A method, device, computer device and medium for controlling ceiling damping

Abstract

An embodiment of the present invention discloses a control method, device, computer device and medium for skyhook damping. The control method for skyhook damping includes: obtaining a speed signal, an acceleration signal and a vehicle body height signal; determining the requirements of shock absorbers at different positions according to the speed signal and the acceleration signal; determining the damping force information required for shock absorbers at different positions according to the requirements of the shock absorbers; and determining the current required for shock absorbers at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information and the current required for the shock absorbers. By using the control method provided by the embodiment of the present invention, the damping force information and the required current for shock absorbers at different positions can be further determined through the obtained speed signal, acceleration signal and vehicle body height signal, etc., providing a multi-dimensional control method and improving the accuracy of skyhook damping control.

Description

Technical Field

[0001] The present invention relates to the technical field of shock absorbers, and in particular to a control method, device, computer device and medium for skyhook damping. Background Art

[0002] At present, most of the main skyhook damping control systems are based on vehicle models, and the required damping force of the shock absorber is obtained according to algorithms such as neural networks and fuzzy control. That is, this control strategy is based on a relatively accurate vehicle model, but in fact, it is very difficult to abstract the complex system of the whole vehicle and road surface into a model that can accurately reflect the interaction characteristics of the whole vehicle and the road surface. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a control method, device, computer device and medium for skyhook damping, which are used to provide a multi-dimensional control method and improve the accuracy of skyhook damping control.

[0004] In a first aspect, a control method for skyhook damping provided by an embodiment of the present invention includes:

[0005] Obtain a speed signal, an acceleration signal and a vehicle body height signal;

[0006] Determine the requirements of shock absorbers at different positions according to the speed signal and the acceleration signal;

[0007] Determine the damping force information required for the shock absorbers at different positions according to the requirements of the shock absorbers;

[0008] Determine the current required for the shock absorbers at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information and the current required for the shock absorbers.

[0009] In a second aspect, a control device for skyhook damping provided by an embodiment of the present invention includes:

[0010] A signal acquisition module, configured to acquire a speed signal, an acceleration signal and a vehicle body height signal;

[0011] A shock absorber requirement determination module, configured to determine the requirements of shock absorbers at different positions according to the speed signal and the acceleration signal;

[0012] A damping force distribution module, configured to determine the damping force information required for the shock absorbers at different positions according to the requirements of the shock absorbers;

[0013] A current determination module, configured to determine the current required for the shock absorbers at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information and the current required for the shock absorbers.

[0014] In a third aspect, a computer device provided by an embodiment of the present invention includes:

[0015] One or more processors;

[0016] A storage device for storing one or more programs,

[0017] When the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the ceiling damper as described in any one of the first aspects.

[0018] In a fourth aspect, a computer-readable storage medium provided by an embodiment of the present invention has a computer program stored thereon, and when the program is executed by a processor, it implements the control method of the ceiling damper as described in any one of the first aspects.

[0019] A control method of a ceiling damper provided by an embodiment of the present invention determines the requirements of shock absorbers at different positions through the acquired speed signal and acceleration signal, determines the damping force information required for shock absorbers at different positions according to the requirements of the shock absorbers, and finally determines the current required for shock absorbers at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information and the current required for the shock absorbers. That is, by acquiring multi-dimensional signals such as speed signals, acceleration signals and vehicle body height signals, a multi-dimensional control method is provided to improve the accuracy of ceiling damper control. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the introduced drawings are only the drawings of a part of the embodiments to be described by the present invention, rather than all the drawings. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0021] Figure 1 It is a flowchart of a control method of a ceiling damper provided in Embodiment 1 of the present invention;

[0022] Figure 2 It is a flowchart of a control method of a ceiling damper provided in Embodiment 2 of the present invention;

[0023] Figure 3 It is a flowchart of a control method of a ceiling damper provided in Embodiment 3 of the present invention;

[0024] Figure 4 It is a flowchart of a control method of a ceiling damper provided in Embodiment 4 of the present invention;

[0025] Figure 5Schematic diagram of a control device for ceiling damping provided in Embodiment 5 of the present invention;

[0026] Figure 6 Schematic diagram of a computer device provided in Embodiment 6 of the present invention. Detailed implementation manners

