the preprocessed data;

[0153] S22, let F q1 =F q2 , the force balance equation of the whole vehicle is constructed according to the moment balance equation. The expression of the force balance equation of the whole vehicle is:

[0154]

[0155] Among them, F q1 Indicates the driving force of the front vehicle; in this step, the driving force of the front vehicle F q1 and the rear vehicle driving force F q2 Equal, which further explains that when the front and rear driving forces are equal during the movement of the vehicle, it is easy to obtain the balance coefficient of the whole vehicle.

[0156] S23. Calculate the first balance coefficient K1 according to the force balance equation of the whole vehicle. The calculation formula is:

[0157] K1=(F q1 +F q2 -F f11 -F f32 )×cos(A0+B0)-F k1 ×cos(θ 41 +B0)+F m1 ×sin(B0-θ1)-(F f12 +F f31 )×cos(B0-A0)-(F f21 +F f22 )×cosA0-F k2 ×cosθ 42 -F m2 ×sinθ2-F k3 ×cos(θ 43 -B0)-F m3 ×sin(B0+θ3)-m1×a1×cos(B0-θ1)-m2×a2×cosθ2-m3×a3×cos(B0+θ3)

[0158] Among them, K1 represents the first balance coefficient, B0 represents the relative rotation angle between the carriages, and F m1 Indicates the centrifugal force on the lead car, Fm2 Indicates the centrifugal force on the middle carriage, F m3 represents the centrifugal force on the rear car, θ1 represents the angle between the mass center of the front car and its axis, θ2 represents the angle between the mass center of the middle car and its axis, θ3 represents the angle between the mass center of the rear car and its axis, and the relative rotation angle between cars refers to the difference between the rotation angle of the front car and the rotation angle of the rear car, that is, the relative rotation angle;

[0159] S24, simplify the first balance coefficient K1 to obtain the simplest expression of k1, the calculation formula is:

[0160] K1=F 11 ×sin(A0+B0)+F 12 ×sin(B0-A0)+F 21 ×sinA0-F 22 ×sinA0-F 31 ×sin(B0-A0)-F 32 ×sin(A0+B0)

[0161] Among them, A0 represents the wheel angle, F 11 Indicates the lateral force on the front wheel of the lead vehicle, F 12 Indicates the lateral force on the rear wheel of the lead vehicle, F 21 Indicates the lateral force on the front wheel of the middle car, F 22 Indicates the lateral force on the rear wheel of the middle car, F 31 Indicates the lateral force on the front wheel of the trailing vehicle, F 32 Indicates the lateral force on the rear wheels of the trailing vehicle;

[0162] S25, calculate the second balance coefficient K2, the calculation formula is:

[0163] K2=F 11 ×cos(A0+B0)+F 12 ×cos(B0-A0)+F 21 ×cosA0+F 22 ×cosA0+F 31 ×cos(B0-A0)+F 32 ×sin(A0+B0)

[0164] Among them, K2 represents the second balance coefficient. Through multi-point force analysis of the entire vehicle and the results of the force analysis, the vehicle's dynamic model is constructed. In this way, a more accurate force analysis of the vehicle as a whole and individual compartments can be performed, making the analysis results more accurate, thereby increasing the accuracy of the damping system control, preventing emergencies caused by unbalanced forces in the vehicle, and reducing the risk of vehicle turning.

[0165] S3, construct the force balance equation of the front of the vehicle, and calculate the third balance coefficient K3, the fourth balance coefficient K4 and the fifth balance coefficient K5; after analyzing the force balance equation of the complete vehicle, it is necessary to analyze the force balance of the front of the vehicle. In step S3, the specific implementation steps are as follows:

[0166] S31, according to the left damper thrust F z and right damper thrust F y Calculate the moment M of the damper using the formula:

[0167] M=F y ×r2-F z ×r1

[0168] Among them, M represents the torque of the damper, r1 represents the thrust radius of the left damper, and r2 represents the thrust radius of the right damper. The damper generally refers to a device installed between the vehicle phase and the car body to generate a damping force. The damper can be controlled by the circuit to generate the corresponding damping force. The thrust radius of the left damper refers to the length of the lever arm of the damping force, which is a necessary physical quantity for calculating the torque.

