Fast response current source circuit and parameter design method for magnetorheological damper

Abstract

A fast-response current source circuit for a magnetorheological shock absorber, comprising a main circuit and a control circuit for controlling the current direction of the main circuit. The main circuit includes a driving power supply, MOS transistor T1, MOS transistor T2, a pre-charge capacitor, a magnetorheological shock absorber, a sampling resistor R s , a main circuit grounding module and a secondary circuit grounding module. The control circuit includes a PWM generator, an expected control current source CCS, an actual current measurement module, operational amplifier A1, operational amplifier A2 and a PI controller. The driving power supply is connected to the pre-charge capacitor and then grounded through the secondary circuit grounding module. By increasing the driving voltage of the driving power supply, the ideal response time τ for current rise is shortened s,ri . By increasing the value of the pre-charge capacitor, the ideal response time τ for current fall is shortened s,di . The present invention proposes a fast-response numerically controlled current source circuit for a magnetorheological shock absorber and its parameter design method. By improving the current response speed, the response time of the magnetorheological shock absorber is reduced, thereby improving the comprehensive performance of the magnetorheological semi-active suspension

Description

Technical Field

[0001] The invention belongs to the technical field of vehicle dynamics, and in particular relates to a fast-response current source circuit for a magnetorheological damper and a parameter design method thereof. Background Art

[0002] The smaller the time lag of the magnetorheological shock absorber, the greater the potential for improving the comprehensive performance of the magnetorheological semi-active suspension for vehicles. The response lag of the magnetorheological shock absorber mainly includes the response lag of the magnetorheological fluid and the current response lag. The current response lag refers to the time required for the current to change from the signal input to the set value. For the existing magnetorheological shock absorber products on the market, the response lag is determined by the structure and the physical properties of the magnetorheological fluid, and it is basically impossible to shorten it. Therefore, shortening the current response lag is the main way to improve the response speed of existing magnetorheological shock absorbers.

[0003] The invention patent with patent number 201410445473.2 and its name is "Design method for optimal control current of magnetorheological damper for vehicle seat suspension", which proposes a design method for optimal control current of magnetorheological damper for vehicle seat suspension. The method can effectively control the current size, but does not reduce the current lag; the invention patent with patent number 202010382359.5 and its name is "Small delay digitally controlled current source circuit for magnetorheological damper and its parameter determination method", which proposes a small delay digitally controlled current source circuit for magnetorheological damper and its parameter determination method, designs two small delay digitally controlled current source circuits with different circuit structures, and provides a large value resistor in the current drop circuit to speed up the drop reaction speed, resulting in the deficiency of high power consumption, and the average signal transmission time consumed by the current in a working cycle is not considered in the design process, so the tracking accuracy of the actual reaction time of the current source to the design reaction time under the requirement of millisecond-level fast response needs to be improved. Summary of the invention

[0004] In order to solve the problems that the current lag of the magnetorheological shock absorber in the existing vehicles adopting magnetorheological semi-active suspension is too large and the reaction time design accuracy of the current source is inaccurate under the millisecond response condition, the present invention proposes a fast response digitally controlled current source circuit for magnetorheological shock absorber and a parameter design method thereof, which reduces the response time of the magnetorheological shock absorber by improving the current response speed, thereby improving the comprehensive performance of the magnetorheological semi-active suspension.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A fast response current source circuit for a magnetorheological damper includes a main circuit and a control circuit for controlling the current direction of the main circuit. The main circuit includes a driving power supply, a MOS tube T1, a MOS tube T2, a pre-charge capacitor, a magnetorheological damper, a sampling resistor R s, the main circuit grounding module and the secondary circuit grounding module, the drain D of the MOS tube T2 is connected to the driving power supply, and the source S of the MOS tube T2 is connected to the sampling resistor R s , sampling resistor R s A magnetorheological damper is connected, the magnetorheological damper is connected to the drain D of the MOS tube T1, the source S of the MOS tube T1 is grounded through the main circuit grounding module, the magnetorheological damper includes a magnetorheological damper inductor and a magnetorheological damper resistor, the driving power supply is connected to the pre-charge capacitor and then grounded through the secondary circuit grounding module, at the same time, a parallel circuit of a voltage regulator diode D2 and a resistor R3 is connected between the driving power supply and the gate G of the MOS tube T2, a parallel circuit of a driving capacitor C1 and a voltage regulator diode D1 is connected between the gate G of the MOS tube T2 and the drain of the MOS tube T1, and a driving resistor R2 is connected in series at the same time, the driving power supply is also connected to the magnetorheological damper resistor through a freewheeling diode D3, the source S of the MOS tube T2 is connected to the source S of the MOS tube T1 through a freewheeling diode D4, and the gate G of the MOS tube T1 is connected to the source S of the MOS tube T1 through a resistor R1;

