A Suspension Height Dynamic Monitoring Device and an Active Suspension Control System

Abstract

The present invention belongs to the field of construction machinery, and particularly relates to a suspension height dynamic monitoring device and an active suspension control system. The suspension height dynamic monitoring device includes a fixed bracket, an angle sensor, a connecting arm, a guide rod, a sliding seat and a support frame; the fixed bracket is a right-angle bent plate member, the upper end surface of the fixed bracket is fixed to the vehicle frame, and the vertical surface of the fixed bracket is perpendicular to the vehicle frame; the angle sensor is installed on the vertical surface of the fixed bracket; one end of the connecting arm is rotatably connected to the input shaft of the angle sensor, and the other end of the connecting arm is connected to the guide rod; both ends of the guide rod adopt spherical hinge structures, and the two ends of the guide rod are respectively connected to the connecting arm and the sliding seat; the sliding seat is also connected to the support frame, and the support frame is fixed on the cylinder barrel of the suspension cylinder. The present invention converts the displacement of the suspension cylinder into an angle change, the angle sensor converts the angle value into a linearly changing voltage value, and the voltage value output by the angle sensor is used to adjust the suspension through the active suspension control system.

Description

Technical Field

[0001] The present invention belongs to the field of construction machinery, and particularly relates to a suspension height dynamic monitoring device and an active suspension control system. Background Art

[0002] The working conditions of mining dump trucks are complex and harsh, with large loads, significant changes in the axle loads between empty and full loads. During operation, they are subjected to combined impact loads. The suspension damping performance directly determines the vehicle's passability, ride comfort, and service life. Currently, most of the suspensions of mining dump trucks are passive suspension designs, which cannot actively adjust according to the load and road conditions, resulting in poor vibration comfort and operating stability, and easily causing driver fatigue and fatigue damage to structural components such as the frame. Summary of the Invention

[0003] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a suspension height dynamic monitoring device and an active suspension control system. The invention has a simple structure and strong versatility, and is used to solve the problems that the existing passive suspension system cannot well adapt to various complex road conditions and working conditions, resulting in poor ride comfort and passability. Thus, the performance and service life of the whole vehicle can be effectively improved. The invention realizes dynamic monitoring of the suspension state, dynamically adjusts the suspension height and attitude, and can realize the conversion between independent suspension and semi-independent suspension, improving the passability and stability. At the same time, according to the load change, the suspension stiffness is dynamically changed to improve the ride comfort and smoothness of the whole vehicle.

[0004] The present invention is realized through the following technical solutions: A suspension height dynamic monitoring device, which includes a fixed bracket, an angle sensor, a connecting arm, a guide rod, a sliding seat, and a support frame;

[0005] The fixed bracket is a right-angled bent plate member. The upper end surface of the fixed bracket is fixed to the vehicle frame, and the vertical surface of the fixed bracket is perpendicular to the vehicle frame;

[0006] The angle sensor is installed on the vertical surface of the fixed bracket;

[0007] One end of the connecting arm is rotatably connected to the input shaft of the angle sensor, and the other end of the connecting arm is connected to the guide rod;

[0008] Both ends of the guide rod adopt spherical hinge structures, and the two ends of the guide rod are respectively connected to the connecting arm and the sliding seat;

[0009] The sliding seat is also connected to the support frame, and the support frame is fixed on the cylinder barrel of the suspension cylinder.

[0010] Further, a long circular hole Ⅰ is provided on the upper end surface, and the bolt for fixing the suspension cylinder on the vehicle frame passes through the long circular hole Ⅰ to fix the fixed bracket.

[0011] Further, a concave hole is provided in the middle of the facade, and a U-shaped mounting hole is provided at the lower part of the facade. The angle sensor is fixed in the U-shaped mounting hole.

[0012] Further, the support frame includes a first semi-ring and a second semi-ring. Both the first semi-ring and the second semi-ring include a hinged end and a movable connection end. The hinged ends of the first semi-ring and the second semi-ring are both hinged on a pin shaft. A locking seat is provided at each of the movable connection ends of the first semi-ring and the second semi-ring. Through holes are provided in both locking seats, and a bolt passes through the through holes of the two locking seats in sequence to fix the support frame on the cylinder barrel of the suspension cylinder. An installation seat is further connected to the hinged end of the first semi-ring or the hinged end of the second semi-ring. A long circular hole II is provided on the installation seat, and the long circular hole II is used for installing the sliding seat.

