A liquid-gas support damping device and a vehicle using the same

Abstract

The present application relates to a kind of liquid gas support damping device, the damping value of damper can be automatically adjusted according to the road condition during vehicle driving, to reduce jolt and vibration, improve the comfort during vehicle driving.The support damper device is divided into two paths by the oil circuit of the liquid gas support damping device mainly consisting of liquid gas energy storage and single-acting hydraulic cylinder, one path is the inlet oil circuit of inflow hydraulic cylinder, the other path is the outlet oil circuit of outflow hydraulic cylinder, the support force value of the liquid gas support damping device to the supported object is measured by force measuring element, the support force value is compared with the set force value or the gravity value of the supported object of support damper device by control component, according to the comparison result, the damping of damper inlet oil circuit and outlet oil circuit is controlled respectively by mechanical, hydraulic or electric control, so as to adjust the support force value of support damper device, so that the support force value of support damper device is equal to or close to the set force value or the gravity of the supported object of support damper device.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of liquid gas support damping device, especially suitable for vehicle suspension and damping. BACKGROUND

[0002] Liquid gas support suspension is used compressed gas as elastic element, with oil as intermediate medium, oil passes through hydraulic cylinder and transmits pressure, a kind of support suspension, the damping control method of liquid gas support is generally controlled by damping valve, check valve etc. in hydraulic cylinder to achieve the purpose of damping.

[0003] For passive support damping device, the size of damping force usually depends on the pressure difference on both sides of damping valve, damping value is not adjustable, poor adaptability, damping effect is not ideal;For semi-active support damping device or active damper, usually use electric control to adjust the damping of damping valve, need to use more complex data acquisition, processing, control etc. to control the damping of throttle hole, more components are used, cost is higher, control theory, method, data processing are more complex, and reliability is poor, which is one of the reasons why liquid gas suspension is not commonly used, especially in small cars. SUMMARY

[0004] The technical problems to be solved by the present application

[0005] I. The damping performance of liquid gas support damping device is poor, and the adaptability to different road surfaces is poor.

[0006] II. The structure of liquid gas support damping device is complex, more components are used to control damping, cost is high, and maintenance is difficult.

[0007] III. The reliability of liquid gas support damping device is low, especially for active suspension system, more components, complex control theory, high failure rate.

[0008] Technical scheme of the present application

[0009] The oil circuit of liquid gas support damping device mainly composed of main liquid gas energy accumulator and single-acting hydraulic cylinder is divided into two circuits, one of which is the inlet oil circuit of hydraulic cylinder, and the other is the outlet oil circuit of hydraulic cylinder. Force measuring element is used to measure the support force value of liquid gas support damping device to the supported object, and control assembly compares the support force value with the set force value or the gravity of the object supported by the support damping device. According to the comparison result, the damping of the inlet oil circuit and the outlet oil circuit of the damper is controlled by mechanical, hydraulic or electric control, so as to adjust the support force value of the support damping device, so that the support force value of the support damping device is equal to or close to the target force value.

[0010] The specific scheme is as follows:

[0011] A liquid-gas supporting vibration reduction device (1) comprising a main liquid-gas energy storage device, a single-acting hydraulic cylinder, a one-way valve (16, 12), a damping valve (24, 25), a force measuring element, a control assembly (1), etc. Figure 1

[0012] The features are as follows: two groups of oil paths with damping valves (24, 25) and one-way valves (16, 12) connected in parallel between the hydraulic cylinder (7) and the main liquid-gas energy storage device form the liquid inlet and outlet oil paths; the force measuring element measures the real-time supporting force value of the supporting vibration reduction device; the control assembly (1) compares the real-time supporting force value with the target force value, and then controls the damping of the two damping valves (24, 25) according to the comparison result through mechanical, hydraulic or electric control, etc., so as to control the flow and pressure of the liquid entering and flowing out of the hydraulic cylinder (7), and make the supporting force value of the supporting vibration reduction device equal to or close to the target force value.

[0013] Target force value: the supporting force value that the liquid-gas supporting vibration reduction device needs to reach; it can be a force value set according to needs, or the gravity value of the object supported by the supporting vibration reduction device.

[0014] Gravity value of the object supported by the supporting vibration reduction device: the weight of the object supported by the supporting vibration reduction device, which can be calculated by the control assembly according to the real-time measurement value of the force measuring element, and the method includes the following:

[0015] a. In the static state, the gravity value of the object supported by the supporting vibration reduction device is directly measured by the force measuring element.

