Magnetorheological damper control methods, systems, electronic equipment and storage media

Abstract

This application relates to a magnetorheological damper control method, system, electronic device, and storage medium. The method includes: acquiring a preset linear fitting model, which includes a first fitting model and a second fitting model. The first fitting model includes a linear relationship between the damping force of the magnetorheological damper and the suspension acceleration, and the second fitting model includes a linear relationship between the damping force and the suspension speed. If the real-time suspension speed is greater than or equal to a preset target speed threshold, a first predicted damping force corresponding to the real-time suspension acceleration is obtained using the first fitting model. If the real-time suspension speed is less than the target speed threshold, a second predicted damping force corresponding to the real-time suspension speed is obtained using the second fitting model. The magnetorheological damper is controlled based on the first or second predicted damping force. This method facilitates continuous and precise control of the damping force output by the magnetorheological damper.

Description

Technical Field

[0001] This application relates to the field of magnetorheological technology, and in particular to a magnetorheological damper control method, system, electronic device and storage medium. Background Technology

[0002] Magnetorheological dampers (MRDs), as a new type of intelligent damper, are widely used in vehicle suspensions, building structures, and bridges, offering advantages such as adjustable damping force, fast response, and high control precision. Their working principle involves adjusting the rheological properties of the magnetorheological fluid using an external magnetic field, thereby changing the output damping force. In practical applications, MRDs can adjust the damping force based on real-time input current signals, effectively controlling vibration and impact, and improving system comfort and stability.

[0003] However, magnetorheological dampers exhibit certain hysteresis characteristics in practical applications. This is mainly manifested in a deviation of the damping force versus velocity curve during one cycle of the damper's operation, resulting in a time lag between the input (e.g., current) and the output (damping force). Consequently, it becomes difficult to precisely control the output damping force, thus affecting the system's control accuracy. Summary of the Invention

[0004] This application provides a magnetorheological damper control method, system, electronic device, and storage medium to solve the problem in the related art that the damping force output by the magnetorheological damper is difficult to control accurately due to the response lag of the magnetorheological damper.

[0005] This application provides a magnetorheological damper control method, the method comprising: obtaining a preset linear fitting model, the linear fitting model comprising: a first fitting model and a second fitting model, the first fitting model comprising the linear relationship between the damping force of the magnetorheological damper and the suspension acceleration, and the second fitting model comprising the linear relationship between the damping force and the suspension speed;

[0006] The system obtains the current real-time suspension speed and real-time suspension acceleration of the magnetorheological damper; if the real-time suspension speed is greater than or equal to a preset target speed threshold, the system uses the first fitting model to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, the system uses the second fitting model to obtain a second predicted damping force corresponding to the real-time suspension speed.

[0007] The magnetorheological damper is controlled based on the first predicted damping force or the second predicted damping force.

[0008] In one embodiment of this application, the steps for obtaining the first fitting model and the second fitting model include:

[0009] Multiple sets of measured data were obtained, each set of measured data including: suspension speed, suspension acceleration, current, and corresponding damping force of the magnetorheological damper;

[0010] Based on multiple sets of measured data, linear fitting is performed to obtain the first fitting model and the second fitting model. The second fitting model includes multiple target relationship models, which refer to the linear relationship model between damping force and suspension speed. Each target relationship model corresponds to a different current and / or suspension acceleration.

[0011] In one embodiment of this application, a linear fitting is performed based on multiple sets of measured data to obtain the first fitting model, including:

[0012] The measured data where the suspension speed is greater than or equal to a preset critical speed threshold is determined as the first measured data; based on the first measured data, multiple first relationship models are obtained. The first relationship model refers to the relationship model between the suspension speed and the damping force under the given current and suspension acceleration. The multiple first relationship models give the same current but different suspension accelerations.

[0013] Based on the measured data, a second relationship model is obtained. The second relationship model refers to the relationship model between suspension speed and damping force when the suspension acceleration is 0 or close to 0. The first relationship model and the second relationship model give the same current.

[0014] Multiple first relational models are respectively compared with the second relational model to obtain multiple third relational models. The third relational model is a relational model between suspension speed and damping force difference. The damping force difference refers to the difference between the damping force in the first relational model and the damping force in the second relational model. The suspension acceleration and / or suspension speed corresponding to each damping force difference is different.

[0015] The sum of the damping force difference and the preset standard damping force is determined as the target damping force. The standard damping force refers to the ideal damping force corresponding to the currently given current. The target damping force corresponds one-to-one with the damping force difference.

[0016] Based on the target damping force and the suspension acceleration corresponding to the target damping force, a linear fit is performed to obtain the first fitting model.

[0017] In one embodiment of this application, a first fitting model is obtained by linear fitting based on the target damping force and the suspension acceleration corresponding to the target damping force, including:

[0018] The target damping force, the corresponding suspension speed, and the suspension acceleration are defined as a data point, and the data point corresponds one-to-one with the target damping force; if the suspension speed and suspension acceleration in the data point are greater than 0 and greater than 0, then the data point is divided into the first group.

[0019] If the suspension speed of the data point is less than 0, but its suspension acceleration is greater than 0, then the data point is assigned to the second group.

[0020] If the suspension speed in the data point is greater than 0 and the suspension acceleration is less than 0, then the data point is assigned to the third group.

[0021] If the suspension speed and suspension acceleration in the data point are both less than 0, then the data point is assigned to the fourth group.

[0022] Linear fitting is performed on the first group, the second group, the third group, and the fourth group respectively to obtain a target fitting model. The target fitting model refers to the linear relationship model between damping force and suspension acceleration. The first group, the second group, the third group, and the fourth group each correspond to a target fitting model, and all the target fitting models constitute the first fitting model.