[0013] Further, the sliding seat is a right-angle bending plate member. A guide rod is connected to the facade of the sliding seat, and a long circular hole III is provided on the lower end surface of the sliding seat. When the sliding seat and the installation seat are assembled, the long circular hole II on the installation seat and the long circular hole III on the sliding seat are arranged in a cross-cross manner in the up-down position.

[0014] Further, an annular groove is provided on the cylinder barrel of the suspension cylinder, and the support frame is fixed in the annular groove of the suspension cylinder.

[0015] The present invention further provides an active suspension control system. A suspension cylinder is provided on each of the left and right sides of the axle. The piston rod of the suspension cylinder is fixed to the vehicle frame, and the above-mentioned suspension height dynamic monitoring device is arranged on the suspension cylinder;

[0016] Two distribution modules are further included. The suspension cylinders on the left and right sides of the axle are respectively connected to one of the distribution modules. The distribution module includes an oil filling valve and an oil discharging valve. Both the oil filling valve and the oil discharging valve are two-position two-way electromagnetic reversing valves. The control ends of the oil filling valve and the oil discharging valve receive the electrical signals from the angle sensor of the suspension height dynamic monitoring device;

[0017] The oil inlet of the oil filling valve is connected to the oil supply oil circuit, and the oil outlet of the oil filling valve is connected to the rodless cavity of the suspension cylinder through a one-way valve. When the oil filling valve is not energized, it is in the initial position. When the oil filling valve is in the initial position, the oil outlet of the oil filling valve conducts unidirectionally to the oil inlet of the oil filling valve. When the oil filling valve is energized and in the working position, the oil inlet of the oil filling valve is communicated with the oil outlet of the oil filling valve;

[0018] The oil inlet of the oil discharging valve is connected to the rodless cavity of the suspension cylinder, and the oil outlet of the oil discharging valve is connected to the oil return oil circuit. When the oil discharging valve is not energized, it is in the initial position. When the oil discharging valve is in the initial position, the oil outlet of the oil discharging valve conducts unidirectionally to the oil inlet of the oil discharging valve. When the oil discharging valve is energized and in the working position, the oil inlet of the oil discharging valve is communicated with the oil outlet of the oil discharging valve;

[0019] The rodless chamber of the suspension cylinder is also connected with a low-pressure accumulator and a high-pressure accumulator.

[0020] Further, the rodless chambers of the suspension cylinders on the left side of the axle are connected to each other through a stop valve with the rodless chambers of the suspension cylinders on the right side of the axle.

[0021] Further, the distribution module further includes a pressure sensor, and the pressure sensor is respectively connected to the oil outlet of the oil filling valve and the oil inlet of the oil draining valve.

[0022] Further, the oil inlets of the oil filling valves of the distribution modules connected to the suspension cylinders on the left side of the axle are communicated with each other;

[0023] The oil outlets of the oil draining valves of the distribution modules connected to the suspension cylinders on the left side of the axle are communicated with each other with the oil outlets of the oil draining valves of the distribution modules connected to the suspension cylinders on the right side of the axle.

[0024] The beneficial effects of the present invention are as follows: The structure of the present invention is simple and has strong versatility, so as to solve the problems that the existing passive suspension system cannot well adapt to various complex road conditions and working conditions, resulting in poor ride comfort and poor passability, etc., thereby effectively improving the performance and service life of the whole vehicle. The invention realizes dynamic monitoring of the suspension state and dynamically adjusts the suspension height and attitude, and can realize the conversion between independent suspension and semi-independent suspension, improve the passability and stability, and at the same time dynamically change the suspension stiffness according to the load change, and improve the ride comfort and smoothness of the whole vehicle. Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of the suspension height dynamic monitoring device of the present invention;

[0026] Figure 2 It is a schematic structural diagram of the fixed bracket of the present invention;

[0027] Figure 3 It is a schematic structural diagram of the support frame of the present invention;

