Magnetic levitation device, levitation control method of magnetic levitation device, vehicle and storage medium

Abstract

This invention discloses a vehicle-mounted magnetic levitation device, a levitation control method for the vehicle-mounted magnetic levitation device, and a vehicle. The vehicle-mounted magnetic levitation device includes: a levitation base, which includes a control levitation magnet; a levitation element, disposed above the levitation base, which contains a permanent magnet, a gyroscope, and a displacement sensor. The displacement sensor detects the tendency of the levitation element to deviate relative to the levitation base, and the gyroscope detects the angle of deviation of the levitation element relative to the levitation base; and a levitation controller, which is electrically connected to the gyroscope, displacement sensor, and control levitation magnet. Therefore, by electrically connecting the gyroscope, displacement sensor, and control levitation magnet to the levitation controller, the levitation controller can adjust the magnetic force of the control levitation magnet in real time based on the data detected by the gyroscope and displacement sensor, thereby making the levitation element more stable and improving the user experience when using the levitation device in the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a magnetic suspension device, a suspension control method of the magnetic suspension device, a vehicle and a storage medium. BACKGROUND

[0002] With the development of science and technology, people have higher and higher requirements for the intelligence, interaction mode and in-vehicle technology of vehicles, and the application of magnetic suspension technology in vehicles is gradually emerging. Various products integrating senses and functions, such as magnetic suspension sound boxes and magnetic suspension interactive balls, are gradually emerging.

[0003] In the related art, the magnetic suspension products applied in vehicles cannot realize automatic suspension without auxiliary mechanisms, and cannot maintain the stability of suspension under complex operating conditions of vehicles, resulting in poor user experience. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a vehicle-mounted magnetic suspension device which can realize automatic suspension and has good suspension stability.

[0005] The present application further provides a suspension control method of the vehicle-mounted magnetic suspension device.

[0006] The present application further provides a vehicle.

[0007] The present application further provides a computer-readable storage medium.

[0008] The vehicle-mounted magnetic suspension device according to the embodiments of the present application comprises: a suspension base comprising a control suspension magnet; a suspension member arranged above the suspension base, wherein a permanent magnet, a gyroscope and a displacement sensor are arranged in the suspension member, the control suspension magnet drives the permanent magnet to suspend upward, the displacement sensor is used to detect the offset trend of the suspension member relative to the suspension base, and the gyroscope is used to detect the offset angle of the suspension member relative to the suspension base; and a suspension controller, wherein the gyroscope, the displacement sensor and the control suspension magnet are electrically connected with the suspension controller.

[0009] Therefore, by electrically connecting the gyroscope, the displacement sensor and the control suspension magnet with the suspension controller, the suspension controller can adjust the magnetic force of the control suspension magnet in real time according to the data detected by the gyroscope and the displacement sensor, so as to make the suspension of the suspension member more stable, and further improve the use experience of the user when using the vehicle.

[0010] In some embodiments of the present application, the suspension controller comprises a data / signal receiving module, a data algorithm module, a power algorithm module, a control module and a sending module, which are electrically connected to each other, the data / signal receiving module is electrically connected to the gyroscope and the displacement sensor respectively, and the sending module is electrically connected to the control suspension magnet.

[0011] The suspension control method of the vehicle-mounted magnetic suspension device according to the embodiments of the present application is applied to the suspension controller and comprises the following steps: judging the state of the vehicle; when judging that the vehicle is in normal driving, receiving the vehicle driving state signal and the offset signal of the suspension member relative to the suspension base; calculating the energy required by the control suspension magnet to adjust the position of the suspension member according to the vehicle driving state signal and the offset signal of the suspension member relative to the suspension base, sending the signal of the energy required by the control suspension magnet to adjust the position of the suspension member to the control suspension magnet; and controlling the control suspension magnet to adjust the magnetic force of itself according to the signal of the energy required by the control suspension magnet to adjust the position of the suspension member until the suspension member is suspended to the correct position.