[0169] S32. Establish a force balance equation for the front of the vehicle according to the moment M of the damper. The force balance equation for the front of the vehicle is expressed as:

[0170]

[0171] Among them, F j11 It represents the equivalent component force of the damping system on the leading car along the forward direction of the leading car, F j12 It represents the equivalent component of force of the damping system acting on the lead car perpendicular to the direction of the lead car's advance. The equivalent component of force of the damping system acting on the lead car along the direction of the lead car's advance refers to the force with the same effect. The equivalent component of force makes it easier to analyze the force on the front of the car and to write equations.

[0172] S33, calculating the third balance coefficient K3 according to the force balance equation of the vehicle head, the calculation formula is:

[0173] K3=F j11 ×R+F j12 ×L4

[0174] Wherein, K3 represents the third balance coefficient, and L4 represents the distance from the rotation center of the damping system to the wheelbase center;

[0175] S34, according to the rolling resistance F of the front wheel of the lead vehicle f11 and the rolling resistance F of the rear wheel of the leading vehicle f12 Calculate the fourth balance coefficient K4, the calculation formula is:

[0176] K4=(F 11 -F 12)×sinA0-F j11

[0177] Wherein, k4 represents the fourth balance coefficient;

[0178] S35, calculating the fifth balance coefficient K5, the calculation formula is:

[0179] K5=(F 11 +F 12 )×cosA0-F j12

[0180] Among them, K5 represents the fifth balance coefficient. Through multi-point force analysis on the front of the vehicle, the vehicle's dynamic model is constructed according to the results of the force analysis. In this way, a more accurate force analysis of the vehicle as a whole and individual compartments can be performed, making the analysis results more accurate, thereby increasing the accuracy of the damping system control, preventing the vehicle from experiencing emergencies caused by unbalanced forces, and reducing the risk of vehicle turning.

[0181] S4. Construct the force balance equation of the middle compartment and calculate the sixth balance coefficient K6, the seventh balance coefficient K7 and the eighth balance coefficient K8; please refer to Figure 2-Figure 8 , the stress analysis is performed on the middle carriage. The present invention takes three carriages as an example. The vehicle is divided into three parts: the front carriage, the middle carriage and the rear carriage. In step S4, the specific implementation steps are as follows:

[0182] S41, according to the equivalent force F of the damping system of the lead car along the forward direction of the lead car j11 The equivalent force F of the damping system of the lead car perpendicular to the forward direction of the lead car j12 Establish the force balance equation of the middle carriage. The expression of the force balance equation of the middle carriage is:

[0183]

[0184] Among them, F j21 It represents the equivalent force of the damping system on the middle car along the forward direction of the middle car, F j22 It represents the equivalent component of force of the damping system on the middle car perpendicular to the forward direction of the middle car;

[0185] S42. Calculate the sixth balance coefficient K6 according to the force balance equation of the middle carriage. The calculation formula is:

[0186] K6=F j21 ×R+F j22 ×L4-F j11 ×RF j12 ×L4

[0187] Wherein, K6 represents the sixth balance coefficient;

[0188] S43, calculating the seventh balance coefficient K7, the calculation formula is:

[0189] K7=F j21 -F j11 ×cosB0-F j12 ×sinB0+(F 22 -F 21 )×sinA0

[0190] Wherein, K7 represents the seventh balance coefficient;

[0191] S44, calculating the eighth balance coefficient K8, the calculation formula is:

[0192] K8=F j22 +F j11 ×sinB0-F j12 ×cosB0-(F 22 +F 21 )×cosA0

[0193] Among them, K8 represents the eighth balance coefficient. Through multi-point force analysis on the middle compartment of the vehicle, the vehicle's dynamic model is constructed according to the results of the force analysis. In this way, a more accurate force analysis of the vehicle as a whole and individual compartments can be performed, making the analysis results more accurate, thereby increasing the accuracy of the damping system control, preventing emergencies caused by unbalanced forces in the vehicle, and reducing the risk of vehicle turning.