[0028] Figure 4 It is a schematic diagram of the principle of the active suspension control system of the present invention;

[0029] In the figure, 1 is a high-pressure accumulator, 2 is a low-pressure accumulator, 3 is a suspension cylinder, 31 is a bolt, 4 is a dynamic suspension height monitoring device, 41 is a fixed bracket, 41-1 is an upper end face, 41-2 is a long circular hole Ⅰ, 41-3 is a vertical face, 41-4 is a concave hole, 41-5 is a U-shaped mounting hole, 42 is an angle sensor, 43 is a connecting arm, 44 is a guide rod, 45 is a sliding seat, 46 is a support frame, 46-1 is a pin shaft, 46-2 is a locking seat, 46-3 is a through hole, 46-4 is a mounting seat, 46-5 is a long circular hole Ⅱ, 46-6 is a semi-ring Ⅰ, 46-7 is a semi-ring Ⅱ, 47 is an annular groove, 5 is an oil filling valve, 6 is an oil drain valve, 7 is a hydraulic pump, 8 is a hydraulic oil tank, 9 is a pressure sensor, 10 is a stop valve, and 11 is a check valve. Detailed implementation mode

[0030] The present invention will be further described below with reference to the drawings and embodiments.

[0031] As Figures 1 to 3 shown, a dynamic suspension height monitoring device, the dynamic suspension height monitoring device 4 is installed on the suspension cylinder 3 to obtain the telescopic information of the suspension cylinder 3. The dynamic suspension height monitoring device 4 includes a fixed bracket 41, an angle sensor 42, a connecting arm 43, a guide rod 44, a sliding seat 45 and a support frame 46.

[0032] The fixed bracket 41 is a right-angled bending plate member, including an upper end face 41-1 and a vertical face 41-3 that are perpendicular to each other. A long circular hole Ⅰ41-2 is provided on the upper end face 41-1, and the fixed bracket 41 is connected to the vehicle frame through the long circular hole Ⅰ41-2. The fixed connection between the fixed bracket 41 and the vehicle frame should be integrated with the fixed connection between the suspension cylinder 3 and the vehicle frame. The piston rod of the suspension cylinder 3 is fixed to the vehicle frame by bolts 31, and the connection between the fixed bracket 41 and the vehicle frame also uses bolts 31. The specific connection structure is as Figure 1 shown ( Figure 1 the vehicle frame is not drawn in the figure), the bolts 31 sequentially pass through the vehicle frame, the connecting piece on the piston rod of the suspension cylinder 3, and the long circular hole Ⅰ41-2 and are then tightened and fixed with nuts. After the fixed bracket 41 is assembled, the vertical face 41-3 of the fixed bracket 41 is perpendicular to the vehicle frame. The long circular hole Ⅰ41-2 provided on the upper end face 41-1 also facilitates adjusting the horizontal position of the fixed bracket 41 during assembly, improving the assembly convenience. A concave hole 41-4 is provided in the middle of the vertical face 41-3, and the concave hole 41-4 is used for bundling and positioning the wire harness fixing tie; a U-shaped mounting hole 41-5 is provided at the lower part of the vertical face 41-3, and the angle sensor 42 is fixed in the U-shaped mounting hole 41-5.

[0033] One end of the connecting arm 43 is connected to the angle sensor 42. The connecting arm 43 can rotate around the input shaft of the angle sensor 42. The other end of the connecting arm 43 is connected to the guide rod 44. The end of the guide rod 44 far from the connecting arm 43 is connected to the sliding seat 45. Specifically, both ends of the guide rod 44 adopt a spherical hinge structure. The spherical hinge provides sufficient degrees of freedom for the whole device to offset motion interference and distortion. Additionally, preferably, the axial length of the guide rod 44 is adjustable, which is convenient for debugging during the assembly process.