[0012] In some embodiments of the present application, the step of calculating the energy required by the control suspension magnet to adjust the position of the suspension member according to the vehicle driving state signal and the offset signal of the suspension member relative to the suspension base, and sending the signal of the energy required by the control suspension magnet to adjust the position of the suspension member to the control suspension magnet further comprises the following steps: calculating the offset trend and the offset angle of the suspension member according to the vehicle driving state signal and the offset signal of the suspension member relative to the suspension base; calculating the magnetic force size and the magnetic force adjustment area required by the control suspension magnet to adjust the position of the suspension member according to the offset trend and the offset angle of the suspension member; and calculating the energy required by the control suspension magnet to adjust the position of the suspension member according to the magnetic force size and the magnetic force adjustment area required by the control suspension magnet to adjust the position of the suspension member.

[0013] In some embodiments of the present application, the step of calculating the energy required by the control suspension magnet to adjust the position of the suspension member according to the vehicle driving state signal and the offset signal of the suspension member relative to the suspension base, and sending the signal of the energy required by the control suspension magnet to adjust the position of the suspension member to the control suspension magnet further comprises the following steps: judging whether the magnetic force adjustment area exceeds the controllable range; and controlling the control suspension magnet to adjust the magnetic force of itself until the suspension member is adsorbed to the suspension base if the magnetic force adjustment area exceeds the controllable range.

[0014] In some embodiments of the present application, in the steps of receiving the vehicle running state signal and receiving the offset signal of the levitation component relative to the levitation base when the vehicle is running normally, the vehicle running state signal comprises at least one of an engine speed signal, a vehicle speed signal, an accelerator pedal opening degree signal, and a steering angle signal, and the offset signal of the levitation component relative to the levitation base comprises at least one of a levitation component angle offset signal and a levitation component displacement offset signal.

[0015] In some embodiments of the present application, the step of judging the state of the vehicle comprises judging, when the vehicle power supply is turned on and the vehicle is stationary, receiving the offset signal of the levitation component relative to the levitation base.

[0016] In some embodiments of the present application, the step of receiving the offset signal of the levitation component relative to the levitation base when the vehicle power supply is turned on and the vehicle is stationary comprises identifying, according to the offset signal of the levitation component relative to the levitation base, a horizontal offset angle and a center of gravity offset position of the levitation component; calculating, according to the horizontal offset angle and the center of gravity offset position of the levitation component, a magnetic force size and a magnetic force adjustment region required for the control levitation magnet to drive the levitation component to levitate; and calculating, according to the magnetic force size and the magnetic force adjustment region required for the control levitation magnet to drive the levitation component to levitate, an energy required for the control levitation magnet to drive the levitation component to levitate.

[0017] In some embodiments of the present application, in the step of receiving, by the levitation controller, the offset signal of the levitation component relative to the levitation base when the vehicle power supply is turned on and the vehicle is stationary, the offset signal of the levitation component relative to the levitation base is an angle offset signal.

[0018] A vehicle according to an embodiment of the present application comprises a processor, a memory, and a levitation control program of a vehicle-mounted magnetic levitation device stored on the memory and executable on the processor, and the levitation control program of the vehicle-mounted magnetic levitation device, when executed by the processor, implements the levitation control method of the vehicle-mounted magnetic levitation device as described above.

[0019] A computer readable storage medium according to an embodiment of the present application, the computer readable storage medium storing a levitation control program of a vehicle-mounted magnetic levitation device, and the levitation control program of the vehicle-mounted magnetic levitation device, when executed by the processor, implements the levitation control method of the vehicle-mounted magnetic levitation device as described above.

[0020] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description, taken in conjunction with the following drawings of which:

[0022] Figure 1 is a schematic diagram of a vehicle magnetic levitation device according to an embodiment of the present application;

[0023] Figure 2 is a structural schematic diagram of a vehicle magnetic levitation device according to an embodiment of the present application;

[0024] Figure 3 is a flowchart of a levitation control method of a vehicle magnetic levitation device according to an embodiment of the present application;

[0025] Figure 4 is a flowchart of step S3 according to an embodiment of the present application;

[0026] Figure 5 is a flowchart of step S5 according to an embodiment of the present application.