[0194] S5. Construct the force balance equation of the rear of the vehicle and calculate the ninth balance coefficient K9 and the tenth balance coefficient K 10 ; Finally, the force balance analysis of the rear of the vehicle is performed to facilitate the establishment of the overall dynamics model. In step S5, the specific implementation steps are as follows:

[0195] S51, according to the lateral force F on the front wheel of the rear vehicle 31 and the lateral force F acting on the rear wheel of the trailing vehicle 32 Establish the force balance equation of the rear of the vehicle. The expression of the force balance equation of the rear of the vehicle is:

[0196] (F 32 -F 31 )×sinA0-F j21 ×cosB0-F j22 ×sinB0

[0197] =m3×a3×cosθ3-(F q2 -F f31 -F f32 )×cosA0+F k3 ×cosθ 43 +F m3 ×sinθ3

[0198] Among them, F k3 Indicates the air resistance of the rear vehicle;

[0199] S52. Calculate the ninth balance coefficient K9 according to the force balance equation of the rear of the vehicle. The calculation formula is:

[0200] K9=(F 32 -F 31 )×sinA0-F j21 ×cosB0-F j22 ×sinB0

[0201] Among them, K9 represents the ninth balance coefficient;

[0202] S53, calculate the tenth balance coefficient K 10 , the calculation formula is:

[0203] K 10 =F j21 ×sinB0-F j22 ×cosB0-(F 32 +F 31 )×cosA0

[0204] Among them, K 10 It represents the tenth balance coefficient. Through multi-point force analysis on the rear end of the vehicle, the vehicle's dynamic model is constructed based on the results of the force analysis. In this way, a more accurate force analysis of the vehicle as a whole and individual compartments can be performed, making the analysis results more accurate, thereby increasing the accuracy of the damping system control, preventing the vehicle from experiencing emergencies caused by unbalanced forces, and reducing the risk of vehicle turning.

[0205] S6. constructing a dynamic model of the vehicle according to the multiple balance coefficients and calculating a performance balance coefficient, and detecting whether the vehicle meets safety requirements based on the performance balance coefficient;

[0206] If yes, proceed to step S7;

[0207] If not, return to step S2; according to the previous force analysis and balance coefficients of the whole vehicle, the front, the middle compartment and the rear, the dynamic model of the vehicle is established. In step S6, the specific implementation steps are as follows:

[0208] S61, according to a plurality of balance coefficients K1~K 10 Establish the coefficient matrix C3, the expression is:

[0209]

[0210] Among them, C3 represents the coefficient matrix;

[0211] S62, establish a force matrix C2 based on the preprocessed data set, the expression is:

[0212]

[0213] Where C2 represents the force matrix;

[0214] S63, calculating the angle matrix C1 according to the wheel angle A0 and the relative angle B0 between the carriages, the calculation formula is:

[0215]

[0216] Among them, C1 represents the angle matrix;

[0217] S64. Construct a dynamic model of the vehicle according to the angle matrix C1, the force matrix C2 and the coefficient matrix C3. The expression is:

[0218] C1×C2=C3

[0219] Among them, C3 represents the coefficient matrix, C1 is the coefficient matrix, C2 is the required unknown matrix, and C3 is the constant matrix on the right side of the equation system. The three matrices conform to the matrix operation. By solving the matrix operation, the unknown matrix and the lateral force on each wheel can be solved more easily, which is convenient for solving the subsequent maximum lateral force of the wheel;

[0220] S65, according to the maximum lateral force F of the wheel 11max 、F 12max 、F 21max 、F 22max 、F 31max 、F 32max Calculate the performance balance factor K 11 , K 12 , K 21 , K 22 , K 31 and K 32 , the calculation formula is:

[0221]

[0222]

[0223] Among them, K 11 , K 12 , K 21 , K 22 , K 31 and K 32 They represent the performance balance coefficient, F 11 、F 12 、F 21 、F 22 、F 31 、F32 During the data collection process of the vehicle, these forces may collect multiple data, and the size of the data may fluctuate. The instantaneous value of each data is selected from the numerous data to calculate the performance balance coefficient each time, and the largest data is selected from the numerous data as F 11max 、F 12max 、F 21max 、F 22max 、F 31max 、F 32max The maximum permissible lateral force of each wheel can be obtained by multiplying the axle weight of each axle of the vehicle by the friction coefficient between the wheel and the ground. The resultant force of the maximum lateral force of the driving wheel and the driving force is equal to the axle weight of the axle multiplied by the friction coefficient between the wheel and the ground.