[0016] b. The control assembly calculates the average supporting force value measured by the force measuring element within a unit time according to the real-time measurement value of the force measuring element, that is, the average force value of the sampled samples within a unit time is calculated as the approximate gravity value of the object supported by the supporting vibration reduction device.

[0017] c. The average force value of the supporting force value within a unit time is measured by using an analog RC filter circuit method, that is, the real-time force value measured by the force measuring element is smoothed and filtered by the RC filter circuit to obtain the approximate average force value, which is used as the approximate gravity value of the object supported by the supporting vibration reduction device. Figure 2

[0018] d. The average force value is calculated by calculating the average pressure of the liquid flow in the hydraulic cylinder by using the method of connecting a damping hole between the liquid-gas energy storage device and the hydraulic cylinder. For example, scheme 8 Figure 5 ​​) In the embodiment shown in Fig. 1, the control port (18) and the valve port (10) are connected through the damping hole (27), so that the pressure in the main liquid-gas energy accumulator (4) is close to the average pressure value of the hydraulic cylinder (7). That is, the hydraulic cylinder (7) is connected to the main liquid-gas energy accumulator (4) through the damping hole (27), and when the pressure in the hydraulic cylinder (7) increases or decreases, the pressure in the main liquid-gas energy accumulator (4) will increase or decrease slowly due to the damping hole (27), and the smaller the damping hole (27), the closer the pressure in the main liquid-gas energy accumulator (4) to the average force value of the hydraulic cylinder (7), which is used as the approximate gravity value of the object supported by the support and damping device.

[0019] When the set force value method is used as the target force value, the force value can be set by adjusting the pressure spring or by inputting the control assembly.

[0020] Force measuring element: refers to a component that can directly or indirectly measure or set pressure or force value, such as force measuring spring, pressure setting spring, pressure sensor, force sensor, etc.

[0021] Function of control assembly: receive and process real-time force value or real-time pressure value measured by force measuring element, calculate and determine the gravity value of the object supported by the support and damping device, and compare the real-time measurement value with the target value, output control signal according to the comparison result, and control the damping of the damping valve.

[0022] For liquid-gas support devices using force sensors, the control assembly is mainly composed of electronic components, and also includes single-chip microcomputer, PLC and other programmable control assemblies.

[0023] For mechanical or hydraulic control of liquid-gas support devices, the control assembly is the component that associates the force measuring element with the damping valve. For example, in the support and damping device shown in Fig. 2, the pressure spring (19) and the spool valve (15) act directly, i.e. the pressure spring and the spool valve (15) serve as the control assembly. Figure 3 For support and damping devices using liquid-gas energy accumulators as force measuring elements, such as the one shown in Fig. 3, the auxiliary liquid-gas energy accumulator (23) and the spool valve (15) act directly, i.e. the auxiliary liquid-gas energy accumulator (23) and the spool valve (15) serve as the control assembly. Figure 5

[0024] Damping control method:

[0025] When the real-time measurement value of the sensor is greater than the target force value, the damping value of the damping valve on the liquid inlet oil path (9) of the hydraulic cylinder (7) is increased, and the damping value of the damping valve on the liquid outlet oil path (6) of the hydraulic cylinder (7) is decreased.

[0026] ​When the real-time measurement value of the sensor is less than the target force value, then the damping value of the damping valve on the inlet oil way (9) of the hydraulic cylinder (7) is reduced, and the damping value of the damping valve on the outlet oil way (6) of the hydraulic cylinder (7) is increased.

[0027] Scheme 2. The liquid-gas support damping device according to scheme 1, characterized in that the control assembly calculates the average support force value measured by the force measuring element in unit time according to the measured real-time support force value of the force measuring element, and takes the average force value as the target force value.

[0028] The average force value is close to the gravity value of the object supported by the support damping device.