[0027] Reference Signs:

[0028] 100, vehicle magnetic levitation device;

[0029] 10, levitation base; 11, control levitation magnet; 111, main control levitation magnet; 112, auxiliary control levitation magnet; 20, levitation member; 30, levitation controller. DETAILED DESCRIPTION

[0030] Embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary, and embodiments of the present application are described in detail below.

[0031] Reference is made below to Figures 1-5 A vehicle magnetic levitation device 100 according to an embodiment of the present application is described below, which can employ a control method of the vehicle magnetic levitation device 100, which can be applied to a vehicle.

[0032] In conjunction with Figure 1 and Figure 2 shown, the vehicle magnetic levitation device 100 according to an embodiment of the present application can mainly include a levitation base 10, a levitation member 20, and a levitation controller 30, wherein the levitation member 20 is disposed above the levitation base 10, the levitation base 10 can include a control levitation magnet 11, the levitation member 20 is provided with a permanent magnet, a gyroscope, and a displacement sensor, the control levitation magnet 11 drives the permanent magnet to levitate upward, the displacement sensor is used to detect a deviation tendency of the levitation member 20 relative to the levitation base 10, and the gyroscope is used to detect a deviation angle of the levitation member 20 relative to the levitation base 10; the gyroscope, the displacement sensor, and the control levitation magnet 11 are electrically connected to the levitation controller 30.

[0033] Specifically, the suspension 20 is arranged above the suspension base 10, the suspension base 10 can mainly include a control suspension magnet 11, the suspension 20 is provided with a permanent magnet, so that the control suspension magnet 11 drives the permanent magnet to suspend upward through the principle of magnetic repulsion between the permanent magnet and the control suspension magnet 11, so that the suspension 20 is suspended above the suspension base 10, thereby realizing the suspension function of the vehicle-mounted magnetic suspension device 100, improving the sense of technology and delicacy of the vehicle-mounted magnetic suspension device 100, and improving the user experience.

[0034] Among them, the control suspension magnet 11 can include a main control suspension magnet 111 and a plurality of auxiliary control suspension magnets 112, the plurality of auxiliary control suspension magnets 112 are circumferentially arranged outside the main control suspension magnet 111, the main control suspension magnet 111 has upward magnetic force on the permanent magnet, and the plurality of auxiliary control suspension magnets 112 have inclined upward magnetic force on the permanent magnet, so that the main control suspension magnet 111 and the auxiliary control suspension magnet 112 can jointly drive the suspension of the permanent magnet, which can further improve the stability of the suspension 20 suspended above the suspension base 10, prevent the suspension 20 from falling off from the suspension base 10 under external force, and further improve the reliability of the vehicle-mounted magnetic suspension device 100.

[0035] Further, although the vehicle-mounted magnetic suspension device 100 has a certain suspension stability, its suspension stability has high requirements for environmental stability, and different driving states of the vehicle, such as sudden acceleration / deceleration, steering, or driving on complex and bumpy roads, will affect the stability of the suspension 20 suspended above the suspension base 10, cause the suspension 20 to deviate, and even fall off from the suspension base 10. By further arranging a gyroscope and a displacement sensor in the suspension 20, the displacement sensor can detect the deviation trend of the suspension 20 relative to the suspension base 10, and the gyroscope can detect the deviation angle of the suspension 20 relative to the suspension base 10. By arranging a suspension controller 30, the gyroscope, the displacement sensor and the control suspension magnet 11 are electrically connected to the suspension controller 30, so that the detection data of the gyroscope and the displacement sensor can be transmitted to the suspension controller 30, and the suspension controller 30 can adjust the energy in the control suspension magnet 11 according to the detection data, so as to adjust the magnetic force of the control suspension magnet 11. Not only can the vehicle-mounted magnetic suspension device 100 realize automatic suspension, but also can adjust the magnetic force of the suspension base 10 in real time, improve the stability of the vehicle-mounted magnetic suspension device 100 during driving, avoid the suspension 20 from separating from the suspension base 10, improve the user experience, and improve the safety of the vehicle-mounted magnetic suspension device 100.