[0007] The control circuit includes a PWM generator, a desired control current source CCS, an actual current measurement module, an operational amplifier A1, an operational amplifier A2 and a PI controller, a sampling resistor R s The current input terminal of the actual current measurement module is connected, the current output terminal of the actual current measurement module is connected in parallel with the positive and negative terminals of the operational amplifier A1, the output terminal of the operational amplifier A1 is connected in series with the negative terminal of the operational amplifier A2, the positive terminal of the operational amplifier A2 is connected to the desired control current source CCS, the output terminal of the operational amplifier A2 is connected to the PI controller, and the PI controller, the PWM generator and the gate G of the MOS tube T1 are connected in sequence;

[0008] If the sampling resistor R s If the actual control current measured by the operational amplifier A1 is less than the expected control current, the PI controller controls the PWM generator to generate a high pulse to provide a high level to the gate G of the MOS tube T1. At this time, the source S of the MOS tube T1 and the drain D of the MOS tube T1 are turned on, the magnetorheological damper inductor is charged, and the rising control current I r From the driving power supply, it passes through the drain D of MOS tube T2, the source S of MOS tube T2, and the sampling resistor R s , magnetorheological damper inductor, magnetorheological damper resistor and the source S and drain D of MOS tube T1, and then flows to the main circuit grounding module; if the sampling resistor R sIf the actual control current measured by the operational amplifier A1 is greater than the expected control current, the PI controller controls the PWM generator to generate a low pulse to provide a low level to the gate G of the MOS tube T1. At this time, the source S of the MOS tube T1 and the drain D of the MOS tube T1 are disconnected, the magnetorheological damper inductor is discharged, and the control current I d From the main circuit grounding module through the freewheeling diode D4, sampling resistor R s , magnetorheological damper inductor, magnetorheological damper resistor, freewheeling diode D3 and pre-charge capacitor flow to the secondary circuit grounding module; sampling resistor R s The actual control current measured by the operational amplifier A1 is the actual control current of the magnetorheological damper; by increasing the driving voltage of the driving power supply, the ideal response time τ of the current rise is shortened s,ri By increasing the value of the pre-charge capacitor, the ideal response time τ of the current drop is shortened. s,di .

[0009] A parameter design method for a fast response current source circuit for a magnetorheological damper comprises the following steps:

[0010] Step 1: Determine the inductance value L of the magnetorheological damper inductor m , the resistance value R of the magnetorheological damper resistor m 、Maximum required excitation current I of magnetorheological damper max The value of , the value of the maximum response delay time τ;

[0011] Step 2: Calculate the ideal response time τ for current rise s,ri ;

[0012] When the actual control current input is equal to the maximum required excitation current I of the magnetorheological damper max When the vehicle power supply is an integer multiple of 12V, the driving voltage U of the driving power supply is used. in , according to the ideal response time τ of the current rise s,ri The calculation formula Calculate the ideal response time τ of the current source current rise corresponding to different driving voltages of the driving power supply in turn s,ri ;

[0013] Step 3: Measure the average signal transmission time τ of the current in one working cycle s,w ;

[0014] At the input of the maximum required excitation current I max In this case, the signal transmission time corresponding to different driving voltages of the driving power supply is measured in turn, and the average is calculated, which is considered to be the average signal transmission time τ of the current source in one working cycle. s,w ;

[0015] Step 4: Determine the final driving voltage U of the driving power supply in ';

[0016] According to the actual response time τ of the current rise s,ra The calculation formula of τ s,ra =τ s,w +τ s,ri , calculate the actual response time corresponding to different driving voltages of the driving power supply in turn, and select the actual response time τ of the current rise that is closest to but not exceeding the maximum response delay time τ s,ra The corresponding driving voltage is used as the final driving voltage U of the driving power supply in the current source in ';

[0017] Step 5: Determine the actual value of the pre-charge capacitance;

[0018] The ideal response time τ of current drop s,di The calculation formula is: In the formula I oc represents the expected control current given by the expected control current source CCS, and C2 is the capacitance value of the pre-charge capacitor;

[0019] In order to obtain better magnetorheological semi-active suspension control effect, the ideal response time τ of current rise s,ri The ideal response time τ should be as close as possible to the current drop s,di is consistent, that is, τ s,ri =τ s,di ,thereby Among them, U in =U in ', calculate the value of C2, which is set as the initial value of the pre-charge capacitor, and determine the actual value of the pre-charge capacitor according to the actual capacitance product closest to the initial value.