[0034] The sliding seat 45 is also connected to the support frame 46. The support frame 46 is fixed on the cylinder barrel of the suspension oil cylinder 3. Specifically, the support frame 46 includes a first half-ring 46-6 and a second half-ring 46-7. Both the first half-ring 46-6 and the second half-ring 46-7 include a hinged end and a movable connection end. The hinged ends of the first half-ring 46-6 and the second half-ring 46-7 are both hinged on the pin shaft 46-1. The first half-ring 46-6 and the second half-ring 46-7 can both rotate around the pin shaft 46-1 to realize the opening and closing of the support frame 46. A locking seat 46-2 is provided at the movable connection end of both the first half-ring 46-6 and the second half-ring 46-7. Both of the two locking seats 46-2 are provided with through holes 46-3. When the support frame 46 is in the closed state, the through holes 46-3 of the locking seats 46-2 on the first half-ring 46-6 and the through holes 46-3 of the locking seats 46-2 on the second half-ring 46-7 are on the same central line. Bolts pass through the through holes 46-3 of the two locking seats 46-2 in sequence to fix the support frame 46 on the cylinder barrel of the suspension oil cylinder 3. As Figure 1 shown, a circular groove 47 is provided on the cylinder barrel of the suspension oil cylinder 3 ( Figure 1Partial schematic diagram of the position where the support frame 46 is provided on the cylinder barrel of the suspension cylinder 3 led out from the left side in the middle (the support frame 46 is omitted in the partial schematic diagram). The support frame 46 is fixed in the annular groove 47 of the suspension cylinder to prevent the support frame 46 from moving axially relative to the suspension cylinder 3 during the telescopic process of the suspension cylinder 3. One of the hinged ends of the semi-ring 46-6 or the hinged end of the semi-ring 46-7 is also connected with a mounting seat 46-4. A long circular hole II 46-5 is provided on the mounting seat 46-4, and the long circular hole II 46-5 is used to mount the sliding seat 45. The sliding seat 45 is a right-angle bent plate member. A round hole is provided on the vertical surface of the sliding seat 45 for connecting the guide rod 44. A long circular hole III is provided on the lower end surface of the sliding seat 45. When the sliding seat 45 and the mounting seat 46-4 are assembled, the long circular hole II 46-5 on the mounting seat 46-4 and the long circular hole III of the sliding seat 45 are arranged in a cross-cross manner in the up-and-down position, that is, the long circular hole II 46-5 on the mounting seat 46-4 and the long circular hole III of the sliding seat 45 are in a vertical relationship in space, and bolts are used to fasten the mounting seat 46-4 and the sliding seat 45. Such an arrangement can realize the position adjustment of the sliding seat 45 relative to the mounting seat 46-4 in multiple directions of front, back, left, and right. During the assembly process, the position of the sliding seat 45 can be adjusted by rotating the unfastened support frame 46 to make the vertical surface of the sliding seat 45 parallel to the vertical surface 41-3 of the fixed support 41 in space.

[0035] When the cylinder barrel of the suspension cylinder 3 makes a telescopic movement, the guide rod 44 is driven to move through the support frame 46 and the sliding seat 45, thereby driving the connecting arm 43 to rotate, converting the displacement of the suspension cylinder 3 into an angular change. The angle sensor 42 converts the angular value into a linearly changing voltage value, and the voltage value output by the angle sensor 42 is used to adjust the suspension through the active suspension control system. In the suspension of a mining dump truck, the piston rod of the suspension cylinder 3 is initially in the middle position of the cylinder barrel (that is, the piston rod of the suspension cylinder 3 is not in the position of the two limit strokes). At this time, the angle corresponding to the angle sensor 42 is 0. When the piston rod of the suspension cylinder 3 generates a telescopic displacement according to the working conditions, the angle sensor 42 can generate positive and negative angular changes. For example, when the angle sensor 42 is 0°, the corresponding output voltage value is 2.5V; when the angle sensor 42 is -45°, the corresponding output voltage value is 0.5V; when the angle sensor 42 is 45°, the corresponding output voltage value is 4.5V. The angle sensor 42 is used to automatically adjust the suspension by outputting a linearly changing voltage value.

[0036] As Figure 4 shown, the present invention also provides an active suspension control system. A suspension cylinder 3 is provided on each of the left and right sides of the axle. The piston rod of the suspension cylinder 3 is fixed to the vehicle frame, and the bottom of the cylinder barrel of the suspension cylinder 3 is fixed to the axle. The above-mentioned suspension height dynamic monitoring device 4 is arranged on the suspension cylinders 3 on both the left and right sides of the axle.