[0029] Scheme 3. The liquid-gas support damping device according to scheme 1, characterized in that the damping valve on the inlet oil way and the damping valve on the outlet oil way are integrated on a valve assembly, the valve block (11) of the valve assembly and the slide valve (15) constitute the left and right damping valves, which are the inlet oil way damping valve and the outlet oil way damping valve respectively; the left and right sides of the slide valve (15) are respectively provided with a control port (18) connected with the control assembly and a valve port (10) connected with the hydraulic cylinder; the valve port (10) is communicated with the outlet valve port of the inlet oil way damping valve and the inlet valve port of the outlet oil way damping valve; the valve block is provided with an inlet valve port (14) of the inlet damping valve and an outlet valve port (13) of the outlet damping valve; the inlet valve port (14) of the inlet damping valve is connected with the inlet check valve (16) on the inlet oil way, and the outlet valve port (13) of the outlet damping valve is connected with the outlet check valve (12) on the outlet oil way, thereby constituting the connection between the inlet oil way and the outlet oil way and the main liquid-gas energy accumulator (4); the inlet check valve (16) and the outlet check valve (12) can be integrated on the valve assembly or externally connected to the valve assembly; the control port (18) and the valve port (10) can be communicated, can not be communicated, or can be communicated through a damping hole (27); the control assembly controls the left and right movement of the slide valve (15) through the control port (18), so as to control the damping of the damping valve.

[0030] Scheme 4. An electrically controlled liquid-gas support damping device composed of the support damping device according to scheme 1, characterized in that the force measuring element is mainly composed of a force sensor or a pressure sensor, and the damping valve is mainly composed of two electrically controlled damping valves connected in series with the inlet check valve (16) and the outlet check valve (12) respectively; the control assembly calculates the approximate gravity value of the object supported by the support damping device according to the measurement value of the sensor, compares the real-time measurement value of the sensor with the approximate gravity value of the object supported by the support damping device, and controls the damping value of the electrically controlled damping valve according to the comparison result.

[0031] Electrically controlled damping valve: the component that changes the damping of the valve assembly by controlling the current size, voltage size, and electrification time is the electrically controlled damping valve, including proportional electromagnetic valves, magnetorheological damping valves, and electro-rheological damping valves.

[0032] Option 5. Figure 1 A magnetorheological hydraulic-pneumatic vibration damping device composed of the hydraulic-pneumatic vibration damping device described in Scheme 1 is characterized in that: the hydraulic medium is a magnetorheological fluid, the force measuring element is mainly composed of a force sensor or a pressure sensor (26), and the damping valve is mainly composed of two magnetorheological damping valves (25, 24); the control component (1) calculates the weight value of the object supported by the vibration damping device according to the measurement value of the sensor, compares the real-time measurement value of the sensor with the weight value of the object supported by the vibration damping device, and controls the damping value of the magnetorheological damping valves (25, 24) according to the comparison result.

[0033] Option 6. Figure 2 The support and vibration damping device described in Scheme 3 also includes a proportional electromagnet (17), characterized in that the force measuring element is mainly composed of a force sensor or a pressure sensor, and the control port (18) is completely connected to the valve port (10); the control component calculates the weight of the object supported by the support and vibration damping device based on the measured value of the force sensor, and compares the real-time measured value of the force sensor with the weight of the object supported by the support and vibration damping device, and controls the proportional electromagnet (17) to drive the slide valve (15) to move left and right based on the comparison result, thereby controlling the damping value of the two damping valves.

[0034] Option 7. Figure 3 The support vibration damping device described in Scheme 3 is characterized in that: the force measuring element is mainly composed of a pressure regulating spring (19), and the control component is mainly composed of a pressure regulating spring (19) and a slide valve (15); the control port (18) is not connected to the valve port (10), and there is a pressure regulating spring (19) on the control port (18). The force of the pressure regulating spring (19) acts directly on the slide valve (15) and compares it with the pressure of the valve port (10) to control the slide valve (15) to move left and right, thereby controlling the damping of the two damping valves.

[0035] Option 8. Figure 4 As described in Scheme 7, the support and vibration damping device also includes an electronically controlled pressure regulating actuator (21), a control component mainly composed of a control component (1), and a force measuring element composed of a pressure sensor or a force measuring sensor (8). The characteristic is that the control component adjusts the preset pressure value of the pressure regulating spring (19) through the electronically controlled pressure regulating actuator (21) according to the approximate weight value of the object supported by the support and vibration damping device measured by the force measuring element. The preset pressure value is compared with the pressure value of the liquid flow in the hydraulic cylinder (7) loaded on the slide valve (15) and the slide valve (15) is controlled to move left and right, thereby controlling the damping of the two damping valves.