[0027] To make the objectives, technical solutions and advantages of the present invention clearer, the following will, with reference to the accompanying drawings in the embodiments of the present invention, completely describe the technical solutions of the present invention through specific implementation manners. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] Embodiment 1

[0029] Figure 1 Flowchart of a control method for ceiling damping provided in Embodiment 1 of the present invention. Refer to Figure 1 As shown, this embodiment is applicable to the situation of semi-active suspension ceiling damping control. This method can be executed by the control device for ceiling damping in the embodiments of the present invention, where the system can be implemented by software and / or hardware, and the system can be integrated in an automobile. The method specifically includes the following steps:

[0030] S110. Obtain speed signals, acceleration signals, and vehicle body height signals.

[0031] Specifically, a semi-active suspension refers to a controllable suspension system that senses road conditions and vehicle body posture through sensors and adjusts damping parameters to improve the ride comfort and stability of an automobile. Further, the ceiling damping control method is a control strategy. The existing ceiling damping control methods only perform constraint control on the vertical speed of the entire vehicle body, that is, the control dimension is single, and the accuracy and flexibility need to be improved. The ceiling damping control method provided in the embodiments of the present invention performs constraint control by obtaining various speed signals, acceleration signals, and vehicle body height signals, and among them, the various speed signals can include vertical speed signals, vehicle speed signals, roll angular speed signals, and pitch angular speed signals, etc. The embodiments of the present invention do not limit the specific types of signals.

[0032] Further, the speed signals can be obtained through speed sensors, the acceleration signals can be obtained through acceleration sensors, and the vehicle body height signals can be obtained through vehicle body height sensors.

[0033] S120. Determine the requirements of shock absorbers at different positions according to the speed signals and acceleration signals.

[0034] Specifically, the obtained speed signal and acceleration signal can be used as input signals and input into a signal processing module that can output requirements related to the shock absorber, so as to obtain the requirements of the shock absorber. Exemplarily, taking an automobile as an example, there are four shock absorbers located at different wheel positions of the automobile. By obtaining multiple speed signals, a part of the requirements of the shock absorbers at different positions can be determined. By obtaining the speed signal and the acceleration signal, a part of the requirements of the shock absorbers at different positions can be determined. In other words, by obtaining multi-dimensional signals, the requirements of the shock absorbers at different positions are determined to ensure the accuracy of the shock absorber requirements.

[0035] S130. Determine the damping force information required for the shock absorbers at different positions according to the requirements of the shock absorbers.

[0036] Specifically, according to the determined requirements of the shock absorbers at different positions, the damping force is allocated to the shock absorbers at different positions, that is, the magnitude of the damping force required for the shock absorbers at different positions is determined, namely the damping force information. Among them, damping refers to the physical phenomenon that an oscillating system or a vibrating system is blocked and the energy dissipates over time, that is, in the working process in a dynamic environment, due to external actions and / or inherent reasons of the system itself, the characteristic that the vibration amplitude gradually decreases, and the quantitative characterization of this characteristic.

[0037] S140. Determine the current required for the shock absorbers at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information and the current required for the shock absorber.

[0038] Furthermore, the correspondence between the vehicle body height signal, the damping force information and the current required for the shock absorber is pre-stored, which can be in the form of a table or other forms of charts. That is, through this correspondence, when the vehicle body height signal and the damping force information are obtained, the current required for the shock absorbers at different positions can be determined. This correspondence is relatively intuitive and easy to judge and determine the required current. The embodiments of the present invention do not specifically limit this. In other words, the vehicle body height signal can be obtained through a vehicle body height sensor, the damping force information is further determined through the determined requirements of the shock absorber, and the current required for the shock absorbers at different positions is determined through the vehicle body height signal and the damping force information, so as to realize the control of the skyhook damping.

[0039] In summary, a damping force control method provided by the embodiments of the present invention determines the requirements of the shock absorbers at different positions through the obtained speed signal and acceleration signal, determines the damping force information required for the shock absorbers at different positions according to the requirements of the shock absorbers, and finally determines the current required for the shock absorbers at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information and the current required for the shock absorber. That is, by obtaining multi-dimensional signals such as the speed signal, the acceleration signal and the vehicle body height signal, a multi-dimensional control method is provided to improve the accuracy of the skyhook damping control.