[0036] Therefore, by electrically connecting the gyroscope, the displacement sensor and the control levitation magnet 11 with the levitation controller 30, the levitation controller 30 can adjust the magnetic force of the control levitation magnet 11 in real time according to the data detected by the gyroscope and the displacement sensor, so that the levitation of the levitation member 20 is more stable, and the user's experience of using the vehicle can be improved.

[0037] In combination Figure 2 As shown in the figure, the levitation controller 30 can mainly include a data / signal receiving module, a data algorithm module, a power algorithm module, a control module and a sending module, and the data / signal receiving module, the data algorithm module, the power algorithm module, the control module and the sending module are electrically connected with each other. The data / signal receiving module is electrically connected with the gyroscope and the displacement sensor respectively, and the sending module is electrically connected with the control levitation magnet 11. Specifically, by connecting the data / signal receiving module, the data algorithm module, the power algorithm module, the control module and the sending module with each other, the data or signal can be transmitted to the sending module after being processed by the data / signal receiving module, the data algorithm module, the power algorithm module and the control module in turn, so as to realize the transmission of data or signal in the levitation controller 30 and ensure the normal work of the levitation controller 30.

[0038] Further, the data / signal receiving module is electrically connected with the gyroscope and the displacement sensor respectively, and the sending module is electrically connected with the control levitation magnet 11. In this way, first of all, the data / signal receiving module can receive the offset angle signal and the offset trend signal of the levitation member 20 relative to the levitation base 10 detected by the gyroscope and the displacement sensor under the premise of the vehicle running state signal. Then, the data algorithm module can identify and calculate the offset angle and the offset trend of the levitation member, the power algorithm module can calculate the energy signal required to respond to the offset, the control module can correspondingly identify and match the energy signal with the magnetic force adjustment size and the corresponding magnetic force adjustment area to generate a control command, and finally the sending module can transmit the generated control command to the levitation base 10, so as to adjust the magnetic force of the levitation base 10, realize the control and adjustment of the levitation controller 30 on the offset angle and the offset trend of the levitation member 20 relative to the levitation base 10, and make the control and adjustment of the levitation controller 30 on the offset angle and the offset trend of the levitation member 20 relative to the levitation base 10 more simple and reliable.

[0039] In combination Figure 2 As shown in the figure, the control method of the vehicle-mounted magnetic levitation device 100 according to the embodiment of the application can be applied to the levitation controller 30, and the control method can mainly include the following steps:

[0040] S1, judging the state of the vehicle;

[0041] S2, receiving a vehicle running state signal and a signal of the offset of the levitation member 20 relative to the levitation base 10 when it is determined that the vehicle is running normally;

[0042] S3, calculating the energy required for the levitation magnet 11 to adjust the position of the levitation member 20 according to the vehicle running state signal and the signal of the offset of the levitation member 20 relative to the levitation base 10, and sending a signal of the energy required for the levitation magnet 11 to adjust the position of the levitation member 20 to the levitation magnet 11;

[0043] S4, controlling the magnetic force of the levitation magnet 11 to adjust itself according to the signal of the energy required for the levitation magnet 11 to adjust the position of the levitation member 20, until the levitation member 20 is levitated to the correct position.

[0044] Specifically, to realize the levitation control of the vehicle-mounted magnetic levitation device 100, the levitation controller 30 needs to first determine the state of the vehicle and start different working modes according to the state of the vehicle. When the levitation controller 30 determines that the vehicle is running normally, considering the different running states of the vehicle and the running ground, the vehicle may sway or offset during normal running, and the levitation member 20 may offset or even separate from the levitation base 10. By making the data / signal receiving module of the levitation controller 30 receive a vehicle running state signal and a signal of the offset of the levitation member 20 relative to the levitation base 10, then making the data algorithm module and the power algorithm module of the levitation controller 30 calculate the energy required for the levitation magnet 11 to adjust the position of the levitation member 20, and sending the signal of the energy required for the levitation magnet 11 to adjust the position of the levitation member 20 to the levitation magnet 11 through the sending module, the magnetic force of the levitation magnet 11 can be adjusted according to the signal of the energy required for the levitation magnet 11 to adjust the position of the levitation member 20, and through continuous adjustment and feedback, the levitation member 20 is levitated to the correct position above the levitation base 10, so as to ensure the levitation stability of the levitation member 20 during the running of the vehicle. The energy required for the levitation magnet 11 to adjust the position of the levitation member 20 can be current.