[0036] The function of the pressure regulating actuator is to adjust the preset force value of the pressure regulating spring (19).

[0037] Option 9. Figure 5) The support damping device as described in scheme 3 is characterized in that: the force measuring element is mainly composed of an auxiliary liquid-gas energy accumulator (23); the control port (18) is not communicated with the valve port (10) or communicated with the valve port (10) through a damping hole (27); the auxiliary liquid-gas energy accumulator (23) is connected to the control port (18), the pressure of the auxiliary liquid-gas energy accumulator (23) acting on the spool valve (15) is compared with the pressure of the hydraulic cylinder of the valve port (10) acting on the spool valve (15), and the spool valve (15) is pushed to move left and right, so as to control the damping of the two damping valves.

[0038] Scheme 10. A vehicle, such as a two-wheeled, three-wheeled or multi-wheeled vehicle, characterized in that one or more of the support damping devices described in the preceding schemes 1-9 are adopted.

[0039] Advantages of the present application

[0040] I. The damping of the liquid-gas support damping device can be automatically adjusted according to the road conditions during the driving process of the vehicle, and has the function of adaptive damping.

[0041] II. The liquid-gas support damping device has higher reliability, lower cost, better damping effect and stronger adaptability.

[0042] III. Compared with the active support damping device, the structure is simpler, and has the function of active damping control. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 . Schematic diagram of a magneto-rheological liquid-gas support damping device

[0044] Figure 2 . Schematic diagram of an electromagnetic proportional valve control type liquid-gas support damping device

[0045] Figure 3 . Schematic diagram of a spring preset control type liquid-gas support damping device

[0046] Figure 4 . Schematic diagram of an electrically controlled automatic control type liquid-gas support damping device

[0047] Figure 5 . Schematic diagram of a liquid-gas energy accumulator control type liquid-gas support damping device

[0048] Figure number Name:

[0049] 1- Control assembly 2- Control signal line 3- Sensor signal line

[0050] 4- Main liquid-gas energy accumulator 5- Main liquid-gas energy accumulator interface 6- Liquid outlet oil way

[0051] 7- Hydraulic cylinder 8- Force sensor 9- Liquid inlet oil way

[0052] 10- valve port 11- valve block 12- outlet check valve

[0053] 13- outlet valve port 14- inlet valve port

[0054] 15- spool valve 16- inlet check valve 17- proportional solenoid

[0055] 18- control port 19- pressure regulating spring 20- pressure regulating bolt

[0056] 21- electrically controlled pressure regulating actuator 22- pressure regulating actuator block

[0057] 23- auxiliary hydraulic and pneumatic accumulator 24- outlet magneto-rheological damper valve

[0058] 25- inlet magneto-rheological damper valve 26- pressure sensor 27- damping hole DETAILED DESCRIPTION

[0059] Preferred Solution 1: as Figure 1 Schematic diagram of magneto-rheological hydraulic and pneumatic support and vibration reduction device

[0060] The support and vibration reduction device comprises a main hydraulic and pneumatic accumulator (4), a hydraulic cylinder (7), an inlet check valve (16), an outlet check valve (12), an outlet magneto-rheological damper valve (24), an inlet magneto-rheological damper valve (25), a pressure sensor (26), a control assembly (1), etc. The inlet oil passage with the inlet magneto-rheological damper valve (25) and the inlet check valve (16) and the outlet oil passage with the outlet check valve (12) and the outlet magneto-rheological damper valve (24) are connected in parallel between the main hydraulic and pneumatic accumulator (4) and the hydraulic cylinder (7). The pressure sensor (26) is connected to the oil passage of the hydraulic cylinder (7) to measure the hydraulic pressure value in the hydraulic cylinder (7).

[0061] Working principle:

[0062] The control assembly (1) calculates the real-time pressure value and the average pressure value per unit time according to the pressure value measured by the pressure sensor (26), and compares the average pressure value per unit time with the target pressure value of the vibration reduction device. When the real-time pressure value of the pressure sensor (26) is greater than the target force value, the control assembly (1) outputs a control signal to increase the damping value of the inlet magneto-rheological damper valve (25) on the inlet oil passage (9) of the hydraulic cylinder (7), while reducing the damping value of the outlet magneto-rheological damper valve (24) on the outlet oil passage of the hydraulic cylinder (7).