[0023] In one embodiment of this application, a second fitting model is obtained by performing linear fitting based on multiple sets of measured data, including:

[0024] The measured data where the suspension speed is less than a preset critical speed threshold is determined as the second measured data; based on the second measured data, multiple fourth relationship models are obtained, wherein the fourth relationship model refers to the linear relationship model between suspension speed and damping force under the same current and the same suspension acceleration;

[0025] The second fitted model is obtained by linearly fitting multiple fourth relation models.

[0026] In one embodiment of this application, the second fitting model is obtained by linearly fitting multiple fourth relation models, including:

[0027] The slope in the linear equation of the fourth relationship model is determined as the slope to be fitted, and the linear relationship between different suspension accelerations and the slope to be fitted is obtained.

[0028] Based on the linear relationship between different suspension accelerations and the slope to be fitted, a linear fit is performed to obtain the fitted slope.

[0029] The hysteresis interval width of the fourth relationship model is determined as the target width, where the hysteresis interval width refers to the absolute value of the suspension speed when the damping force is 0. The linear relationship between different suspension accelerations and the target width is obtained.

[0030] The product of the target width and the corresponding slope to be fitted is determined as the first intercept, and the negative of the first intercept is determined as the second intercept; based on the linear relationship between different suspension accelerations and the target width, the linear relationship between different suspension accelerations and the second intercept is obtained;

[0031] Based on the linear relationship between different suspension accelerations and the second intercept, a linear fit is performed to obtain the fitted intercept;

[0032] The second fitting model is obtained based on the fitting slope and the fitting intercept.

[0033] In one embodiment of this application, the steps of obtaining the first fitting model and the second fitting model further include:

[0034] Given the first fitting model and the second fitting model, the measured data where the suspension speed is within a preset speed threshold range is determined as the third measured data, and the midpoint of the speed threshold range is the critical speed threshold.

[0035] Substitute the suspension acceleration from the third measured data into the first fitting model to obtain the first damping force; and substitute the suspension speed from the third measured data into the second fitting model to obtain the second damping force.

[0036] If the first damping force is different from the second damping force, then based on the suspension acceleration and suspension speed in the third measured data, and the preset fitting connection rule, the fitting damping force corresponding to the current third measured data is determined. The fitting connection rule refers to determining the larger or smaller value of the first damping force and the second damping force as the fitting damping force of the third measured data according to the suspension acceleration and suspension speed in the third measured data.

[0037] The third measured data with a fitted damping force equal to the first damping force is determined as the target measured data. The suspension speed is filtered from all the target measured data to obtain the minimum value of the suspension speed. Based on the minimum value, the critical speed threshold is updated to obtain the target speed threshold.

[0038] This application also provides a magnetorheological damper control system, including:

[0039] A linear fitting model acquisition module is used to acquire a preset linear fitting model, which includes: a first fitting model and a second fitting model. The first fitting model includes the linear relationship between the damping force of the magnetorheological damper and the suspension acceleration, and the second fitting model includes the linear relationship between the damping force and the suspension speed.

[0040] The damping force prediction module is used to obtain the current real-time suspension speed and real-time suspension acceleration of the magnetorheological damper; if the real-time suspension speed is greater than or equal to a preset target speed threshold, the first fitting model is used to obtain the first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, the second fitting model is used to obtain the second predicted damping force corresponding to the real-time suspension speed.

[0041] The control module is used to control the magnetorheological damper based on the first predicted damping force or the second predicted damping force.

[0042] This application also provides an electronic device, including a processor, a memory, and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory to implement the magnetorheological damper control method provided in any of the above embodiments.

[0043] This application also provides a computer-readable storage medium having a computer program stored thereon, the computer program being used to cause a computer to perform the magnetorheological damper control method as provided in any of the above embodiments.

[0044] The beneficial effects of the embodiments of this application are as follows: The magnetorheological damper control method, system, electronic device, and storage medium provided in the embodiments of this application obtain a preset linear fitting model, which includes a first fitting model and a second fitting model. The first fitting model includes the linear relationship between the damping force of the magnetorheological damper and the suspension acceleration, and the second fitting model includes the linear relationship between the damping force and the suspension speed. The method obtains the current real-time suspension speed and real-time suspension acceleration of the magnetorheological damper. If the real-time suspension speed is greater than or equal to a preset target speed threshold, the first fitting model is used to obtain a first predicted damping force corresponding to the real-time suspension acceleration. If the real-time suspension speed is less than the target speed threshold, the second fitting model is used to obtain a second predicted damping force corresponding to the real-time suspension speed. Based on the first predicted damping force or the second predicted damping force, the magnetorheological damper is controlled. This method can predict the damping force according to the suspension acceleration and suspension speed of the magnetorheological damper, thereby obtaining the predicted damping force, which facilitates subsequent control of the magnetorheological damper. Understandably, due to the hysteresis characteristics of magnetorheological dampers, after a current control signal is sent to the damper, it requires a certain time interval to respond, i.e., to output the corresponding damping force. During this time, the damping force sensor of the damper cannot detect the corresponding damping force signal, so the control end (such as the controller) cannot make accurate predictions and controls. This method, however, predicts the damping force based on suspension speed and acceleration, allowing the control end to adjust the control strategy in a timely manner based on the predicted damping force, thus achieving continuous and precise control of the damping force output by the magnetorheological damper. Furthermore, by setting a linear fitting model, this method can fully meet the damping prediction requirements of both high-speed (real-time suspension speed greater than or equal to the target speed threshold) and low-speed (real-time suspension speed less than the target speed threshold) suspension speed data, resulting in high accuracy. Attached Figure Description

[0045] Figure 1 A schematic flowchart of a magnetorheological damper control method provided in an embodiment of this application;

[0046] Figure 2 This is an exemplary schematic diagram illustrating the effect of different currents on the hysteresis characteristic curve of a magnetorheological damper under fixed suspension acceleration and fixed suspension speed, provided in one embodiment of this application.