[0040] Embodiment 2

[0041] Figure 2 The following is a flowchart of a control method for ceiling damping provided by Embodiment 2 of the present invention. Refer to Figure 2 As shown, Embodiment 2 is refined on the basis of the above embodiment, specifically refining how to determine the requirements of shock absorbers at different positions. In this embodiment, the method specifically includes the following steps:

[0042] S210. Obtain speed signals, acceleration signals, and vehicle body height signals.

[0043] S220. Determine a two-dimensional calibration relationship according to the speed signal and / or acceleration signal.

[0044] Among them, the two-dimensional calibration relationship refers to obtaining two input signals and outputting an output signal in combination with the relationship between the input signals. The two-dimensional calibration relationship can be a two-dimensional calibration table, and the present invention embodiment does not specifically limit this. Exemplarily, a two-dimensional calibration relationship can be determined based on two different speed signals, and another two-dimensional calibration relationship can be determined based on one speed signal and one acceleration signal. Multiple output signals can be output based on different two-dimensional calibration relationships. That is, when inputting multi-dimensional signals, multiple two-dimensional calibration relationships are determined to ensure the integrity and accuracy of the output signals.

[0045] S230. Determine the requirements of shock absorbers at different positions according to the two-dimensional calibration relationship.

[0046] Specifically, after determining the two-dimensional calibration relationship, the requirements of shock absorbers at different positions can be output. Combining the determined multiple two-dimensional calibration relationships, the different requirements of shock absorbers at different positions can be determined, and the overall requirements of shock absorbers at different positions can be determined in combination with different requirements. That is, under the condition that multi-dimensional signals determine different two-dimensional calibration relationships, the requirements of shock absorbers at different positions can be obtained more completely.

[0047] S240. Determine the damping force information required for speed reducers at different positions according to the requirements of the shock absorbers.

[0048] S250. Determine the current required for speed reducers at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information, and the current required by the shock absorbers.

[0049] In summary, by obtaining different signals to determine different two-dimensional calibration relationships, and combining different two-dimensional calibration relationships to determine the requirements of shock absorbers at different positions, that is, when inputting multi-dimensional signals, multiple two-dimensional calibration relationships are determined to ensure the integrity and accuracy of the output signals. And under different two-dimensional calibration relationships, the requirements of shock absorbers at different positions can be obtained more completely.

[0050] Embodiment III

[0051] Figure 3 The figure is a flowchart of a control method for ceiling damping provided by Embodiment III of the present invention. Refer to Figure 3 As shown, Embodiment III is further refined on the basis of the above embodiment, specifically refining how to determine the different requirements of shock absorbers at different positions. In this embodiment, the method specifically includes the following steps:

[0052] S310. Obtain a speed signal, an acceleration signal, and a vehicle body height signal.

[0053] S320. Determine a vertical speed signal according to the vertical acceleration signal.

[0054] Among them, the acceleration signal includes a vertical acceleration signal. The vertical speed signal is determined by performing integral data processing on the obtained vertical acceleration signal. The vertical speed signal refers to the vertical motion state of the current vehicle body. Further, the obtained speed signal may include a vehicle speed signal. At the same time, the user can also perform adaptive adjustment of the signal based on their subjective feelings, and the present invention embodiment does not specifically limit this.

[0055] S330. Determine a first two-dimensional calibration relationship according to the vehicle speed signal and the vertical speed signal.

[0056] S340. Determine the vertical force requirements of shock absorbers at different positions according to the first two-dimensional calibration table.

[0057] Specifically, the obtained vehicle speed signal and vertical speed signal are used to determine the first two-dimensional calibration relationship. In other words, the obtained vertical speed signal is combined with the current vehicle speed signal to design a two-dimensional calibration relationship with the vertical speed of the vehicle body and the vehicle speed as inputs and the vertical force requirements of the shock absorber as the output, so as to expect to achieve reasonable requirements for the damping force of the shock absorber by the vehicle body at different vertical speeds and different speeds through calibration, and achieve smooth control of the vertical motion of the vehicle body.

[0058] S350. Determine a second two-dimensional calibration relationship according to the vehicle speed signal and the roll angular velocity signal.