[0063] When the real-time pressure value of the sensor is less than the target force value, the control assembly (1) outputs a control signal to reduce the damping value of the inlet magneto-rheological damper valve (25) on the inlet oil passage (9) of the hydraulic cylinder (7), while increasing the damping value of the outlet magneto-rheological damper valve (24) on the outlet oil passage of the hydraulic cylinder (7).

[0064] Preferred solution 2: as Figure 2 Schematic diagram of electromagnetic proportional valve control type liquid gas support damping device:

[0065] The support damping device includes two damping valves mainly composed of valve block (11) and spool valve (15), force measuring element mainly composed of force sensor (8), control assembly mainly composed of control assembly (1), inlet check valve (16) and outlet check valve (12) integrated on valve block (11), and proportional electromagnet (17) etc. The main liquid gas energy accumulator (4) is communicated with the inlet valve port (14) and outlet valve port (13) of the spool valve (15) through the inlet check valve (16) and the outlet check valve (12) respectively, and then connected to the hydraulic cylinder (7) through the valve port (10), the control port (18) is communicated with the valve port (10), and the spool valve (15) is controlled to move left and right by the proportional electromagnet (17).

[0066] Working principle:

[0067] The control assembly (1) calculates the real-time support force value and the average support force value per unit time according to the support force value measured by the force sensor (8), and compares the average support force value per unit time with the target support force value of the damping device, when the real-time support force value of the force sensor is greater than the target force value, then the control assembly (1) outputs control signal to control the proportional electromagnet (17) to move left, thereby driving the spool valve (15) to move left, so that the damping value of the damping valve on the inlet oil way (9) of the hydraulic cylinder (7) increases, and the damping value on the outlet oil way (6) of the hydraulic cylinder (7) decreases.

[0068] When the real-time support force value of the force sensor is less than the target force value, then the control assembly (1) outputs control signal to control the proportional electromagnet (17) to move right, thereby driving the spool valve (15) to move right, so that the damping value of the damping valve on the inlet oil way (9) of the hydraulic cylinder (7) decreases, and the damping value on the outlet oil way (6) of the hydraulic cylinder (7) increases.

[0069] Preferred solution 3: as Figure 3 Schematic diagram of spring preset control type liquid gas support damping device:

[0070] The support damping device comprises a damping valve mainly composed of a valve block (11) and a spool valve (15), an inlet check valve (16) and an outlet check valve (12) integrated on the valve block (11), a force measuring element mainly composed of a pressure regulating spring (19), and a control assembly mainly composed of the pressure regulating spring (19) and the spool valve (15). The main liquid-gas energy accumulator (4) is communicated with the inlet valve port (14) and the outlet valve port (13) of the spool valve (15) through the inlet check valve (16) and the outlet check valve (12), and then connected to the hydraulic cylinder (7) through the valve port (10). The control port (18) is not communicated with the valve port (10), and the control port is provided with the pressure regulating spring (19). The force of the pressure regulating spring (19) directly acts on the spool valve (15).

[0071] Working principle:

[0072] When the pressure of the valve port (10) is lower than the set force value of the pressure regulating spring (19), the spool valve (15) moves rightward. The liquid flow resistance from the main liquid-gas energy accumulator (4) to the hydraulic cylinder (7) is reduced, and the liquid flow damping from the hydraulic cylinder (7) to the main liquid-gas energy accumulator (4) is increased.

[0073] When the pressure of the valve port (10) is higher than the set force value of the pressure regulating spring (19), the spool valve (15) moves leftward. The liquid flow resistance from the main liquid-gas energy accumulator (4) to the hydraulic cylinder (7) is increased, and the liquid flow damping from the hydraulic cylinder (7) to the main liquid-gas energy accumulator (4) is reduced.

[0074] Preferred solution 4: as Figure 4 Schematic diagram of the electrically controlled automatic control type liquid-gas support damping device

[0075] The support damping device comprises a damping valve mainly composed of a valve block (11) and a spool valve (15), an inlet check valve (16) and an outlet check valve (12) integrated on the valve block (11), a control assembly mainly composed of a control assembly (1), an electrically controlled pressure regulating execution device (21), a force measuring sensor (8), and a force measuring element composed of a pressure regulating spring (19); and the main liquid-gas energy accumulator (4) is communicated with the inlet valve port (14) and the outlet valve port (13) of the spool valve (15) through the inlet check valve (16) and the outlet check valve (12), and then connected to the hydraulic cylinder (7) through the valve port (10). The control port (18) is not communicated with the valve port (10), and the control port is provided with the pressure regulating spring (19). The force of the pressure regulating spring (19) directly acts on the spool valve (15). The control assembly controls the electrically controlled pressure regulating execution device (21) to adjust the preset pressure value of the pressure regulating spring (19) according to the approximate gravity value of the object supported by the support damping device measured by the force measuring element. The preset pressure value is compared with the pressure value of the liquid flow in the hydraulic cylinder (7) loaded on the spool valve (15), and the spool valve (15) moves leftward or rightward.