[0047] Figure 3 This is an exemplary schematic diagram illustrating the effect of different suspension accelerations on the hysteresis characteristic curves of a magnetorheological damper under fixed suspension acceleration and fixed current, as provided in an embodiment of this application.

[0048] Figure 4This is an exemplary illustration of the effect of different suspension accelerations on the hysteresis characteristic curve of a magnetorheological damper under a fixed current, provided in one embodiment of this application. Figure 1 ;

[0049] Figure 5 This is an exemplary illustration of the effect of different suspension accelerations on the hysteresis characteristic curve of a magnetorheological damper under a fixed current, provided in one embodiment of this application. Figure 2 ;

[0050] Figure 6 This is an exemplary schematic diagram of the first relational model in a magnetorheological damper control method provided in an embodiment of this application;

[0051] Figure 7 This is an exemplary schematic diagram of the second relational model in a magnetorheological damper control method provided in an embodiment of this application;

[0052] Figure 8 This is an exemplary schematic diagram of the third relationship model in a magnetorheological damper control method provided in an embodiment of this application;

[0053] Figure 9 A schematic diagram showing the relationship between suspension speed and target damping force after eliminating the influence of suspension speed on the damping force output by the magnetorheological damper, provided as an embodiment of this application.

[0054] Figure 10 A schematic diagram of the fitting effect of the first fitting model in the magnetorheological damper control method provided in an embodiment of this application. Figure 1 ;

[0055] Figure 11 A schematic diagram of the fitting effect of the first fitting model in the magnetorheological damper control method provided in an embodiment of this application. Figure 2 ;

[0056] Figure 12 This is an exemplary schematic diagram of the fourth relational model in a magnetorheological damper control method provided in an embodiment of this application;

[0057] Figure 13 This is an exemplary schematic diagram illustrating the linear relationship between different suspension accelerations and the slope to be fitted in a magnetorheological damper control method provided in an embodiment of this application.

[0058] Figure 14 This is an exemplary schematic diagram illustrating the linear relationship between different suspension accelerations and target width in a magnetorheological damper control method provided in an embodiment of this application;

[0059] Figure 15 A schematic diagram of the fitting effect of the second fitting model in the magnetorheological damper control method provided in an embodiment of this application. Figure 1 ;

[0060] Figure 16 A schematic diagram of the fitting effect of the second fitting model in the magnetorheological damper control method provided in an embodiment of this application. Figure 2 ;

[0061] Figure 17 A schematic diagram of the structure of a magnetorheological damper control system provided in an embodiment of this application;

[0062] Figure 18 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0063] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0064] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0065] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0066] To facilitate understanding of the magnetorheological damper control method, system, electronic equipment, and storage medium provided in this application, some technical terms involved in this application will be explained below.

[0067] Hysteresis characteristics (hysteresis effect): The hysteresis effect is related to the physical properties of magnetorheological fluids. Inside a magnetorheological damper, the viscosity of the magnetorheological fluid changes when the magnetic field changes, thus affecting the fluid's flowability and the damping force of the damper. However, because the rearrangement of particles and the change in viscosity of the magnetorheological fluid in the magnetic field are gradual, this means that the response of the magnetorheological fluid to changes in the magnetic field or suspension speed is not instantaneous, but rather exhibits hysteresis, manifested as a hysteresis phenomenon.

[0068] Hysteresis interval: The closed loop in the input (such as suspension speed)-output (damping force) relationship of a magnetorheological damper. This loop reflects the historical dependence of the damping system, that is, the output depends not only on the current input, but also on the past input path.

[0069] Hysteresis area: The area within the "closed loop" formed by the input (e.g., suspension speed) - output (damping force) curve. This loop refers to the difference in the relationship between input and output during loading (acceleration) and unloading (deceleration), causing the curves to differ and forming a closed loop. The hysteresis area typically reflects the energy consumed or lost by the system in one operating cycle.

[0070] The following is combined with Figures 1 to 18 This application provides an explanation of the magnetorheological damper control method, system, electronic equipment, and storage medium provided in this application.

[0071] Please see Figure 1 , Figure 1 This is a schematic flowchart of a magnetorheological damper control method provided in an embodiment of this application, as shown below. Figure 1 As shown, the method includes:

[0072] S110: Obtain a preset linear fitting model, the linear fitting model including: a first fitting model and a second fitting model, the first fitting model including the linear relationship between the damping force of the magnetorheological damper and the suspension acceleration, and the second fitting model including the linear relationship between the damping force and the suspension speed.

[0073] It should be noted that, based on numerous experiments, it has been found that the damping force of the magnetorheological damper is significantly affected by suspension acceleration at higher suspension speeds, while at lower suspension speeds, the damping force is significantly affected by suspension speed. Therefore, this embodiment, by setting a first fitting model and a second fitting model, can effectively meet the damping force prediction requirements of the magnetorheological damper at different suspension speeds, with high accuracy.

[0074] Figure 2 This is an exemplary schematic diagram illustrating the effect of different currents on the hysteresis characteristic curves of a magnetorheological damper under fixed suspension acceleration and speed, provided in one embodiment of this application. Please refer to... Figure 2 Since the suspension acceleration cannot be directly controlled, the frequency of the magnetohydrodynamic damper can be adjusted during the experiment to adjust the suspension acceleration (different frequencies mean different suspension accelerations). Figure 2 Assuming a frequency of 6.67 Hz and a suspension speed of 1 m / s, and... Figure 2The horizontal axis represents the suspension speed, and the vertical axis represents the damping force. Figure 2 The different colored curves represent different currents, illustrating the hysteresis characteristic curves (the relationship between suspension speed and damping force) corresponding to different currents (e.g., 0A, 0.5A, 1A...) under fixed suspension acceleration (6.67Hz) and fixed suspension speed (1m / s). Figure 2 It can be seen that, at a fixed frequency (suspension acceleration) and a fixed suspension speed, the magnetorheological hysteresis characteristic curves corresponding to different currents are different, that is, different currents have different effects on the magnetorheological hysteresis characteristics.