[0224] S66. Check the safety of the vehicle based on the performance balance coefficient;

[0225] If -1≤k 11 ≤1, and -1≤k 12 ≤1, and -1≤k 21 ≤1, and -1≤k 22 ≤1, and -1≤k 31 ≤1, and -1≤k 32 ≤1, the vehicle operation is safe and ends;

[0226] If k 11 <-1, and k 12 <-1, and k 21 <-1, and k 22 <-1, and k 31 <-1, and k 32 <-1 or k 11 ≥1, and k 12 ≥1, and k 21 ≥1, and k 22 ≥1, and k 31 ≥1, and k 32 ≥1, the vehicle operation is dangerous, and a warning message is continuously sent to the driver to prompt the driver to adjust the dynamic model and return to step S65. Through multi-point force analysis of the vehicle as a whole, the front of the vehicle, the middle car and the rear of the vehicle, the vehicle's dynamic model is constructed based on the results of the force analysis. This can better perform a more accurate force analysis of the vehicle as a whole and the individual cars, making the analysis results more accurate, thereby increasing the accuracy of the damping system control, preventing the vehicle from experiencing emergencies caused by unbalanced forces, and reducing the risk of vehicle turning.

[0227] S7, calculate the calibration value of the vehicle damping system according to the dynamic model; when processing the damping force during the turning process, it is also necessary to obtain a multi-level calibration value based on the dynamic model combined with the pre-processed data. In step S7, the specific implementation steps are as follows:

[0228] S71. Calculate the steering wheel angle A according to the wheel angle A0. The calculation formula is:

[0229] A=p×A0

[0230] Wherein, A represents the steering wheel angle, p represents the vehicle steering coefficient, and an equation is established between the wheel angle A0 and the steering wheel angle A, so as to facilitate the calculation of the relationship between the steering wheel angle A and the vehicle turning radius in the subsequent steps;

[0231] S72, calculating the circular motion radius R of the vehicle according to the wheel turning angle A0 yz , the calculation formula is:

[0232]

[0233] Among them, R yz represents the circular motion radius of the vehicle, L represents the wheelbase of the vehicle, and the wheel turning angle A0 and the circular motion radius R of the vehicle are established. yz The relationship between the circular motion radius of the vehicle R yz It is the turning radius of the vehicle, which makes the circular motion radius R yz An equation relationship is established between and the steering wheel angle A;

[0234] S73: Divide the steering wheel angle A into multiple angle intervals A w , according to the angle interval A w Calculate the radius R of circular motion yz , and the circular motion radius R yz Substituting into the vehicle's dynamic model and force balance equation, we can obtain the turning radius calibration value R of the vehicle damping system. yz1 , R yz2 , R yz3 and damping force calibration value F y1 、F z1 、F z2 , please refer to Fig.10 The left and right damping forces are the left damper thrust F in the calculation formula of the moment M. z , right damper thrust F y ,according to Fig.10 From the curve graph, we can see that when F y =-40kn, F z ≥60kn satisfies -1≤k 11 And k 12 And k 21 And k22 And k 31 And k 32 ≤1, thus we get the multi-level division table of turning radius and damping force, please refer to Table 1.

[0235] Table 1 Comparison table of turning radius and damping force

[0236]

[0237]

[0238] Table 1 shows the damping force of the left and right dampers under different turning radius conditions in one direction, and the turning radius is calibrated according to Table 1 to obtain the turning radius mark value range and the damping force range generated by the damper. Please refer to Table 2.

[0239] Table 2 Turning radius and damping force calibration value range

[0240]

[0241] Through the dynamic model and the test of vehicle stability and safety, the turning radius, that is, the circular motion radius R of the vehicle, can be obtained. yz The relationship between the vehicle's circular motion radius R yz The steering wheel angle A is calculated, and the relationship between the steering wheel angle A and the damping force is obtained and formed into a table, which is convenient for establishing a control model of the damping system in the later stage. By establishing a connection between the dynamic model and the steering wheel steering, the calibration value of vehicle safety is calculated through force balance, and the turning radius and the damping force are divided into multiple levels, so that the damping force can better control the balance of the vehicle in turning conditions, and there is no risk of failure of the damper during use due to excessive or insufficient force provided by the damper. This not only improves the turning stability of the vehicle, but also reduces the failure rate of the damper.