[0037] The active suspension control system further includes two distribution modules, and the suspension cylinders 3 on the left and right sides of the axle are respectively connected to one of the distribution modules. Each distribution module includes an oil filling valve 5 and an oil draining valve 6. Both the oil filling valve 5 and the oil draining valve 6 are two-position two-way electromagnetic reversing valves. The control ends of the oil filling valve 5 and the oil draining valve 6 receive electrical signals from the angle sensor 42 of the suspension height dynamic monitoring device 4. The suspension height dynamic monitoring device 4 controls the oil filling valve 5 and the oil draining valve 6, and further adjusts the telescoping of the suspension cylinder 3 to achieve the control of the suspension.

[0038] The oil inlet of the oil filling valve 5 is connected to the oil supply circuit. The oil supply circuit includes a hydraulic pump 7 communicated with the hydraulic oil tank 8, and the oil outlet of the hydraulic pump 7 is communicated with the oil inlet of the oil filling valve 5. The oil outlet of the oil filling valve 5 is connected to the rodless cavity of the suspension cylinder 3 through a check valve 11. The check valve 11 can prevent the hydraulic oil in the suspension cylinder 3 from flowing back through the oil filling valve 5. When the oil filling valve 5 is de-energized, it is in the initial position. When the oil filling valve 5 is in the initial position, the oil outlet of the oil filling valve 5 conducts unidirectionally to the oil inlet of the oil filling valve 5. When the oil filling valve 5 is energized and in the working position, the oil inlet of the oil filling valve 5 is communicated with the oil outlet of the oil filling valve 5.

[0039] The oil inlet of the oil draining valve 6 is connected to the rodless cavity of the suspension cylinder 3, and the oil outlet of the oil draining valve 6 is connected to the oil return circuit. The oil return circuit leads back to the hydraulic oil tank 8. When the oil draining valve 6 is de-energized, it is in the initial position. When the oil draining valve 6 is in the initial position, the oil outlet of the oil draining valve 6 conducts unidirectionally to the oil inlet of the oil draining valve 6. When the oil draining valve 6 is energized and in the working position, the oil inlet of the oil draining valve 6 is communicated with the oil outlet of the oil draining valve 6.

[0040] The on-off of the oil filling valve 5 and the on-off of the oil draining valve 6 are determined by calculating based on the suspension height measured by the suspension height dynamic monitoring device 4 (specifically, the determination is carried out by the telescopic movement of the suspension cylinder 3. The angle sensor 42 converts the displacement of the suspension cylinder 3 into an angle change and outputs a voltage value for control). The normal level of the suspension height is within a range. When the system determines that the suspension height is lower than the lowest value of the normal level, the oil filling valve 5 is energized, and the oil inlet of the oil filling valve 5 is communicated with the oil outlet of the oil filling valve 5. The hydraulic pump 7 sucks oil from the hydraulic oil tank 8 and fills the rodless cavity of the suspension cylinder 3 until it reaches the predetermined height, and then the oil filling valve 5 is de-energized. On the contrary, when the system determines that the suspension height is higher than the highest value of the normal level, the oil draining valve 6 is energized, and the oil inlet of the oil draining valve 6 is communicated with the oil outlet of the oil draining valve 6. The hydraulic oil in the rodless cavity of the suspension cylinder 3 directly flows back to the hydraulic oil tank 8 until it reaches the predetermined height, and then the oil draining valve 6 is de-energized.

[0041] The suspension cylinder 3 adopted in the present invention is a single-acting cylinder, and the same oil port is used for oil filling and draining, which simplifies the system weight and cost.

[0042] The rodless cavity of the suspension cylinder 3 is also connected to a low-pressure accumulator 2 and a high-pressure accumulator 1. When the vehicle is unloaded, the low-pressure accumulator 2 works. The low-pressure accumulator 2 buffers the road surface vibration impact by storing the hydraulic oil pumped out from the rodless cavity of the suspension cylinder 3. When the vehicle is fully loaded, the system circuit pressure rises, and the high-pressure accumulator 1 intervenes to work, increasing the suspension stiffness and providing good shock absorption smoothness and load support for different load conditions.