[0075] Figure 3 This is an exemplary schematic diagram illustrating the effect of different suspension accelerations on the hysteresis characteristic curves of a magnetorheological damper under fixed suspension acceleration and fixed current, as provided in an embodiment of this application. Please refer to... Figure 3 , Figure 3 Assuming the frequency is 15Hz and the current is 5A (amperes), Figure 3 The curves of different colors represent the magnetorheological hysteresis characteristic curves corresponding to different suspension displacement amplitudes (such as ±0.15mm, ±0.42mm, ±0.86mm, and ±1.79mm). Figure 3 The horizontal axis represents suspension speed, and the vertical axis represents damping force. Understandably, changes in suspension displacement amplitude will affect suspension speed. Therefore, this... Figure 3 Different curves in the diagram can demonstrate the different effects of different suspension speeds on hysteresis characteristics. Furthermore, from... Figure 3 It can be concluded that suspension speed has a significant impact on damping force in the low-speed range.

[0076] Figure 4 This is an exemplary illustration of the effect of different suspension accelerations on the hysteresis characteristic curve of a magnetorheological damper under a fixed current, provided in one embodiment of this application. Figure 1 , Figure 4 Assuming the current is 1A, the curves of different colors represent the hysteresis characteristic curves corresponding to different frequencies (suspension acceleration), such as 5HZ, 10HZ, and 15HZ. Figure 4 The horizontal axis represents suspension speed, and the vertical axis represents damping force. From Figure 4 It can be concluded that different frequencies (suspension acceleration) have a significant impact on the hysteresis characteristics in the high-speed range.

[0077] Figure 5 This is an exemplary illustration of the effect of different suspension accelerations on the hysteresis characteristic curve of a magnetorheological damper under a fixed current, provided in one embodiment of this application. Figure 2 Its horizontal axis represents suspension acceleration (unit: m / s²). 2 (m / s) 2The vertical axis represents the suspension speed (in m / s), and the depth axis represents the damping force (in N). Figure 5 The current is assumed to be 3A, and its frequency is varied, such as 6.67Hz, 3.34Hz, and 2.5Hz, to obtain different hysteresis characteristic curves. From... Figure 5 As can be seen, different frequencies (suspension acceleration) have an impact on hysteresis characteristics.

[0078] It should be mentioned that suspension speed refers to the speed of the piston of the magnetorheological damper relative to the cylinder when it moves, while suspension acceleration refers to the relative acceleration of the piston of the magnetorheological damper relative to the cylinder.

[0079] In addition, since the low-speed region is easily affected by the current, the second fitting model includes the linear relationship between damping force and suspension speed under different currents.

[0080] S120: Obtain the current real-time suspension speed and real-time suspension acceleration of the magnetorheological damper; if the real-time suspension speed is greater than or equal to a preset target speed threshold, then use the first fitting model to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, then use the second fitting model to obtain a second predicted damping force corresponding to the real-time suspension speed.

[0081] Specifically, if the real-time suspension speed is greater than or equal to a preset target speed threshold, the real-time suspension acceleration is substituted into the first fitting model to obtain the corresponding first predicted damping force. If the real-time suspension speed is less than the target speed threshold, the real-time suspension speed is substituted into the second fitting model to obtain the corresponding second predicted damping force, which has high accuracy.

[0082] S130: Based on the first predicted damping force or the second predicted damping force, perform magnetorheological damper control.

[0083] It should be noted that, based on the first predicted damping force or the second predicted damping force, the control terminal can make corresponding adjustments to the current control strategy of the magnetorheological damper, thereby realizing the control of the magnetorheological damper, etc.

[0084] In some embodiments, the steps of obtaining the first fitting model and the second fitting model include:

[0085] 1. Obtain multiple sets of measured data. Each set of measured data includes: suspension speed, suspension acceleration, current, and corresponding damping force of the magnetorheological damper.

[0086] 2. Based on multiple sets of measured data, linear fitting is performed to obtain the first fitting model and the second fitting model. The second fitting model includes multiple target relationship models, which refer to the linear relationship model between damping force and suspension speed. Each target relationship model corresponds to a different current and / or suspension acceleration.

[0087] It should be noted that the above steps can achieve a good fit between the first and second fitting models with high accuracy.

[0088] In some embodiments, linear fitting is performed based on multiple sets of measured data to obtain the first fitting model, including:

[0089] 1. The measured data where the suspension speed is greater than or equal to a preset critical speed threshold is determined as the first measured data; based on the first measured data, multiple first relational models are obtained. The first relational model refers to the relationship model between the suspension speed and the damping force under given current and suspension acceleration. The multiple first relational models give the same current but different suspension accelerations.

[0090] It should be noted that the critical speed threshold can be set according to actual conditions. By determining the measured data where the suspension speed is greater than or equal to the critical speed threshold as the first measured data, it is possible to divide the measured data into low-speed and high-speed regions, which facilitates fitting the measured data in the low-speed and high-speed regions separately, thereby improving the fitting accuracy. The number of these first relationship models depends on the number of variations in suspension acceleration under a given current; that is, under a given current, different suspension accelerations correspond to different first relationship models.