[0020] Furthermore, the driving voltage U of the driving power supply in Take any one of 12V, 24V, 36V, 48V and 60V.

[0021] The beneficial effects of the present invention are mainly manifested in:

[0022] 1. The existing magnetorheological damper inductor-magnetorheological damper resistor circuit is transformed into a magnetorheological damper inductor-magnetorheological damper resistor-pre-charge capacitor circuit with unidirectional oscillation characteristics, and the pre-charge capacitor is pre-charged, and its oscillation characteristics and the pre-charge voltage of the pre-charge capacitor are used to achieve rapid reduction of the control current;

[0023] 2. Taking full account of the average signal transmission time of the current in a working cycle, a multi-round current source design is adopted, so that the average signal transmission time consumed by the current in a working cycle is taken into account in the current source design process, thereby improving the tracking accuracy of the actual response time of the current source for magnetorheological damper to the design response time under the millisecond-level fast response requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is the circuit diagram of the fast response current source for magnetorheological damper.

[0025] Figure 2 Schematic diagram of the current rising state of the fast response current source circuit for magnetorheological damper.

[0026] Figure 3 Schematic diagram of the current drop state of the fast response current source circuit for magnetorheological damper.

[0027] Figure 4 Schematic diagram of the current rising state of the ideal circuit equivalent to the fast response current source for magnetorheological damper.

[0028] Figure 5 Schematic diagram of the current drop state of the ideal circuit equivalent to the fast response current source for magnetorheological damper.

[0029] Figure 6 Flowchart for parameter design of fast response current source circuit for magnetorheological damper. DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the accompanying drawings.

[0031] like Figure 1 As shown, the fast response current source circuit for the magnetorheological damper of the present invention is composed of a main circuit and a control circuit. The control circuit is connected to the main circuit and is used to control the current direction of the main circuit. The main circuit is composed of a driving power supply 10, a MOS tube T14, a MOS tube T211, a resistor R13, a driving resistor R25, a resistor R39, a voltage regulator diode D17, a voltage regulator diode D28, a voltage regulator diode D17, a voltage regulator diode D28, a freewheeling diode D312, a driving capacitor C16, a pre-charge capacitor 14, a magnetorheological damper, a sampling resistor R s 17 and the main circuit grounding module 2, the secondary circuit grounding module 15, the control circuit is composed of a PWM generator 1, a desired control current source CCS19, an actual current measurement module 20, an operational amplifier A121, an operational amplifier A222, and a PI controller 23. Among them, the drain D of the MOS tube T211 is connected to the driving power supply 10, and the source S of the MOS tube T211 is connected to the sampling resistor R s 17, sampling resistor Rs 17 is connected to a magnetorheological damper, the magnetorheological damper is connected to the drain D of the MOS tube T14, and the source S of the MOS tube T14 is grounded through the main circuit grounding module 2; the magnetorheological damper includes a magnetorheological damper inductor 16 and a magnetorheological damper resistor 13; the driving power supply 10 is connected to the pre-charge capacitor 14 and then grounded through the secondary circuit grounding module 15; at the same time, a parallel circuit of a voltage regulator diode D28 and a resistor R39 is connected between the driving power supply 10 and the gate G of the MOS tube T211, the anode of the voltage regulator diode D28 is connected to the gate G of the MOS tube T211, and the cathode of the voltage regulator diode D28 is connected to the driving power supply 10; a parallel circuit of a driving capacitor C16 and a voltage regulator diode D17 is connected between the gate G of the MOS tube T2 and the drain of the MOS tube T14, and at the same time, the driving capacitor C16 is connected in series with the voltage regulator diode D17. The anode of the zener diode D17 is connected to the driving resistor R25, and the cathode of the zener diode D17 is connected to the gate G of the MOS tube T211; the driving power supply 10 is also connected to the magnetorheological damper resistor 13 through the flyback diode D312, the anode of the flyback diode D312 is connected to the magnetorheological damper resistor 13, and the cathode of the flyback diode D312 is connected to the driving power supply 10; the source S of the MOS tube T211 is connected to the source S of the MOS tube T14 through the flyback diode D418, the anode of the flyback diode D418 is connected to the source S of the MOS tube T14, and the cathode of the flyback diode D418 is connected to the source S of the MOS tube T211; the gate G of the MOS tube T14 is connected to the source S of the MOS tube T14 through the resistor R13; the sampling resistor R s 17 is connected to the current input terminal of the actual current measurement module 20, the current output terminal of the actual current measurement module 20 is connected in parallel with the positive and negative terminals of the operational amplifier A121, the output terminal of the operational amplifier A121 is connected in series with the negative terminal of the operational amplifier A222, the positive terminal of the operational amplifier A222 is connected to the desired control current source CCS19, the output terminal of the operational amplifier A222 is connected to the PI controller 23, the PI controller 23, the PWM generator 1 and the gate G of the MOS tube T14 are connected in sequence.