[0045] Further, as shown in FIG. 1, Figure 4 S3 can include the following steps:

[0046] S3-1, calculating the offset trend and offset angle of the levitation member 20 according to the vehicle running state signal and the signal of the offset of the levitation member 20 relative to the levitation base 10;

[0047] S3-2, calculating the magnetic force size and magnetic force adjustment area required for the levitation magnet 11 to adjust the position of the levitation member 20 according to the offset trend and offset angle of the levitation member 20;

[0048] S3-3, according to the magnetic force size and the magnetic force adjustment area required for the control levitation magnet 11 to adjust the position of the levitation piece 20, the energy required for the control levitation magnet 11 to adjust the position of the levitation piece 20 is calculated.

[0049] Specifically, in the process of calculating the energy required for the control levitation magnet 11 to adjust the position of the levitation piece 20 according to the vehicle running state signal and the offset signal of the levitation piece 20 relative to the levitation base 10, and sending the signal of the energy required for the control levitation magnet 11 to adjust the position of the levitation piece 20 to the control levitation magnet 11, the received vehicle running state signal and the received offset signal of the levitation piece 20 relative to the levitation base 10 can be first identified and calculated by the data algorithm module of the levitation controller 30, and the offset trend and the offset angle of the levitation piece 20 relative to the levitation base 10 under the influence of the vehicle running state can be obtained. The magnetic force size and the magnetic force adjustment area required for the control levitation magnet 11 to adjust the position of the levitation piece 20 are calculated by the data algorithm module of the levitation controller 30, and then the received magnetic force size and the magnetic force adjustment area required for the control levitation magnet 11 to adjust the position of the levitation piece 20 are identified and calculated by the power algorithm module of the levitation controller 30, and the energy required for the control levitation magnet 11 to adjust the position of the levitation piece 20 is obtained. Therefore, the levitation controller 30 can accurately and efficiently calculate the energy required for the control levitation magnet 11 to adjust the position of the levitation piece 20 according to the vehicle running state signal and the offset signal of the levitation piece 20 relative to the levitation base 10, thereby ensuring the levitation control of the vehicle-mounted magnetic levitation device 100.

[0050] Further, in combination with Figure 4 As shown in the figure, S3 can further include the following steps:

[0051] S3-4, judge whether the magnetic force adjustment area exceeds the controllable range:

[0052] S3-5, if the magnetic force adjustment area exceeds the controllable range, control the control levitation magnet 11 to adjust its own magnetic force until the levitation piece 20 is adsorbed on the levitation base 10.

[0053] Specifically, when the signal required for the levitation controller 30 to control the magnetic force of the levitation magnet 11 to adjust the position of the levitation piece 20 is calculated according to the vehicle running state signal and the offset signal of the levitation piece 20 relative to the levitation base 10, the levitation controller 30 can adjust the magnetic force of the levitation magnet 11 by adjusting the amount of energy in the levitation magnet 11, thereby ensuring that the levitation piece 20 is stably levitated on the levitation base 10. However, considering the case where the offset angle and the offset trend of the levitation piece 20 relative to the levitation base 10 are large and the magnetic force adjustment range of the levitation base 10 exceeds the controllable range, the levitation controller 30 needs to first determine whether the magnetic force adjustment range exceeds the controllable range. If the magnetic force adjustment range exceeds the controllable range, the power algorithm module outputs a forced adsorption signal to make the levitation piece 20 directly adsorb on the levitation base 10, thereby realizing the emergency adsorption of the vehicle-mounted magnetic levitation device 100 in the controllable state, preventing the levitation piece 20 from separating from the levitation base 10 and causing harm to the user or the structure inside the vehicle, and improving the reliability and safety of the vehicle-mounted magnetic levitation device 100.