[0091] Figure 6 This is an exemplary schematic diagram of the first relational model in the magnetorheological damper control method provided in an embodiment of this application. Please refer to... Figure 6 , Figure 6 Assuming the current is 3A, Figure 6 The curve in the figure represents the hysteresis characteristic curve under a 3A current and a certain suspension acceleration (such as the suspension acceleration at a frequency of 6.67HZ). Figure 6 The horizontal axis represents the suspension speed, and the vertical axis represents the damping force.

[0092] Second, based on the measured data, a second relational model is obtained. The second relational model refers to the relationship between suspension speed and damping force when the suspension acceleration is 0 or close to 0. The first relational model and the second relational model give the same current.

[0093] Figure 7This is an exemplary schematic diagram of the second relational model in the magnetorheological damper control method provided in an embodiment of this application. Please refer to... Figure 7 , Figure 7 Similarly, assuming the current is 3A, Figure 7 The curve in the figure represents the relationship between suspension speed and damping force when the suspension acceleration is 0 or close to 0.

[0094] Third, perform difference operations between the multiple first relational models and the second relational model respectively to obtain multiple third relational models. The third relational model is a relational model between suspension speed and damping force difference. The damping force difference refers to the difference between the damping force in the first relational model and the damping force in the second relational model. The suspension acceleration and / or suspension speed corresponding to each damping force difference is different.

[0095] Specifically, the damping forces with the same suspension speed in the first and second relational models are subtracted to obtain the damping force difference corresponding to each suspension speed, thus obtaining the third relational model. This third relational model corresponds one-to-one with the first relational model.

[0096] Understandable. Figure 6 The damping force of the curve is affected by the suspension speed and suspension acceleration. Figure 7 The curve in the figure is considered to be zero or close to zero because the suspension acceleration is 0. Figure 7 The damping force in the suspension is only affected by the suspension speed. By setting the suspension acceleration to 0 or close to 0, the effect of suspension acceleration on the damping force can be eliminated. And by... Figure 6 and Figure 7 The difference in damping force obtained by subtracting the data is the effect of suspension acceleration on damping force.

[0097] Figure 8 This is an exemplary schematic diagram of the third relational model in the magnetorheological damper control method provided in an embodiment of this application. Please refer to... Figure 8 , Figure 8 The horizontal axis represents suspension acceleration, the vertical axis represents suspension velocity, and the depth axis represents damping force. By performing difference calculations between multiple first relational models and second relational models, the following can be obtained: Figure 8 The three-dimensional graphics shown are understandable. Figure 8 The model introduces suspension acceleration to represent the relationship between suspension speed, damping force difference, and suspension acceleration, which is equivalent to integrating multiple third-relationship models.

[0098] Fourth, the sum of the damping force difference and the preset standard damping force is determined as the target damping force. The standard damping force refers to the ideal damping force corresponding to the currently given current. The target damping force corresponds one-to-one with the damping force difference.

[0099] 5. Based on the target damping force and the suspension acceleration corresponding to the target damping force, perform linear fitting to obtain the first fitting model.

[0100] Understandably, the target damping force is the damping force whose influence on suspension speed has been eliminated. It is related to suspension acceleration. Therefore, by linearly fitting the target damping force and the suspension acceleration corresponding to the target damping force, the first fitting model can be obtained with high accuracy.

[0101] Figure 9 For a schematic diagram illustrating the relationship between suspension speed and target damping force after eliminating the influence of suspension speed on the damping force output by the magnetorheological damper, as provided in an embodiment of this application, please refer to... Figure 9 , Figure 9 The horizontal axis represents the suspension speed, and the vertical axis represents the target damping force. Figure 9 The paper provides an exemplary demonstration of the suspension speed-target damping force curves under different currents.

[0102] In some embodiments, a first fitting model is obtained by performing linear fitting based on the target damping force and the suspension acceleration corresponding to the target damping force, including:

[0103] 1. The target damping force, the suspension speed and suspension acceleration corresponding to the target damping force are determined as a data point, and the data point corresponds one-to-one with the target damping force; if the suspension speed in the data point is greater than 0 and the suspension acceleration is greater than 0, then the data point is divided into the first group.

[0104] 2. If the suspension speed of the data point is less than 0, but the suspension acceleration is greater than 0, then the data point is assigned to the second group.

[0105] Third, if the suspension speed in the data point is greater than 0 and the suspension acceleration is less than 0, then the data point is divided into the third group.

[0106] Fourth, if the suspension speed and suspension acceleration in the data point are less than 0, then the data point is divided into the fourth group.

[0107] 5. Perform linear fitting on the first group, the second group, the third group, and the fourth group respectively to obtain a target fitting model. The target fitting model refers to the linear relationship model between damping force and suspension acceleration. The first group, the second group, the third group, and the fourth group each correspond to one target fitting model. All the target fitting models constitute the first fitting model.

[0108] It should be noted that by performing linear fitting on the first group, the second group, the third group, and the fourth group respectively, four corresponding target fitting models are obtained, which can achieve good fitting of different cases (different suspension accelerations, different suspension speeds), which is convenient for case-specific prediction in subsequent applications.

[0109] In some embodiments, the mathematical expression of the target fitting model obtained by linear fitting the first group is:

[0110] y = 2.133 * a - 3.996

[0111] By performing linear fitting on the second group, the mathematical expression of the target fitting model is obtained as follows:

[0112] y = 6.148 * a - 8.01

[0113] The mathematical expression of the target fitting model obtained by linear fitting the third group is as follows:

[0114] y = 4.823 * a + 47.36

[0115] By performing linear fitting on the fourth group, the mathematical expression of the target fitting model is obtained as follows:

[0116] y = 6.125 * a + 32.79

[0117] Where y represents the damping force and a represents the suspension acceleration.