[0059] Among them, the speed signal may include a vehicle speed signal and a roll angular velocity signal, and the roll angular velocity signal is used to characterize the lateral motion state of the current vehicle body.

[0060] S360. Determine the roll moment requirements of shock absorbers at different positions according to the second two-dimensional calibration relationship.

[0061] Specifically, combining the roll angular velocity signal with the current vehicle speed signal, a two-dimensional calibration relationship with the roll angular velocity of the vehicle body and the vehicle speed as inputs and the roll moment demand of the shock absorber as the output is designed, aiming to achieve the reasonable demand of the vehicle body for the damping force of the shock absorber at different roll angular velocities and different speeds of the vehicle body through calibration, and realize the smooth control of the lateral movement of the vehicle body.

[0062] S370. Determine the third two-dimensional calibration relationship according to the vehicle speed signal and the pitch angular velocity signal.

[0063] Among them, the speed signal may include the vehicle speed signal and the pitch angular velocity signal, and the pitch angular velocity signal is used to characterize the longitudinal motion state of the current vehicle body.

[0064] S380. Determine the pitch moment demand of the shock absorbers at different positions according to the third two-dimensional calibration relationship.

[0065] Specifically, combining the pitch angular velocity signal with the current vehicle speed signal, a two-dimensional calibration relationship with the pitch angular velocity of the vehicle body and the vehicle speed as inputs and the pitch moment demand of the shock absorber as the output is designed, aiming to achieve the reasonable demand of the vehicle body for the damping force of the shock absorber at different pitch angular velocities and different speeds of the vehicle body through calibration, and realize the smooth control of the longitudinal movement of the vehicle body.

[0066] S390. Determine the damping force information required by the speed reducers at different positions according to the requirements of the shock absorbers.

[0067] S3100. Determine the current required by the speed reducers at different positions according to the vehicle body height signal, the damping force information, and the corresponding relationship between the vehicle body height signal, the damping force information and the current required by the shock absorbers.

[0068] In summary, the skyhook damping control method provided by the present invention determines the first two-dimensional calibration relationship through the vehicle speed signal and the vertical speed signal, determines the second two-dimensional calibration relationship through the vehicle speed signal and the roll angular velocity signal, determines the third two-dimensional calibration relationship through the vehicle speed signal and the pitch angular velocity signal, and determines the vertical force demand of the shock absorbers at different positions based on the first two-dimensional calibration relationship, determines the roll moment demand of the shock absorbers at different positions based on the second two-dimensional calibration relationship, and then determines the pitch moment demand of the shock absorbers at different positions based on the third two-dimensional calibration relationship. That is, under multiple two-dimensional calibration relationships, the requirements of the shock absorbers at different positions are obtained more completely, and the acquisition of multi-dimensional signals is further realized, that is, the vehicle motion state is determined, and the better realization of the skyhook damping control of the determined damping force demand.

[0069] Embodiment 4

[0070] Figure 4 It is a flowchart of a method for controlling skyhook damping provided by Embodiment 4 of the present invention. Refer to Figure 4As shown in the figure, in the fourth embodiment, further refinement is carried out on the basis of the above embodiments, specifically refining how to determine the required damping force information and required current of shock absorbers at different positions. In this embodiment, the method specifically includes the following steps:

[0071] S410. Obtain speed signals, acceleration signals, and vehicle body height signals.

[0072] S420. Determine the requirements of shock absorbers at different positions according to the speed signals and acceleration signals.

[0073] S430. Determine the damping force information of the first connecting shaft and the damping force information of the second connecting shaft.

[0074] S440. Based on the damping force information of the first connecting shaft and the damping force information of the second connecting shaft, determine the damping force information of the first shock absorber, the damping force information of the second shock absorber, the damping force information of the third shock absorber, and the damping force information of the fourth shock absorber.