[0032] like Figure 2 As shown, if the sampling resistor R s 17 and the actual control current measured by the operational amplifier A121 (i.e., the actual control current of the magnetorheological damper) is less than the expected control current, the PI controller 23 controls the PWM generator 1 to generate a high pulse, thereby providing a high level to the gate G of the MOS tube T14. At this time, the source S of the MOS tube T14 and the drain D of the MOS tube T14 are turned on, the magnetorheological damper inductor 16 is charged, and the rising control current I r The driving power source 10 sequentially passes through the drain D of the MOS tube T211, the source S of the MOS tube T211, and the sampling resistor R s17, the magnetorheological damper inductor 16, the magnetorheological damper resistor 13 and the source S and drain D of the MOS tube T14, and then flows to the main circuit grounding module 2.

[0033] like Figure 3 As shown, if the sampling resistor R s 17 and the actual control current measured by the operational amplifier A121 (i.e., the actual control current of the magnetorheological damper) is greater than the expected control current, the PI controller 23 controls the PWM generator 1 to generate a low pulse, thereby providing a low level to the gate G of the MOS tube T14. At this time, the source S of the MOS tube T14 and the drain D of the MOS tube T14 are disconnected, the magnetorheological damper inductor 16 is discharged, and the control current I d From the main circuit grounding module 2 through the freewheeling diode D418, sampling resistor R s 17 , the magnetorheological damper inductor 16 , the magnetorheological damper resistor 13 , the freewheeling diode D312 and the capacitor 14 flow to the secondary circuit grounding module 15 .

[0034] like Figure 4 As shown, the current in the equivalent ideal circuit flows from the positive electrode of the driving power supply 10 through the magnetorheological damper resistor 13 and the magnetorheological damper inductor 16 to the main circuit grounding module 2 in sequence.

[0035] like Figure 5 As shown, the current in the equivalent ideal circuit flows to the secondary circuit grounding module 15 through the magnetorheological damper inductor 16, the magnetorheological damper resistor 13, the freewheeling diode D312 and the pre-charge capacitor 14 in sequence. In this circuit, a circuit with a unidirectional oscillation characteristic (magnetorheological damper inductor-magnetorheological damper resistor-pre-charge capacitor) is used and the pre-charge capacitor 14 is pre-charged, and its oscillation characteristic and the pre-charge voltage of the pre-charge capacitor 14 are used to achieve rapid reduction of the control current.

[0036] Increasing the driving voltage of the driving power supply 10 is to shorten the ideal response time τ of the current rise s,ri The most effective method is to increase the value of the pre-charge capacitor 14 to shorten the ideal response time τ of the current drop. s,di , the ideal response time τ of the current rise s,ri That is, the response time required for the current to reach the desired control current in the rising state, and the ideal response time τ for the current to fall s,di That is, the response time required for the current to drop from the desired control current to 0 in the falling state.

[0037] like Figure 6 As shown, the design steps of the driving voltage of the driving power supply 10 and the parameters of the pre-charge capacitor 14 are as follows:

[0038] Step 1: Determine the characteristic values ​​of the magnetorheological damper.

[0039] Select a magnetorheological damper prototype and determine the various characteristic values ​​of the magnetorheological damper, including the inductance value L of the magnetorheological damper inductor 16. m , the resistance value R of the magnetorheological damper resistor 13 m 、Maximum required excitation current I of magnetorheological damper max The value of and the maximum response delay time τ.

[0040] Step 2: Calculate the ideal response time τ for current rise s,ri .

[0041] When the actual control current input is equal to the maximum required excitation current I of the magnetorheological damper max When the integral multiple of the vehicle power supply 12V is used as the driving voltage U of the driving power supply 10 in , driving voltage U in The five groups of 12V, 24V, 36V, 48V and 60V are available, according to the ideal response time τ of the current rise s,ri The calculation formula The ideal response time τ of the current source current rise corresponding to the five different driving voltages of the driving power supply 10 is calculated in sequence. s,ri .

[0042] Step 3: Measure the average signal transmission time τ of the current in one working cycle s,w .