[0043] As a preference of this embodiment, the rodless cavities of the suspension cylinders 3 on the left side of the axle are connected to the rodless cavities of the suspension cylinders 3 on the right side of the axle through a shut-off valve 10. The shut-off valve 10 is in a normally closed state. At this time, the suspension cylinders 3 on the left and right sides of the axle are independent systems, without interference with each other, which is an independent suspension, reducing unnecessary body roll and facilitating driving at a relatively high speed on a good road surface. When the driver actively opens it or the height difference between the left and right suspension cylinders 3 during telescoping exceeds a preset value, the shut-off valve 10 opens, and the oil circuits of the left and right suspension cylinders 3 are interconnected. The system becomes a non-independent suspension, and the suspension stroke increases, effectively curbing the uneven oil filling and excessive body roll caused by driving at a low speed on a rough road surface.

[0044] As a preference of this embodiment, the distribution module further includes a pressure sensor 9. The pressure sensor 9 is respectively connected to the oil outlet of the oil filling valve 5 and the oil inlet of the oil drain valve 6. The pressure sensor 9 is used to monitor the oil circuit pressure of the suspension cylinder 3. When the pressure exceeds the maximum pressure, the control system relieves the pressure. At the same time, the system pressure is used as a reference value to assist in judging the state of the cylinder.

[0045] As a preference of this embodiment, the oil inlets of the oil filling valves 5 of the distribution modules connected to the suspension cylinders 3 on the left side of the axle are interconnected with the oil inlets of the oil filling valves 5 of the distribution modules connected to the suspension cylinders 3 on the right side of the axle; the distribution module can use the same hydraulic pump 7 for oil supply.

[0046] The oil outlets of the oil drain valves 6 of the distribution modules connected to the suspension cylinders 3 on the left side of the axle are interconnected with the oil outlets of the oil drain valves 6 of the distribution modules connected to the suspension cylinders 3 on the right side of the axle.

[0047] The above is only a preferred embodiment of the present invention, and it is not a limitation to the present invention in any form. Any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention are all within the scope of the technical solution of the present invention.

Claims

1. An active suspension control system, characterized in that: On each side of the axle, a suspension cylinder (3) is provided. The piston rod of the suspension cylinder (3) is fixed to the vehicle frame, and a suspension height dynamic monitoring device (4) is arranged on the suspension cylinder (3). It also includes two distribution modules. The suspension cylinders (3) on the left and right sides of the axle are respectively connected to one of the distribution modules. The distribution module includes an oil filling valve (5) and an oil discharging valve (6). Both the oil filling valve (5) and the oil discharging valve (6) are two-position two-way electromagnetic directional control valves. The control ends of the oil filling valve (5) and the oil discharging valve (6) receive electrical signals from the angle sensor (42) of the suspension height dynamic monitoring device (4). The oil inlet of the oil filling valve (5) is connected to the oil supply circuit. The oil outlet of the oil filling valve (5) is connected to the rodless cavity of the suspension cylinder (3) through a one-way valve (11). When the oil filling valve (5) is de-energized, it is in the initial position. When the oil filling valve (5) is in the initial position, the oil outlet of the oil filling valve (5) conducts unidirectionally to the oil inlet of the oil filling valve (5). When the oil filling valve (5) is energized and in the working position, the oil inlet of the oil filling valve (5) is communicated with the oil outlet of the oil filling valve (5). The oil inlet of the oil discharging valve (6) is connected to the rodless cavity of the suspension cylinder (3), and the oil outlet of the oil discharging valve (6) is connected to the oil return circuit. When the oil discharging valve (6) is de-energized, it is in the initial position. When the oil discharging valve (6) is in the initial position, the oil outlet of the oil discharging valve (6) conducts unidirectionally to the oil inlet of the oil discharging valve (6). When the oil discharging valve (6) is energized and in the working position, the oil inlet of the oil discharging valve (6) is communicated with the oil outlet of the oil discharging valve (6). The rodless cavity of the suspension cylinder (3) is also connected with a low-pressure accumulator (2) and a high-pressure accumulator (1). The suspension height dynamic monitoring device (4) includes a fixed bracket (41), an angle sensor (42), a connecting arm (43), a guide rod (44), a sliding seat (45) and a support frame (46). The fixed bracket (41) is a right-angle bent plate member. The upper end surface (41-1) of the fixed bracket (41) is fixed to the vehicle frame, and the vertical surface (41-3) of the fixed bracket (41) is perpendicular to the vehicle frame. The angle sensor (42) is installed on the vertical surface (41-3) of the fixed bracket (41). One end of the connecting arm (43) is rotatably connected to the input shaft of the angle sensor (42), and the other end of the connecting arm (43) is connected to the guide rod (44). Both ends of the guide rod (44) adopt ball hinge structures. The two ends of the guide rod (44) are respectively connected to the connecting arm (43) and the sliding seat (45). The sliding seat (45) is also connected to the support frame (46), and the support frame (46) is fixed on the cylinder barrel of the suspension cylinder.