[0075] Specifically, the shock absorbers include a first shock absorber, a second shock absorber, a third shock absorber, and a fourth shock absorber; a first connecting shaft is included between the first shock absorber and the second shock absorber; a second connecting shaft is included between the third shock absorber and the fourth shock absorber. Exemplarily, the first shock absorber and the second shock absorber can be the shock absorbers on two front wheels of an automobile, and the first connecting shaft is the connecting shaft connecting the shock absorbers on the two front wheels; the third shock absorber and the fourth shock absorber can be the shock absorbers on two rear wheels of an automobile, and the second connecting shaft is the connecting shaft connecting the shock absorbers on the two rear wheels. The embodiments of the present invention do not specifically limit this.

[0076] Furthermore, to determine the requirements of shock absorbers at different positions through speed signals and acceleration signals, first, determine the damping force information of the first connecting shaft and the second connecting shaft, that is, determine the damping force requirements of the front and rear axles connecting the shock absorbers. Then, based on the damping force requirements of the first connecting shaft and the second connecting shaft, further allocate and determine the required damping force information of the shock absorbers at different positions. That is, determine the damping force information of the first shock absorber, the damping force information of the second shock absorber, the damping force information of the third shock absorber, and the damping force information of the fourth shock absorber. In other words, in the embodiments of the present invention, when determining the damping information, the criterion of first allocating the connecting shaft and then specifically allocating different shock absorbers can be based on, and the embodiments of the present invention do not specifically limit this.

[0077] S450. Determine the relative speed of the shock absorber according to the vehicle body height signal. The relative speed of the shock absorber includes the relative speed of the unsprung mass and the relative speed of the sprung mass.

[0078] Among them, the vehicle body height signal can be obtained through a height sensor, and the obtained vehicle body height signal is processed by derivative data to determine the relative speed of the shock absorber. Further, the relative speed of the shock absorber includes the relative speed of the unsprung mass and the relative speed of the sprung mass. The relative speed of the unsprung mass and the relative speed of the sprung mass essentially characterize the compression or stretching speed of the shock absorber, and are the processes of converting the vehicle speed signal into a unit.

[0079] S460. According to the relative speed of the shock absorber, the damping force information, and the corresponding relationship between the relative speed of the shock absorber, the damping force information, and the current required by the shock absorber, determine the current required by the speed reducers at different positions.

[0080] Specifically, pre-store the corresponding relationship between the relative speed of the shock absorber, the damping force information, and the current required by the shock absorber. That is, through this corresponding relationship, when the relative speed and damping force information of the shock absorber are obtained, the current required by the shock absorbers at different positions can be determined.

[0081] Generally speaking, the skyhook damping control method provided by the embodiments of the present invention can determine the damping force requirements of different speed reducers according to multi-dimensional signals, and then obtain the current requirements based on the corresponding relationships between the currently determined relative speed of the sprung mass, the relative speed of the unsprung mass, and the damping force requirements. The overall process is relatively reasonable and easy to implement.

[0082] Embodiment Five

[0083] Figure 5 FIG. 16 is a schematic structural diagram of a skyhook damping control device provided by Embodiment Five of the present invention. This device can be applied to products with skyhook damping control functions, and this device can be implemented by software and / or hardware.

[0084] As Figure 5 shown, the skyhook damping control device 10 includes: a signal acquisition module 100, a shock absorber demand determination module 200, a damping force distribution module 300, and a current determination module 400.

[0085] Among them, the signal acquisition module 100 is used to acquire speed signals, acceleration signals, and vehicle body height signals.

[0086] The shock absorber demand determination module 200 is used to determine the demands of shock absorbers at different positions according to speed signals and acceleration signals.

[0087] The damping force distribution module 300 is used to determine the damping force information required by shock absorbers at different positions according to the demands of the shock absorbers.

[0088] The current determination module 400 is configured to determine the current required for shock absorbers at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information, and the current required for the shock absorbers.

[0089] The skyhook damping control device provided by the embodiment of the present invention includes a signal acquisition module for acquiring a speed signal, an acceleration signal, and a vehicle body height signal; a demand determination module for shock absorbers, configured to determine the demands of shock absorbers at different positions according to the speed signal and the acceleration signal; a damping force distribution module for determining the damping force information required for shock absorbers at different positions according to the demands of the shock absorbers; and a current determination module for determining the current required for shock absorbers at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information, and the current required for the shock absorbers. That is, by acquiring the speed signal, the acceleration signal, the vehicle body height signal, etc., the damping force information and the current required for shock absorbers at different positions are further determined, providing a multi-dimensional control method to improve the accuracy of skyhook damping control.