[0242] S8. A damping system control method for performing graded control on a vehicle damper is established according to the calibration value. In step S8, the specific implementation steps are as follows:

[0243] S81, according to the turning radius calibration value R yz1 , R yz2 , R yz3 Divide the steering wheel angle A into multiple angle intervals A f1 , A f2 , A f3 ;

[0244] S82. Obtain the steering wheel angle A at time t ft , according to the angle interval A f1 and A f2Determine the damping force of the damping system;

[0245] If A f1 ≤A ft f2 , then the damping force is determined to be F y1 and F z1 ;

[0246] If A ft ≥A f2 , then proceed to step S83;

[0247] S83, according to the angle interval A f2 and A f3 Determine the damping force of the damping system;

[0248] If A f2 ≤A ft f3 , then the damping force is determined to be F y1 and F z2 ;

[0249] If A ft ≥A f3 , then proceed to step S84;

[0250] S84, according to angle interval A f3 Determine the damping force of the damping system;

[0251] If A f3 ft , then the damping force is determined to be F z1

[0252] S85. According to steps S81 to S84, a damping system control scheme for hierarchical control of the vehicle damper is obtained. In this model, please refer to Fig. 9 ​​​The control method of the steering wheel angle in both directions shown in the figure only provides a model of the positive rotation angle of the steering wheel, which can also be called a single-direction rotation angle, that is, a control model only to the right or to the left, and does not provide a model for the other direction, or the negative direction. The calibration value of the negative direction is the same as the division angle of the positive direction. When taking the value, the damping forces of the left and right dampers can be taken in reverse. For example, when the turning radius is 15m to the right, the force distribution of the damper is -40N on the right and 60N on the left. Then, when the turning radius is 15m to the left, the left is -40N and the right is 60N. Since the judgment method of the left direction and the right direction is the same, the present invention only provides a single-direction control model, divides the steering wheel rotation angle into multiple angle intervals, and makes the steering wheel rotation angle and the vehicle rotation radius correspond to each other. In this way, the vehicle's rotation radius can be known according to the steering wheel rotation angle, and the size of the damping force for safe steering of the vehicle can be adjusted with the assistance of the dynamic model, so that the vehicle can turn safely and smoothly under the appropriate damping force, thereby increasing the safety of vehicle turning and improving the accuracy of the vehicle in obtaining the turning radius under turning conditions.

[0253] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, so the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application can be in the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0254] The above implementation methods have been described in detail. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A control method for an intelligent articulated damping system, characterized in that: The method comprises the following steps: S1. Acquire the operation data of the vehicle during operation, and preprocess the operation data to obtain a preprocessed data set; S2, constructing a force balance equation of the whole vehicle, and calculating a first balance coefficient K1 and a second balance coefficient K2; S3, constructing a force balance equation of the vehicle head, and calculating a third balance coefficient k3, a fourth balance coefficient k4, and a fifth balance coefficient K5; S4, constructing a force balance equation of the middle carriage, and calculating the sixth balance coefficient K6, the seventh balance coefficient K7 and the eighth balance coefficient K8; S5. Construct the force balance equation of the rear of the vehicle and calculate the ninth balance coefficient K9 and the tenth balance coefficient K 10 ; S6. constructing a dynamic model of the vehicle according to the multiple balance coefficients and calculating a performance balance coefficient, and detecting whether the vehicle meets safety requirements based on the performance balance coefficient; If yes, proceed to step S7; If not, return to step S2; S7, calculating a calibration value of the vehicle damping system according to the dynamics model; S8. Establish a damping system control scheme for performing graded control on the vehicle damper according to the calibration value.