2. The active suspension control system according to claim 1, wherein: A long circular hole I (41-2) is provided on the upper end surface (41-1) for the bolt (31) used to fix the suspension cylinder to the vehicle frame to pass through the long circular hole I (41-2) to fix the fixed bracket (41).

3. The active suspension control system according to claim 1, wherein: A concave hole (41-4) is provided in the middle of the vertical surface (41-3), and a U-shaped mounting hole (41-5) is provided at the lower part of the vertical surface (41-3). The angle sensor (42) is fixed in the U-shaped mounting hole (41-5).

4. The active suspension control system according to claim 1, wherein: The support frame (46) includes a first semi-ring (46-6) and a second semi-ring (46-7). Both the first semi-ring (46-6) and the second semi-ring (46-7) include a hinged end and a movable connection end. The hinged ends of the first semi-ring (46-6) and the second semi-ring (46-7) are both hinged to a pin shaft (46-1). A locking seat (46-2) is provided at the movable connection end of the first semi-ring (46-6) and the movable connection end of the second semi-ring (46-7). Both of the two locking seats (46-2) are provided with through holes (46-3). A bolt passes through the through holes (46-3) of the two locking seats (46-2) in sequence to fix the support frame (46) on the cylinder barrel of the suspension cylinder. A mounting seat (46-4) is further connected to the hinged end of the first semi-ring (46-6) or the hinged end of the second semi-ring (46-7). A long circular hole II (46-5) is provided on the mounting seat (46-4), and the long circular hole II (46-5) is used for mounting the sliding seat (45).

5. The active suspension control system according to claim 4, wherein: The sliding seat (45) is a right-angled bent plate member. A guide rod (44) is connected to the vertical surface of the sliding seat (45). A long circular hole III is provided on the lower end surface of the sliding seat (45). When the sliding seat (45) and the mounting seat (46-4) are assembled, the long circular hole II (46-5) on the mounting seat (46-4) and the long circular hole III on the sliding seat (45) are arranged in a cross-cross manner in the up-down position.

6. The active suspension control system according to claim 1, characterized in that: An annular groove (47) is provided on the cylinder barrel of the suspension cylinder, and the support frame (46) is fixed in the annular groove (47) of the suspension cylinder.

7. The active suspension control system according to claim 1, wherein: The rodless chambers of the suspension cylinders (3) on the left side of the axle are connected to each other through a stop valve (10) with the rodless chambers of the suspension cylinders (3) on the right side of the axle.

8. The active suspension control system according to claim 1, wherein: The distribution module further includes a pressure sensor (9), and the pressure sensor (9) is respectively connected to the oil outlet of the oil filling valve (5) and the oil inlet of the oil discharging valve (6).

9. The active suspension control system according to claim 1, wherein: The oil inlets of the oil filling valves (5) of the distribution modules connected to the suspension cylinders (3) on the left side of the axle are communicated with each other; The oil outlets of the oil discharging valves (6) of the distribution modules connected to the suspension cylinders (3) on the left side of the axle are communicated with each other with the oil outlets of the oil discharging valves (6) of the distribution modules connected to the suspension cylinders (3) on the right side of the axle.

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