[0090] Embodiment Six

[0091] Figure 6 is a schematic structural diagram of a computer device provided by Embodiment Six of the present invention. As Figure 6 shown, the computing device provided by the embodiment of the present invention includes one or more processors 41 and a storage device 42; the processor 41 in the device can be one or more, Figure 6 and one processor 41 is taken as an example here; the storage device 42 is used to store one or more programs; the one or more programs are executed by one or more processors 41, so that the one or more processors 41 implement the skyhook damping control method as described in any one of the embodiments of the present invention.

[0092] The processor 41, the storage device 42, the input device 43, and the output device 44 in the device can be connected through a bus or other means. Figure 6 Taking the connection through the bus as an example here.

[0093] The storage device 42 in the device, as a computer-readable storage medium, can be used to store one or more programs. The programs can be software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the control method provided by the embodiment of the present invention (for example, the skyhook damping control device 10 shown in the appendix Figure 5 includes: a signal acquisition module 100, a demand determination module 200 for shock absorbers, a damping force distribution module 300, and a current determination module 400). The processor 41 executes various functional applications and data processing of the terminal device by running the software programs, instructions, and modules stored in the storage device 42, that is, implements the skyhook damping control method in the above method embodiments.

[0094] The storage device 42 may include a program storage area and a data storage area. The program storage area may store an operating system and application programs required for at least one function. The data storage area may store data created according to the use of the device and the like. In addition, the storage device 42 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the storage device 42 may further include a memory remotely provided with respect to the processor 41, and these remote memories may be connected to the device through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0095] The input device 43 may be used to receive input digital or character information, and generate key signal inputs related to user settings and function controls of the device. The output device 44 may include display devices such as a display screen.

[0096] Moreover, when one or more programs included in the above device are executed by one or more processors 41, the programs perform the following operations: obtaining a speed signal, an acceleration signal, and a vehicle body height signal; determining the requirements of shock absorbers at different positions according to the speed signal and the acceleration signal; determining the damping force information required for shock absorbers at different positions according to the requirements of the shock absorbers; and determining the current required for shock absorbers at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information, and the current required for the shock absorbers.

[0097] Embodiment Seven

[0098] Embodiment Seven of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it is used to execute a control method for skyhook damping. The method includes: obtaining a speed signal, an acceleration signal, and a vehicle body height signal; determining the requirements of shock absorbers at different positions according to the speed signal and the acceleration signal; determining the damping force information required for shock absorbers at different positions according to the requirements of the shock absorbers; and determining the current required for shock absorbers at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information, and the current required for the shock absorbers.

[0099] Optionally, when the program is executed by a processor, it may also be used to execute the control method for skyhook damping provided in any embodiment of the present invention.

[0100] The computer storage medium of the embodiments of the present invention may adopt any combination of one or more computer-readable media. The computer-readable media may be computer-readable signal media or computer-readable storage media. The computer-readable storage media may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the above. The computer-readable storage media may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0101] The computer-readable signal media may include data signals propagated in a baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take various forms, including but not limited to: electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal media may also be any computer-readable media other than the computer-readable storage media, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0102] The program code contained on the computer-readable media may be transmitted by any appropriate medium, including but not limited to: wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the above.

[0103] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., by connecting through the Internet using an Internet service provider).