[0076] Working principle:

[0077] When the pressure of the valve port (10) is lower than the set force value of the pressure regulating spring (19), the spool valve (15) moves right, the liquid flow resistance from the main liquid gas accumulator (4) to the hydraulic cylinder (7) decreases, and the liquid flow damping from the hydraulic cylinder (7) to the main liquid gas accumulator (4) increases.

[0078] When the pressure of the valve port (10) is higher than the set force value of the pressure regulating spring (19), the spool valve (15) moves left, the liquid flow resistance from the main liquid gas accumulator (4) to the hydraulic cylinder (7) increases, and the liquid flow damping from the hydraulic cylinder (7) to the main liquid gas accumulator (4) decreases.

[0079] The function of the pressure regulating executing device (21) is to adjust the preset force value of the pressure regulating spring (19).

[0080] Preferred solution 5: as Figure 5 Schematic diagram of the liquid gas accumulator controlled liquid gas support vibration reduction device

[0081] The support vibration reduction device comprises a damping valve mainly composed of a valve block (11) and a spool valve (15), and the inlet liquid check valve (16) and the outlet liquid check valve (12) are integrated on the valve block (11); characterized in that the main liquid gas accumulator (4) communicates with the inlet valve port (14) and the outlet valve port (13) of the spool valve (15) through the inlet liquid check valve (16) and the outlet liquid check valve (12) respectively, and then is connected to the hydraulic cylinder (7) through the valve port (10), the control port (18) communicates with the valve port (10) through the damping hole (27), and the auxiliary liquid gas accumulator (23) is connected to the control port (18), and the hydraulic pressure in the auxiliary liquid gas accumulator (23) is close to the average pressure value in the hydraulic cylinder (7) due to the effect of the damping hole (27).

[0082] When the vibration reducer works, the pressure of the auxiliary liquid gas accumulator (23) loaded on the spool valve (15) is compared with the pressure of the valve port (10) loaded on the spool valve (15), when the pressure of the valve port (10) is higher than the pressure value of the pressure regulating auxiliary liquid gas accumulator (23), the spool valve (15) moves left, the liquid flow damping from the main liquid gas accumulator (4) to the hydraulic cylinder (7) increases, and the liquid flow damping from the hydraulic cylinder (7) to the main liquid gas accumulator (4) decreases, when the pressure of the valve port (10) is lower than the pressure value of the pressure regulating auxiliary liquid gas accumulator (23), the spool valve (15) moves right, the liquid flow damping from the main liquid gas accumulator (4) to the hydraulic cylinder (7) decreases, and the liquid flow damping from the hydraulic cylinder (7) to the main liquid gas accumulator (4) increases.

Claims

1. A damping control method of a hydro-pneumatic support damping device, the hydro-pneumatic support damping device comprising: a main hydro-pneumatic accumulator (4), a hydraulic cylinder (7), an inlet one-way valve (12), an outlet one-way valve (16), an adjustable damping valve, a force measuring element, and a control assembly; characterized in that: an oil path with the adjustable damping valve and the inlet one-way valve (16) constitutes an inlet oil path, and an oil path with the adjustable damping valve and the outlet one-way valve (12) constitutes an outlet oil path are connected in parallel between the hydraulic cylinder (7) and the main hydro-pneumatic accumulator (4); and the damping control method is that: the force measuring element measures a real-time support force value of the hydro-pneumatic support damping device, the control assembly compares the real-time support force value with a gravity of an object supported by the hydro-pneumatic support damping device, and then controls the damping of the two adjustable damping valves through mechanical or hydraulic or electric control according to the comparison result, so as to adjust the support force value of the hydro-pneumatic support damping device, and make the support force value of the hydro-pneumatic support damping device equal to or close to the gravity of the object supported by the hydro-pneumatic support damping device, and the method is that: when the real-time support force value is greater than the gravity of the object supported by the hydro-pneumatic support damping device, the damping value of the damping valve on the inlet oil path (9) of the hydraulic cylinder (7) is increased, and the damping value of the damper on the outlet oil path (6) of the hydraulic cylinder (7) is decreased; and when the real-time support force value is less than the gravity of the object supported by the hydro-pneumatic support damping device, the damping value of the damping valve on the inlet oil path (9) of the hydraulic cylinder (7) is decreased, and the damping value of the damper on the outlet oil path (6) of the hydraulic cylinder (7) is increased.