2. The damping system control method according to claim 1, characterized in that: In step S1, the specific implementation steps are as follows: S11. Acquire multiple running data Yx of the vehicle during turning. a , calculate the missing value Yx of the e-th running data e , the calculation formula is: Among them, Yx e Indicates the missing value of the e-th running data, Yx e-1 Indicates the e-1th running data, Yx e+1 Indicates the e+1th running data; S12. Calculate the running data Yx a Fluctuation value B D , the calculation formula is: Among them, B D Indicates the fluctuation value, Yx a Indicates the ath running data Yx a , d represents the number of running data; S13, according to the fluctuation value B D For the running data Yx a Remove abnormal data; If |Yx a -Yx a-1 |≥B D , then it is abnormal data and the running data Yx a Eliminate; If |Yx a -Yx a-1 | D , then it is normal data and the running data v is retained. According to the retained running data Yx a Generate preprocessed dataset;​ The preprocessed data set includes the left damper thrust F z , right damper thrust F y , wheel angle A0, maximum wheel lateral force F 11max 、F 12max 、F 21max 、F 22max 、F 31max 、F 32max .

3. The damping system control method according to claim 2, characterized in that: In step S2, the specific implementation steps are as follows: S21. Establish the torque balance equation of the whole vehicle according to the wheel angle A0. The expression of the torque balance equation is: Among them, F q1 Indicates the driving force of the front vehicle, F q2 represents the driving force of the rear car, R represents the operating radius of the center circle of the middle car, and F f11 Indicates the rolling resistance of the front wheel of the lead vehicle, F f12 Indicates the rolling resistance of the rear wheels of the lead vehicle, F f21 Indicates the rolling resistance of the front wheels of the middle car, F f22 Indicates the rolling resistance of the rear wheels of the middle car, F f31 Indicates the rolling resistance of the front wheel of the trailing vehicle, F f32 Indicates the rolling resistance of the rear wheels of the trailing vehicle, F k1 Indicates the air resistance of the leading vehicle, F k2 Indicates the air resistance of the middle compartment, F k3 represents the air resistance of the rear vehicle, θ 41 Indicates the relative wind direction angle of the lead vehicle, θ 42 represents the relative wind direction angle of the middle compartment, θ 43 represents the relative wind direction angle of the rear car, m1 represents the mass of the leading car, m2 represents the mass of the middle car, m3 represents the mass of the rear car, a1 represents the acceleration of the center of mass of the leading car, a2 represents the acceleration of the center of mass of the middle car, and a3 represents the acceleration of the center of mass of the rear car; S22, let F q1 =F q2 , the force balance equation of the whole vehicle is constructed according to the moment balance equation. The expression of the force balance equation of the whole vehicle is: Among them, F q1 Indicates the driving force of the front vehicle; S23. Calculate the first balance coefficient K1 according to the force balance equation of the whole vehicle. The calculation formula is: K1=(F q1 +F q2 -F f11 -F f32 )×cos(A0+B0)-F k1 ×cosθ 41 +B0)+F m1 ×sin(B0-θ1) - (F f12 +F f31 )×cos(B0-A0) - (F f21 +F f22 )×cosA0-F k2 ×cosθ 42 -F m2 ×sinθ2-F k3 ×cos(θ 43 -B0)-F m3 ×sin(B0+θ3)-m1×a1×cos(B0-θ1)-m2×a2×cosθ2-m3×a3×cos(B0+θ3) Among them, K1 represents the first balance coefficient, B0 represents the relative rotation angle between the carriages, and F m1 Indicates the centrifugal force on the lead car, F m2 Indicates the centrifugal force on the middle carriage, F m3 represents the centrifugal force on the rear car, θ1 represents the angle between the center of mass of the front car and its axis, θ2 represents the angle between the center of mass of the middle car and its axis, and θ3 represents the angle between the center of mass of the rear car and its axis; S24, simplify the first balance coefficient K1 to obtain the simplest expression of K1, which is: K1=F 11 ×sin(A0+B0)+F 12 ×sin(B0-A0)+F 21 ×sinA0-F 22 ×sinA0-F 31 ×sin(B0-A0)-F 32 ×sin(A0+B0) Among them, A0 represents the wheel angle, F 11 Indicates the lateral force on the front wheel of the lead vehicle, F 12 Indicates the lateral force on the rear wheel of the lead vehicle, F 21 Indicates the lateral force on the front wheel of the middle car, F 22 Indicates the lateral force on the rear wheel of the middle car, F 31 Indicates the lateral force on the front wheel of the trailing vehicle, F 32 Indicates the lateral force on the rear wheels of the trailing vehicle; S25, calculate the second balance coefficient K2, the calculation formula is: K2=F 11 ×cos(A0+B0)+F 12 ×cos(B0-A0)+F 21 ×cosA0+F 22 ×cosA0+F 31 ×cos(B0-A0)+F 32 ×sin(A0+B0) Wherein, K2 represents the second balance coefficient.