[0104] Note that the above is only a preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, combinations with each other, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments may be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method for ceiling damping, applied to a semi-active suspension, characterized in that Including: Obtaining a speed signal, an acceleration signal, and a vehicle body height signal; Determining the requirements of shock absorbers at different positions according to the speed signal and the acceleration signal; Determining the damping force information required for the shock absorbers at different positions according to the requirements of the shock absorbers; Determining the current required for the shock absorbers at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information, and the current required for the shock absorbers; Determining the requirements of shock absorbers at different positions according to the speed signal and the acceleration signal, including: Determining a two-dimensional calibration relationship according to the speed signal and / or the acceleration signal; Determining the requirements of the shock absorbers at different positions according to the two-dimensional calibration relationship; The two-dimensional calibration relationship includes: obtaining two input signals and outputting an output signal in combination with the relationship between the input signals; The speed signal includes a vehicle speed signal, and the acceleration signal includes a vertical acceleration signal; Determining a two-dimensional calibration relationship according to the speed signal and / or the acceleration signal, including: Determining a vertical speed signal according to the vertical acceleration signal; Determining a first two-dimensional calibration relationship according to the vehicle speed signal and the vertical speed signal; Determining the requirements of the shock absorbers at different positions according to the two-dimensional calibration relationship, including: Determining the vertical force requirements of the shock absorbers at different positions according to the first two-dimensional calibration table; The speed signal includes a vehicle speed signal and a roll angular velocity signal; Determining a two-dimensional calibration relationship according to the speed signal, including: Determining a second two-dimensional calibration relationship according to the vehicle speed signal and the roll angular velocity signal; Determining the requirements of shock absorbers at different positions according to the two-dimensional calibration relationship, including: Determining the roll moment requirements of the shock absorbers at different positions according to the second two-dimensional calibration relationship; The speed signal includes a vehicle speed signal and a pitch angular velocity signal; Determining a two-dimensional calibration relationship according to the speed signal, including: Determining a third two-dimensional calibration relationship according to the vehicle speed signal and the pitch angular velocity signal; Determining the requirements of shock absorbers at different positions according to the two-dimensional calibration relationship, including: Determining the pitch moment requirements of the shock absorbers at different positions according to the third two-dimensional calibration relationship.

2. The control method according to claim 1, characterized in that Determining the required current of the shock absorbers at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information, and the current required for the shock absorbers, including: Determining the relative speed of the shock absorber according to the vehicle body height signal, and the relative speed of the shock absorber includes the relative speed of the unsprung mass and the relative speed of the sprung mass; Determining the current required for the shock absorbers at different positions according to the relative speed of the shock absorber, the damping force information, and the correspondence between the relative speed of the shock absorber, the damping force information, and the current required for the shock absorbers.

3. The control method according to claim 1, characterized in that The shock absorbers include a first shock absorber, a second shock absorber, a third shock absorber, and a fourth shock absorber; A first connecting shaft is included between the first shock absorber and the second shock absorber; A second connecting shaft is included between the third shock absorber and the fourth shock absorber; Based on the requirements of the shock absorber, determine the damping force information required for the shock absorber at different positions, including: Determine the damping force information of the first connecting shaft and the damping force information of the second connecting shaft; Based on the damping force information of the first connecting shaft and the damping force information of the second connecting shaft, determine the damping force information of the first shock absorber, the damping force information of the second shock absorber, the damping force information of the third shock absorber, and the damping force information of the fourth shock absorber.

4. A control device for ceiling damping, characterized in that, Including: A signal acquisition module for acquiring speed signals, acceleration signals, and vehicle body height signals; A shock absorber requirement determination module for determining the requirements of shock absorbers at different positions according to the speed signal and the acceleration signal; A damping force distribution module for determining the damping force information required for the shock absorber at different positions according to the requirements of the shock absorber; A current determination module for determining the current required for the shock absorber at different positions according to the vehicle body height signal, the damping force information, and the correspondence between the vehicle body height signal, the damping force information, and the current required for the shock absorber; The speed signal includes a vehicle speed signal, a roll angular velocity signal, and a pitch angular velocity signal, and the acceleration signal includes a vertical acceleration signal; The shock absorber requirement determination module is configured to determine a vertical speed signal according to the vertical acceleration signal, determine a first two-dimensional calibration relationship according to the vehicle speed signal and the vertical speed signal, and determine the vertical force requirement of the shock absorber at different positions according to the first two-dimensional calibration table; Determine a second two-dimensional calibration relationship according to the vehicle speed signal and the roll angular velocity signal, and determine the roll moment requirement of the shock absorber at different positions according to the second two-dimensional calibration relationship; Determine a third two-dimensional calibration relationship according to the vehicle speed signal and the pitch angular velocity signal; determine the pitch moment requirement of the shock absorber at different positions according to the third two-dimensional calibration relationship.

5. A computer device, characterized in that, The computer device includes: One or more processors; A storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the control method of skyhook damping as described in any one of claims 1-3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the control method of skyhook damping as described in any one of claims 1-3.

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