2. The damping control method of the hydro-pneumatic support damping device according to claim 1, characterized in that: the control assembly calculates an average support force value measured by the force measuring element in a unit time according to the real-time measurement value of the force measuring element, and takes the average support force value as the gravity of the object supported by the hydro-pneumatic support damping device.

3. The damping control method of the hydro-pneumatic support damping device according to claim 1, characterized in that: the damping valve on the inlet oil path and the damping valve on the outlet oil path are integrated on a valve assembly; the valve block (11) of the valve assembly and the slide valve (15) constitute left and right damping valves, which are respectively an inlet oil path damping valve and an outlet oil path damping valve; the left and right sides of the slide valve (15) are respectively provided with a control port (18) connected with the control assembly and a valve port (10) connected with the hydraulic cylinder (7); the valve port (10) is communicated with the valve port of the inlet oil path damping valve and the valve port of the outlet oil path damping valve; the valve block is provided with an inlet valve port (14) of the inlet oil path damping valve and an outlet valve port (13) of the outlet oil path damping valve; the inlet valve port (14) of the inlet oil path damping valve is connected with the inlet one-way valve (16) on the inlet oil path, and the outlet valve port (13) of the outlet oil path damping valve is connected with the outlet one-way valve (12) on the outlet oil path, so as to connect the inlet oil path and the outlet oil path with the main hydro-pneumatic accumulator (4); the inlet one-way valve (16) and the outlet one-way valve (12) are integrated on the valve assembly or externally connected to the valve assembly; and the control assembly controls the slide valve (15) to move left and right through the control port (18), so as to control the damping of the damping valve. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 4. The damping control method of a liquid-gas support damping device according to claim 1, wherein the liquid-gas support damping device is an electrically controlled liquid-gas support damping device, and wherein: the force measuring element is mainly composed of a force sensor (8); the damping valve is mainly composed of two electrically controlled dampers connected in series with the liquid inlet check valve (16) and the liquid outlet check valve (12), respectively; and the control assembly calculates the gravity value of the supported object based on the measured value of the force measuring element, compares the real-time measured value of the force measuring element with the gravity value of the supported object, and controls the damping values of the electrically controlled dampers based on the comparison result.

5. The damping control method of a liquid-gas support damping device according to claim 1, wherein the liquid-gas support damping device is a magneto-rheological liquid-gas support damping device, and wherein: the hydraulic medium is magneto-rheological fluid; the force measuring element is mainly composed of a force sensor (8); the damping valve is mainly composed of a liquid outlet magneto-rheological damping valve (24) and a liquid inlet magneto-rheological damping valve (25); and the control assembly (1) calculates the gravity value of the supported object based on the measured value of the force measuring element, compares the real-time measured value of the force measuring element with the gravity value of the supported object, and controls the damping values of the liquid outlet magneto-rheological damping valve (24) and the liquid inlet magneto-rheological damping valve (25) based on the comparison result.

6. The damping control method of a liquid-gas support damping device according to claim 3, wherein: the force measuring element is mainly composed of an auxiliary liquid-gas energy accumulator (23); the control port (18) is not communicated with the valve port (10) or is communicated with the valve port (10) through a damping hole; the auxiliary liquid-gas energy accumulator (23) is connected to the control port (18); the pressure of the auxiliary liquid-gas energy accumulator (23) acting on the spool valve (15) is compared with the pressure of the hydraulic cylinder (7) of the valve port (10) acting on the spool valve (15), and the spool valve (15) is pushed to move leftward or rightward, so as to control the damping values of the two dampers. The damping control method of a liquid-gas support damping device according to any one of claims 1 to 6 is adopted. ​ ​ ​ ​ 7. A vehicle characterized by ​

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