[0054] Further, in S2, the vehicle running state signal can mainly include at least one of an engine speed signal, a vehicle speed signal, an accelerator pedal opening degree signal, and a steering angle signal, and the offset signal of the levitation piece 20 relative to the levitation base 10 includes at least one of a levitation piece 20 angle offset signal and a levitation piece 20 displacement offset signal. In this way, the running state of the vehicle can be identified and analyzed from multiple perspectives, and the angle and / or displacement of the offset of the levitation piece 20 relative to the levitation base 10 can be identified and analyzed. Therefore, by combining the vehicle running state signal and the offset signal of the levitation piece 20 relative to the levitation base 10, the offset state of the levitation piece 20 relative to the levitation base 10 can be accurately and comprehensively identified and judged, and the reliability of the levitation controller 30 in adjusting the levitation state of the vehicle-mounted magnetic levitation device 100 when the vehicle is running normally can be improved.

[0055] In combination Figure 3As shown, S1 can also mainly include: S5, receiving the offset signal of the floating element 20 relative to the floating base 10 when the vehicle power is on and the vehicle is stationary. Specifically, to realize the suspension control of the vehicle-mounted magnetic suspension device 100, the suspension controller 30 needs to first judge the state of the vehicle, and start different working modes according to the state of the vehicle. When the vehicle power is on and the vehicle is in a stationary state, the running state of the vehicle will not affect the movement trend of the floating element 20, at this time only the suspension controller 30 needs to correspondingly receive the offset signal of the floating element 20 relative to the floating base 10, so that the suspension controller 30 controls the magnetic force of the floating base 10 according to the received offset signal of the floating control element relative to the floating base 10, so that the floating object can be automatically suspended on the floating base 10 and keep the suspension stability, without the need for manual control by the user, which can improve the user's experience.

[0056] Further, in combination with Figure 5 As shown, S5 can mainly include:

[0057] S5-1, identifying the horizontal offset angle and the gravity center offset position of the floating element 20 according to the offset signal of the floating element 20 relative to the floating base 10;

[0058] S5-2, calculating the magnetic force size and the magnetic force adjustment area required for the control suspension magnet 11 to drive the floating element 20 to suspend according to the horizontal offset angle and the gravity center offset position of the floating element 20;

[0059] S5-3, calculating the energy required for the control suspension magnet 11 to drive the floating element 20 to suspend according to the magnetic force size and the magnetic force adjustment area required for the control suspension magnet 11 to drive the floating element 20 to suspend.

[0060] Specifically, when the suspension controller 30 receives the offset signal of the floating element 20 relative to the floating base 10 when the vehicle power is on and the vehicle is stationary, the data algorithm module first identifies and calculates the received offset signal of the floating base 10 to obtain the horizontal offset angle and the gravity center offset position of the floating element 20. Then, the data algorithm module can calculate the magnetic force size and the magnetic force adjustment area required for the control suspension magnet 11 to drive the floating element 20 to suspend according to the horizontal offset angle and the gravity center offset position of the floating element 20. Then, the power algorithm module calculates the energy required for the control suspension magnet 11 to drive the floating element 20 to suspend according to the magnetic force size and the magnetic force adjustment area required for the control suspension magnet 11 to drive the floating element 20 to suspend, and further transmits the energy signal to the control module and the sending module, so that the magnetic suspension base 10 can receive and execute the instructions issued by the control module and the sending module, and realize the automatic floating of the floating element 20 relative to the floating base 10 controlled by the suspension controller 30.