[0118] After multiple experiments, it was found that the fitting parameters corresponding to different currents and different suspension accelerations in the high-speed zone are consistent. Therefore, the above mathematical expression can be applied to fitting scenarios with different currents and different suspension accelerations.

[0119] It should be noted that the fitting parameters in the above embodiments are merely examples, and this application does not limit the values ​​of the fitting parameters (such as 2.133, 3.996, etc.).

[0120] Figure 10 A schematic diagram of the fitting effect of the first fitting model in the magnetorheological damper control method provided in an embodiment of this application. Figure 1 , Figure 11A schematic diagram of the fitting effect of the first fitting model in the magnetorheological damper control method provided in an embodiment of this application. Figure 2 Please refer to this. Figure 10 and Figure 11 , Figure 10 and Figure 11 The horizontal axis represents suspension speed, and the vertical axis represents damping force. Figure 10 The suspension acceleration under multiple currents is substituted into the first fitting model to obtain the corresponding damping force estimates. These estimates are then compared with the corresponding measured values ​​(damping forces in the measured data). Figure 11 Taking a 3A current as an example, the estimated and measured values ​​of damping force at different frequencies (suspension acceleration) were compared. Figure 10 and Figure 11 It can be seen that the estimated damping force obtained by using the first fitting model is basically consistent with the measured value, so the accuracy of the first fitting model is high.

[0121] In some embodiments, linear fitting is performed based on multiple sets of measured data to obtain the second fitting model, including:

[0122] First, the measured data where the suspension speed is less than a preset critical speed threshold is determined as the second measured data; based on the second measured data, multiple fourth relationship models are obtained, wherein the fourth relationship model refers to the linear relationship model between suspension speed and damping force under the same current and the same suspension acceleration.

[0123] Figure 12 This is an exemplary schematic diagram of the fourth relational model in the magnetorheological damper control method provided in an embodiment of this application. Please refer to... Figure 12 , Figure 12 The green line represents the fourth relational model. V0 represents the hysteresis interval width. The blue line is the hysteresis characteristic curve in the high-speed region. Figure 12 Points 1, 2, 3, and 4 in the diagram represent the intersection points of the hysteresis characteristic curves in the low-speed and high-speed regions.

[0124] Second, by performing linear fitting on multiple of the fourth relationship models, the second fitting model is obtained.

[0125] It should be noted that by performing linear fitting on multiple fourth relationship models, a second fitting model with higher accuracy can be obtained.

[0126] In some embodiments, the second fitting model is obtained by linearly fitting multiple fourth relation models, including:

[0127] First, determine the slope in the linear equation of the fourth relationship model as the slope to be fitted, and obtain the linear relationship between different suspension accelerations and the slope to be fitted.

[0128] 2. Based on the linear relationship between different suspension accelerations and the slope to be fitted, a linear fit is performed to obtain the fitted slope.

[0129] It should be noted that by fitting this linear relationship, a highly accurate fitting slope can be obtained.

[0130] Figure 13 This is an exemplary schematic diagram illustrating the linear relationship between different suspension accelerations and the slope to be fitted in a magnetorheological damper control method provided in an embodiment of this application. Based on Figure 13 By performing linear fitting on the relationship curve in the graph, the slope of the fitted curve can be obtained.

[0131] Third, the hysteresis interval width of the fourth relationship model is determined as the target width, where the hysteresis interval width refers to the absolute value of the suspension speed when the damping force is 0, and the linear relationship between different suspension accelerations and the target width is obtained.

[0132] Figure 14 This is an exemplary schematic diagram illustrating the linear relationship between different suspension accelerations and target width in a magnetorheological damper control method provided in an embodiment of this application. Figure 14 The curve in the diagram is the line connecting two vertices.

[0133] Fourth, the product of the target width and the corresponding slope to be fitted is determined as the first intercept, and the negative of the first intercept is determined as the second intercept; based on the linear relationship between different suspension accelerations and the target width, the linear relationship between different suspension accelerations and the second intercept is obtained.

[0134] 5. Based on the linear relationship between different suspension accelerations and the second intercept, perform linear fitting to obtain the fitted intercept.

[0135] 6. Based on the fitting slope and the fitting intercept, the second fitting model is obtained.

[0136] It should be noted that by using the above method, a second fitting model with higher accuracy can be obtained.

[0137] In some embodiments, the steps of obtaining the first fitting model and the second fitting model further include:

[0138] First, given the first fitting model and the second fitting model, the measured data where the suspension speed is within a preset speed threshold range is determined as the third measured data, and the midpoint of the speed threshold range is the critical speed threshold.

[0139] Second, substitute the suspension acceleration in the third measured data into the first fitting model to obtain the first damping force; and substitute the suspension speed in the third measured data into the second fitting model to obtain the second damping force.

[0140] Third, if the first damping force is different from the second damping force, then based on the suspension acceleration and suspension speed in the third measured data, and the preset fitting connection rule, the fitting damping force corresponding to the current third measured data is determined. The fitting connection rule refers to determining the larger or smaller value of the first damping force and the second damping force as the fitting damping force of the third measured data according to the suspension acceleration and suspension speed in the third measured data.

[0141] In some embodiments, if the suspension acceleration in the third measured data is greater than 0 and the suspension speed is greater than 0, then the smaller value of the first damping force and the second damping force is determined as the fitted damping force.

[0142] If the suspension acceleration in the third measured data is less than 0 and the suspension speed is greater than 0, then the smaller value between the first damping force and the second damping force is determined as the fitted damping force.

[0143] If the suspension acceleration in the third measured data is greater than 0 and the suspension speed is less than 0, then the larger of the first damping force and the second damping force is determined as the fitted damping force.

[0144] If the suspension acceleration in the third measured data is less than 0 and the suspension speed is less than 0, then the larger of the first damping force and the second damping force is determined as the fitted damping force.