4. The damping system control method according to claim 2, characterized in that: In step S3, the specific implementation steps are as follows: S31, according to the left damper thrust F z and right damper thrust F y Calculate the moment M of the damper using the formula: M=F y ×r2-F z ×r1 Where M represents the moment of the damper, r1 represents the thrust radius of the left damper, and r2 represents the thrust radius of the right damper; S32. Establish a force balance equation for the front of the vehicle according to the moment M of the damper. The force balance equation for the front of the vehicle is expressed as: Among them, F j11 It represents the equivalent force of the damping system on the leading car along the forward direction of the leading car, F j12 It represents the equivalent component of force of the damping system acting on the lead car perpendicular to the forward direction of the lead car; S33, calculating the third balance coefficient K3 according to the force balance equation of the vehicle head, the calculation formula is: K3=F j11 ×R+F j12 ×L4 Wherein, K3 represents the third balance coefficient, and L4 represents the distance from the rotation center of the damping system to the wheelbase center; S34, according to the rolling resistance F of the front wheel of the lead vehicle f11 and the rolling resistance F of the rear wheel of the leading vehicle f12 Calculate the fourth balance coefficient K4, the calculation formula is: K4=(F 11 -F 12 )×sinA0-F j11 Wherein, K4 represents the fourth balance coefficient; S35, calculating the fifth balance coefficient K5, the calculation formula is: K5=(F 11 +F 12 )×cosA0-F j12 Here, K5 represents the fifth balance coefficient.

5. The damping system control method according to claim 4, characterized in that: In step S4, the specific implementation steps are as follows: S41, according to the equivalent force F of the damping system of the lead car along the forward direction of the lead car j11 The equivalent force F of the damping system of the lead car perpendicular to the forward direction of the lead car j12 Establish the force balance equation of the middle carriage. The expression of the force balance equation of the middle carriage is: Among them, F j21 It represents the equivalent force of the damping system on the middle car along the forward direction of the middle car, F j22 It represents the equivalent component of force of the damping system on the middle car perpendicular to the forward direction of the middle car; S42. Calculate the sixth balance coefficient K6 according to the force balance equation of the middle carriage. The calculation formula is: K6=F j21 ×R+F j22 ×L4-F j11 ×R-F j12 ×L4 Wherein, K6 represents the sixth balance coefficient; S43, calculating the seventh balance coefficient K7, the calculation formula is: K7=F j21 -F j11 ×cosB0-F j12 ×sinB0+(F 22 -F 21 )×sinA0 Wherein, K7 represents the seventh balance coefficient; S44, calculating the eighth balance coefficient K8, the calculation formula is: K8=F j22 +F j11 ×sinB0-F j12 ×cosB0-(F 22 +F 21 )×cosA0 Here, K8 represents the eighth balance coefficient.

6. The damping system control method according to claim 3, characterized in that: In step S5, the specific implementation steps are as follows: S51, according to the lateral force F on the front wheel of the rear vehicle 31 and the lateral force F acting on the rear wheel of the trailing vehicle 32 Establish the force balance equation of the rear of the vehicle. The expression of the force balance equation of the rear of the vehicle is: F 32 -F 31 )×sinA0-F j21 ×cosB0-F j22 ×sinB0=m3×a3×cosθ3-(F q2 -F f31 -F f32 )×cosA0+F k3 ×cosθ 43 +F m3 ×sinθ3 Among them, F k3 Indicates the air resistance of the rear vehicle; S52. Calculate the ninth balance coefficient K9 according to the force balance equation of the rear of the vehicle. The calculation formula is: K9=(F 32 -F 31 )×sinA0-F j21 ×cosB0-F j22 ×sinB0 Among them, K9 represents the ninth balance coefficient; S53, calculate the tenth balance coefficient K 10 , the calculation formula is: K 10 =F j21 ×sinB0-F j22 ×cosB0-(F 32 +F 31 )×cosA0 Among them, K 10 Represents the tenth balance coefficient.