[0061] Further, in S5, the offset signal of the levitation member 20 relative to the levitation base 10 is an angle offset signal. Specifically, when the vehicle power is turned on and the vehicle is in a stationary state, since the vehicle can be stationary on a plane or on an inclined plane, by setting the offset signal of the levitation member 20 relative to the levitation base 10 received by the levitation controller 30 when the vehicle power is turned on and the vehicle is stationary as an angle offset signal, the angle offset signal can be detected by a gyroscope, so that the acquisition of the offset signal of the levitation member 20 relative to the levitation base 10 is more accurate and comprehensive. Among them, the levitation controller 30 can be at least one of the vehicle controller, the engine controller, the transmission controller, the central control instrument table controller and the electronic control suspension controller on the vehicle. When the vehicle is normally driven, the vehicle controller, the engine controller, the transmission controller, the central control instrument table controller and the electronic control suspension controller will acquire the working condition of the vehicle in real time to make corresponding adjustments to the parts controlled by themselves, so that the working of the controlled parts adapts to the form of the vehicle in different environments. In this process, the vehicle controller, the engine controller, the transmission controller, the central control instrument table table controller and the electronic control suspension controller will also acquire the offset of the levitation member 20, so that the original controller on the vehicle can be fully utilized to control the levitation member 20, the structure design of the vehicle can be optimized, and the structure of the vehicle can be simplified.

[0062] The vehicle according to the embodiment of the present application can mainly include: a processor, a memory, and a levitation control program of the vehicle-mounted magnetic levitation device 100 stored on the memory and executable on the processor. When the levitation control program of the vehicle-mounted magnetic levitation device 100 is executed by the processor, the levitation control method of the vehicle-mounted magnetic levitation device 100 according to the above-mentioned embodiment of the application is implemented. Thus, the levitation control program of the vehicle-mounted magnetic levitation device 100 stored on the memory is applied to the processor. Under the processing of the processor, the levitation control program of the vehicle-mounted magnetic levitation device 100 can implement the above-mentioned control method. In order to reduce redundancy, details are not repeated here.

[0063] The computer readable storage medium according to the embodiment of the present application can mainly include: a computer readable storage medium having a levitation control program of the vehicle-mounted magnetic levitation device 100 stored thereon. When the levitation control program of the vehicle-mounted magnetic levitation device 100 is executed by the processor, the levitation control method of the vehicle-mounted magnetic levitation device 100 according to the above-mentioned embodiment of the application is implemented.

[0064] In the description of the application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0065] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example.

[0066] Although embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A suspension control method for a vehicle-mounted magnetic levitation device, characterized by comprising: The method comprises the following steps: judging the state of the vehicle; receiving the vehicle running state signal and the offset signal of the levitation component relative to the levitation base when the vehicle is running normally; calculating the offset trend and the offset angle of the levitation component according to the vehicle running state signal and the offset signal of the levitation component relative to the levitation base; calculating the magnetic force size and the magnetic force adjustment area required for the control levitation magnet to adjust the position of the levitation component according to the offset trend and the offset angle of the levitation component; calculating the energy required for the control levitation magnet to adjust the position of the levitation component according to the magnetic force size and the magnetic force adjustment area required for the control levitation magnet to adjust the position of the levitation component; controlling the control levitation magnet to adjust its magnetic force according to the signal of the energy required for the control levitation magnet to adjust the position of the levitation component until the levitation component is levitated to the correct position; wherein the levitation component is provided with a permanent magnet, a gyroscope and a displacement sensor, the control levitation magnet drives the permanent magnet to levitate upward, the displacement sensor is used to detect the offset trend of the levitation component relative to the levitation base, the gyroscope is used to detect the offset angle of the levitation component relative to the levitation base, and the gyroscope, the displacement sensor and the control levitation magnet are electrically connected to the levitation controller.

2. The levitation control method of a vehicle-mounted magnetic levitation device according to claim 1, characterized by, In the step of calculating the energy required for the control levitation magnet to adjust the position of the levitation component according to the vehicle running state signal and the offset signal of the levitation component relative to the levitation base, and sending the signal of the energy required for the control levitation magnet to adjust the position of the levitation component to the control levitation magnet, the following steps are further included: judging whether the magnetic force adjustment area exceeds the controllable range; if the magnetic force adjustment area exceeds the controllable range, controlling the control levitation magnet to adjust its magnetic force until the levitation component is adsorbed on the levitation base.