[0145] It should be noted that the above steps can effectively achieve the fitting and connection between high and low speed regions.

[0146] Fourth, the third measured data with the fitted damping force as the first damping force is determined as the target measured data. The suspension speed is filtered from all the target measured data to obtain the minimum value of the suspension speed. Based on the minimum value, the critical speed threshold is updated to obtain the target speed threshold.

[0147] Specifically, this minimum value is determined as the new value for the critical velocity threshold. Subsequently, based on this new value, the linear fitting model can be re-fitted to further improve the accuracy of the linear fitting model in the above embodiments. Furthermore, through the above steps, a target velocity threshold with higher accuracy can be obtained.

[0148] Figure 15 and Figure 16 An example of the fitting effect of the second fitting model described above is provided. Figure 15 The horizontal axis represents the suspension speed, and the vertical axis represents the damping force. Figure 16The horizontal axis represents suspension acceleration, the vertical axis represents suspension speed, and the depth axis represents damping force. By comparison... Figure 15 and Figure 16 The difference between the estimated and measured values ​​of damping force under different conditions shows that the estimated and measured values ​​of damping force of the second fitting model in the above embodiment have a smaller difference and higher fitting accuracy.

[0149] The magnetorheological damper control system provided in this application is described below. The magnetorheological damper control system described below can be referred to in correspondence with the magnetorheological damper control method described above.

[0150] Please refer to Figure 17 The magnetorheological damper control system provided in this embodiment includes:

[0151] The linear fitting model acquisition module 1710 is used to acquire a preset linear fitting model, which includes: a first fitting model and a second fitting model. The first fitting model includes the linear relationship between the damping force of the magnetorheological damper and the suspension acceleration, and the second fitting model includes the linear relationship between the damping force and the suspension speed.

[0152] The damping force prediction module 1720 is used to obtain the current real-time suspension speed and real-time suspension acceleration of the magnetorheological damper; if the real-time suspension speed is greater than or equal to a preset target speed threshold, then the first fitting model is used to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, then the second fitting model is used to obtain a second predicted damping force corresponding to the real-time suspension speed.

[0153] The control module 1730 is used to control the magnetorheological damper based on the first predicted damping force or the second predicted damping force. The magnetorheological damper control system in this embodiment can achieve the technical effects of the magnetorheological damper control method described above, which will not be repeated here.

[0154] It should be noted that the magnetorheological damper control method and the magnetorheological damper control system provided in the above embodiments belong to the same concept. The specific operation methods of each module have been described in detail in the method embodiments and will not be repeated here. In practical applications, the magnetorheological damper control system provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0155] In some embodiments, an electronic device is also provided, which may be a server, and its internal structure diagram is shown below. Figure 18As shown, the electronic device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external clients via a network connection. When the computer program is executed by the processor, it implements the functions or steps of the server-side method described above.

[0156] In some embodiments, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps: obtaining a preset linear fitting model, the linear fitting model including a first fitting model and a second fitting model, the first fitting model including a linear relationship between the damping force of the magnetorheological damper and the suspension acceleration, and the second fitting model including a linear relationship between the damping force and the suspension speed; obtaining the current real-time suspension speed and real-time suspension acceleration of the magnetorheological damper; if the real-time suspension speed is greater than or equal to a preset target speed threshold, then using the first fitting model to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, then using the second fitting model to obtain a second predicted damping force corresponding to the real-time suspension speed; and controlling the magnetorheological damper based on the first predicted damping force or the second predicted damping force.

[0157] In some embodiments, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it performs the following steps: obtaining a preset linear fitting model, the linear fitting model including: a first fitting model and a second fitting model, the first fitting model including a linear relationship between the damping force of the magnetorheological damper and the suspension acceleration, and the second fitting model including a linear relationship between the damping force and the suspension speed; obtaining the current real-time suspension speed and real-time suspension acceleration of the magnetorheological damper; if the real-time suspension speed is greater than or equal to a preset target speed threshold, then using the first fitting model to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, then using the second fitting model to obtain a second predicted damping force corresponding to the real-time suspension speed; and performing magnetorheological damper control based on the first predicted damping force or the second predicted damping force.

[0158] It should be noted that the functions or steps that can be implemented by the computer-readable storage medium or electronic device described above can be referred to the relevant descriptions on the server side and client side in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0159] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0160] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A control method for a magnetorheological damper, characterized in that, include: Obtain a preset linear fitting model, which includes: a first fitting model and a second fitting model. The first fitting model includes the linear relationship between the damping force of the magnetorheological damper and the suspension acceleration, and the second fitting model includes the linear relationship between the damping force and the suspension speed. The system obtains the current real-time suspension speed and real-time suspension acceleration of the magnetorheological damper; if the real-time suspension speed is greater than or equal to a preset target speed threshold, the system uses the first fitting model to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, the system uses the second fitting model to obtain a second predicted damping force corresponding to the real-time suspension speed. The magnetorheological damper is controlled based on the first predicted damping force or the second predicted damping force.

2. The magnetorheological damper control method according to claim 1, characterized in that, The steps for obtaining the first fitting model and the second fitting model include: Multiple sets of measured data were obtained, each set of measured data including: suspension speed, suspension acceleration, current, and corresponding damping force of the magnetorheological damper; Based on multiple sets of measured data, linear fitting is performed to obtain the first fitting model and the second fitting model. The second fitting model includes multiple target relationship models, which refer to the linear relationship model between damping force and suspension speed. Each target relationship model corresponds to a different current and / or suspension acceleration.