7. The damping system control method according to claim 1, characterized in that: In step S6, the specific implementation steps are as follows: S61, according to the balance coefficient K1~K 10 Establish the coefficient matrix C3, the expression is: Among them, C3 represents the coefficient matrix; S62, establish a force matrix C2 based on the preprocessed data set, the expression is: Among them, C2 represents the force matrix; S63, calculating the angle matrix C1 according to the wheel angle A0 and the relative angle V0 between the carriages, the calculation formula is: Among them, C1 represents the angle matrix; S64. Construct a dynamic model of the vehicle according to the angle matrix C1, the force matrix C2 and the coefficient matrix C3. The expression is: C1×C2=C3 Among them, C3 represents the coefficient matrix; S65, according to the maximum lateral force F of the wheel 11max 、F 12max 、F 21max 、F 22max 、F 31max 、F 32max Calculate the performance balance factor K 11 , K 12 , K 21 , K 22 , K 31 and K 32 , the calculation formula is: Among them, K 11 , K 12 , K 21 , K 22 , K 31 and K 32 They represent the performance balance coefficients respectively; S66. Check the safety of the vehicle based on the performance balance coefficient; If -1≤k 11 ≤1, and -1≤k 12 ≤1, and -1≤k 21 ≤1, and -1≤k 22 ≤1, and -1≤k 31 ≤1, and -1≤k 32 ≤1, the vehicle operation is safe and ends; If k 11 <-1, and k 12 <-1, and k 21 <-1, and k 22 <-1, and k 31 <-1, and k 32 <-1 or k 11 ≥1, and k 12 ≥1, and k 21 ≥1, and k 22 ≥1, and k 31 ≥1, and k 32 ≥1, the vehicle operation is dangerous, and a warning message is continuously sent to the driver to prompt the driver to adjust the dynamic model and return to step S65.

8. The damping system control method according to claim 2, characterized in that: In step S7, the specific implementation steps are as follows: S71. Calculate the steering wheel angle A according to the wheel angle A0. The calculation formula is: A=p×A0 Among them, A represents the steering wheel angle, and p represents the vehicle steering coefficient; S72, calculating the circular motion radius R of the vehicle according to the wheel turning angle A0 yz , the calculation formula is: Among them, R yz represents the circular motion radius of the vehicle, and L represents the wheelbase of the vehicle; S73: Divide the steering wheel angle A into multiple angle intervals A w , according to the angle interval A w Calculate the radius R of circular motion yz , and the circular motion radius R yz Substituting into the vehicle's dynamic model and force balance equation, we can obtain the turning radius calibration value R of the vehicle damping system. yz1 , R yz2 , R yz3 and damping force calibration value F y1 、F z1 、F z2 .

9. The damping system control method according to claim 1, characterized in that: In step S8, the specific implementation steps are as follows: S81, according to the turning radius calibration value R yz1 , R yz2 , R yz3 Divide the steering wheel's single-direction turning angle A into multiple angle intervals A f1 , A f2 , A f3 ; S82. Obtain the steering wheel angle A at time t ft , according to the angle interval A f1 and A f2 Determine the damping force of the damping system; If A f1 ≤A ft f2 , then the damping force is determined to be F y1 and F z1 ;​ If A ft ≥A f2 , then proceed to step S83; S83, according to the angle interval A f2 and A f3 Determine the damping force of the damping system; If A f2 ≤A ft f3 , then the damping force is determined to be F y1 and F z2 ;​ If A ft ≥A f3 , then proceed to step S84; S84, according to angle interval A f3 Determine the damping force of the damping system; If A f3 ft , then the damping force is determined to be F z1 ;​ S85. According to steps S81 to S84, a damping system control scheme for performing graded control on the vehicle damper is obtained.

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