3. The levitation control method of a vehicle-mounted magnetic levitation device according to claim 1, characterized by, In the steps of receiving the vehicle running state signal and the offset signal of the levitation component relative to the levitation base when the vehicle is running normally, the vehicle running state signal comprises at least one of engine speed signal, vehicle speed signal, accelerator pedal opening signal and steering angle signal, and the offset signal of the levitation component relative to the levitation base comprises at least one of the angle offset signal of the levitation component and the displacement offset signal of the levitation component.

4. The levitation control method of a vehicle-mounted magnetic levitation device according to claim 1, characterized by, The step of judging the state of the vehicle comprises: receiving the offset signal of the levitation component relative to the levitation base when the vehicle power is on and the vehicle is stationary.

5. The levitation control method of a vehicle-mounted magnetic levitation device according to claim 4, characterized by, The step of receiving the offset signal of the levitation component relative to the levitation base when the vehicle power is on and the vehicle is stationary comprises: identifying the horizontal offset angle and the gravity center offset position of the levitation component according to the offset signal of the levitation component relative to the levitation base; calculating the magnetic force size and the magnetic force adjustment area required for the control levitation magnet to drive the levitation component to levitate according to the horizontal offset angle and the gravity center offset position of the levitation component; According to the magnetic force size and the magnetic force adjustment region required for the control suspension magnet to drive the suspension to suspend, the energy required for the control suspension magnet to drive the suspension to suspend is calculated.

6. The levitation control method of a vehicle-mounted magnetic levitation device according to claim 4, characterized by, In the step of receiving the offset signal of the suspension relative to the suspension base when the vehicle power supply is turned on and the vehicle is stationary, The offset signal of the suspension relative to the suspension base is an angle offset signal.

7. A vehicle-mounted magnetic levitation device, using the levitation control method of the vehicle-mounted magnetic levitation device according to any one of claims 1 to 6, characterized by, Comprise: A suspension base comprising a control suspension magnet; A suspension arranged above the suspension base, the suspension comprising a permanent magnet, a gyroscope and a displacement sensor, the control suspension magnet driving the permanent magnet to suspend upward, the displacement sensor being used to detect the offset trend of the suspension relative to the suspension base, and the gyroscope being used to detect the offset angle of the suspension relative to the suspension base; A suspension controller, the gyroscope, the displacement sensor and the control suspension magnet being electrically connected to the suspension controller, the suspension controller being configured to first determine the state of the vehicle, and to start different working modes according to the state of the vehicle to adjust the magnetic force of the control suspension magnet.

8. The on-vehicle magnetic levitation device according to claim 7, characterized by The suspension controller comprises a data / signal receiving module, a data algorithm module, a power algorithm module, a control module and a sending module, the data / signal receiving module, the data algorithm module, the power algorithm module, the control module and the sending module being electrically connected to each other, the data / signal receiving module being electrically connected to the gyroscope and the displacement sensor respectively, and the sending module being electrically connected to the control suspension magnet.

9. The on-vehicle magnetic levitation device according to claim 7, characterized by The control suspension magnet comprises a main control suspension magnet and a plurality of auxiliary control suspension magnets, the plurality of auxiliary control suspension magnets being arranged circumferentially outside the main control suspension magnet, the main control suspension magnet having upward magnetic force on the permanent magnet, and the plurality of auxiliary control suspension magnets having inclined upward magnetic force on the permanent magnet.

10. The on-vehicle magnetic levitation device according to claim 7, characterized by The suspension controller is at least one of the vehicle controller, the engine controller, the gearbox controller, the central control instrument table controller and the electronic control suspension controller on the vehicle.

11. A vehicle characterized by comprising: Comprise: A processor, a memory, and a suspension control program of a vehicle-mounted magnetic suspension device stored on the memory and executable on the processor, the suspension control program of the vehicle-mounted magnetic suspension device being executed by the processor to implement the suspension control method of the vehicle-mounted magnetic suspension device according to any one of claims 1-6.

12. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a suspension control program of a vehicle-mounted magnetic suspension device, the suspension control program of the vehicle-mounted magnetic suspension device being executed by the processor to implement the suspension control method of the vehicle-mounted magnetic suspension device according to any one of claims 1-6.

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