3. The magnetorheological damper control method according to claim 2, characterized in that, Based on multiple sets of measured data, linear fitting is performed to obtain the first fitting model, including: The measured data where the suspension speed is greater than or equal to a preset critical speed threshold is determined as the first measured data; based on the first measured data, multiple first relationship models are obtained. The first relationship model refers to the relationship model between the suspension speed and the damping force under the given current and suspension acceleration. The multiple first relationship models give the same current but different suspension accelerations. Based on the measured data, a second relationship model is obtained. The second relationship model refers to the relationship model between suspension speed and damping force when the suspension acceleration is 0 or close to 0. The first relationship model and the second relationship model give the same current. Multiple first relational models are respectively compared with the second relational model to obtain multiple third relational models. The third relational model is a relational model between suspension speed and damping force difference. The damping force difference refers to the difference between the damping force in the first relational model and the damping force in the second relational model. The suspension acceleration and / or suspension speed corresponding to each damping force difference is different. The sum of the damping force difference and the preset standard damping force is determined as the target damping force. The standard damping force refers to the ideal damping force corresponding to the currently given current. The target damping force corresponds one-to-one with the damping force difference. Based on the target damping force and the suspension acceleration corresponding to the target damping force, a linear fit is performed to obtain the first fitting model.

4. The magnetorheological damper control method according to claim 3, characterized in that, Based on the target damping force and the suspension acceleration corresponding to the target damping force, a linear fit is performed to obtain the first fitting model, including: The target damping force, the corresponding suspension speed, and the suspension acceleration are defined as a data point, and the data point corresponds one-to-one with the target damping force; if the suspension speed and suspension acceleration in the data point are greater than 0 and greater than 0, then the data point is divided into the first group. If the suspension speed of the data point is less than 0, but its suspension acceleration is greater than 0, then the data point is assigned to the second group. If the suspension speed in the data point is greater than 0 and the suspension acceleration is less than 0, then the data point is assigned to the third group. If the suspension speed and suspension acceleration in the data point are both less than 0, then the data point is assigned to the fourth group. Linear fitting is performed on the first group, the second group, the third group, and the fourth group respectively to obtain a target fitting model. The target fitting model refers to the linear relationship model between damping force and suspension acceleration. The first group, the second group, the third group, and the fourth group each correspond to a target fitting model, and all the target fitting models constitute the first fitting model.

5. The magnetorheological damper control method according to claim 2, characterized in that, Based on multiple sets of measured data, linear fitting is performed to obtain the second fitting model, including: The measured data where the suspension speed is less than a preset critical speed threshold is determined as the second measured data; based on the second measured data, multiple fourth relationship models are obtained, wherein the fourth relationship model refers to the linear relationship model between suspension speed and damping force under the same current and the same suspension acceleration; The second fitting model is obtained by linearly fitting multiple fourth relationship models.

6. The magnetorheological damper control method according to claim 5, characterized in that, The second fitting model is obtained by linearly fitting multiple of the fourth relation models, including: The slope in the linear equation of the fourth relationship model is determined as the slope to be fitted, and the linear relationship between different suspension accelerations and the slope to be fitted is obtained. Based on the linear relationship between different suspension accelerations and the slope to be fitted, a linear fit is performed to obtain the fitted slope. The hysteresis interval width of the fourth relationship model is determined as the target width, where the hysteresis interval width refers to the absolute value of the suspension speed when the damping force is 0. The linear relationship between different suspension accelerations and the target width is obtained. The product of the target width and the corresponding slope to be fitted is determined as the first intercept, and the negative of the first intercept is determined as the second intercept; based on the linear relationship between different suspension accelerations and the target width, the linear relationship between different suspension accelerations and the second intercept is obtained; Based on the linear relationship between different suspension accelerations and the second intercept, a linear fit is performed to obtain the fitted intercept; The second fitting model is obtained based on the fitting slope and the fitting intercept.

7. The magnetorheological damper control method according to claim 3, characterized in that, The steps for obtaining the first fitting model and the second fitting model further include: Given the first fitting model and the second fitting model, the measured data where the suspension speed is within a preset speed threshold range is determined as the third measured data, and the midpoint of the speed threshold range is the critical speed threshold. Substitute the suspension acceleration from the third measured data into the first fitting model to obtain the first damping force; and substitute the suspension speed from the third measured data into the second fitting model to obtain the second damping force. If the first damping force is different from the second damping force, then based on the suspension acceleration and suspension speed in the third measured data, and the preset fitting connection rule, the fitting damping force corresponding to the current third measured data is determined. The fitting connection rule refers to determining the larger or smaller value of the first damping force and the second damping force as the fitting damping force of the third measured data according to the suspension acceleration and suspension speed in the third measured data. The third measured data with a fitted damping force equal to the first damping force is determined as the target measured data. The suspension speed is filtered from all the target measured data to obtain the minimum value of the suspension speed. Based on the minimum value, the critical speed threshold is updated to obtain the target speed threshold.

8. A magnetorheological damper control system, characterized in that, include: A linear fitting model acquisition module is used to acquire a preset linear fitting model, which includes: a first fitting model and a second fitting model. The first fitting model includes the linear relationship between the damping force of the magnetorheological damper and the suspension acceleration, and the second fitting model includes the linear relationship between the damping force and the suspension speed. The damping force prediction module is used to obtain the current real-time suspension speed and real-time suspension acceleration of the magnetorheological damper; if the real-time suspension speed is greater than or equal to a preset target speed threshold, the first fitting model is used to obtain the first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, the second fitting model is used to obtain the second predicted damping force corresponding to the real-time suspension speed. The control module is used to control the magnetorheological damper based on the first predicted damping force or the second predicted damping force.

9. An electronic device, characterized in that, It includes a processor, a memory, and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory to implement the magnetorheological damper control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores a computer program that enables the computer to execute the magnetorheological damper control method as described in any one of claims 1 to 7.

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