[0043] according to Figure 1 The magnetorheological damper shown in the figure uses a fast response digitally controlled current source circuit. When the maximum required excitation current I is input max In this case, the signal transmission time corresponding to different driving voltages (i.e., 12V, 24V, 36V, 48V, and 60V) of the driving power supply 10 is measured in turn, and the average thereof is calculated, which is considered to be the average signal transmission time τ of the current of the current source in one working cycle. s,w .

[0044] Step 4: Determine the final driving voltage U of the driving power supply in '.

[0045] According to the actual response time τ of the current rise s,ra The calculation formula of τ s,ra =τ s,w +τ s,ri , and calculate the actual response time corresponding to the five different driving voltages of the driving power supply 10 in turn. Generally speaking, the driving voltage value U in The higher the current rise, the ideal response time τ s,riThe shorter the current rise, the lower the voltage, the higher the safety and lower the cost. s,ri , improve safety while reducing costs, select the actual response time τ of the current rise that is closest to but not exceeding the maximum response delay time τ s,ra The corresponding driving voltage is used as the final driving voltage U of the driving power supply 10 in the current source in '.

[0046] Step 5: Determine the actual value of the pre-charge capacitor 14.

[0047] The ideal response time τ of current drop s,di The calculation formula is: In the formula I oc represents the expected control current given by the expected control current source CCS19, and C2 is the capacitance value of the pre-charge capacitor 14.

[0048] In order to obtain better magnetorheological semi-active suspension control effect, the ideal response time τ of current rise s,ri The ideal response time τ should be as close as possible to the current drop s,di is consistent, that is, τ s,ri =τ s,di ,thereby Among them, U in =U in ', calculate the value of C2, which is set as the initial value of the pre-charge capacitor 14, and determine the actual value of the pre-charge capacitor 14 according to the actual capacitance product closest to the initial value.

[0049] The present invention improves the performance of magnetorheological semi-active suspension, provides actuator performance guarantee, improves the reaction time design accuracy under millisecond-level response conditions, reduces the rise and fall response time of the control current, and designs a fast-response current source that adapts to different parameter conditions.

Claims

1. A fast response current source circuit for a magnetorheological damper, characterized in that: The main circuit includes a main circuit and a control circuit for controlling the current direction of the main circuit. The main circuit includes a driving power supply, a MOS tube T1, a MOS tube T2, a pre-charge capacitor, a magnetorheological damper, a sampling resistor R s , the main circuit grounding module and the secondary circuit grounding module, the drain D of the MOS tube T2 is connected to the driving power supply, and the source S of the MOS tube T2 is connected to the sampling resistor R s , sampling resistor R s A magnetorheological damper is connected, the magnetorheological damper is connected to the drain D of the MOS tube T1, the source S of the MOS tube T1 is grounded through the main circuit grounding module, the magnetorheological damper includes a magnetorheological damper inductor and a magnetorheological damper resistor, the driving power supply is connected to the pre-charge capacitor and then grounded through the secondary circuit grounding module, at the same time, a parallel circuit of a voltage regulator diode D2 and a resistor R3 is connected between the driving power supply and the gate G of the MOS tube T2, a parallel circuit of a driving capacitor C1 and a voltage regulator diode D1 is connected between the gate G of the MOS tube T2 and the drain of the MOS tube T1, and a driving resistor R2 is connected in series at the same time, the driving power supply is also connected to the magnetorheological damper resistor through a freewheeling diode D3, the source S of the MOS tube T2 is connected to the source S of the MOS tube T1 through a freewheeling diode D4, and the gate G of the MOS tube T1 is connected to the source S of the MOS tube T1 through a resistor R1; The control circuit includes a PWM generator, a desired control current source CCS, an actual current measurement module, an operational amplifier A1, an operational amplifier A2 and a PI controller, a sampling resistor R s The current input terminal of the actual current measurement module is connected, the current output terminal of the actual current measurement module is connected in parallel with the positive and negative terminals of the operational amplifier A1, the output terminal of the operational amplifier A1 is connected in series with the negative terminal of the operational amplifier A2, the positive terminal of the operational amplifier A2 is connected to the desired control current source CCS, the output terminal of the operational amplifier A2 is connected to the PI controller, and the PI controller, the PWM generator and the gate G of the MOS tube T1 are connected in sequence; If the sampling resistor R s If the actual control current measured by the operational amplifier A1 is less than the expected control current, the PI controller controls the PWM generator to generate a high pulse to provide a high level to the gate G of the MOS tube T1. At this time, the source S of the MOS tube T1 and the drain D of the MOS tube T1 are turned on, the magnetorheological damper inductor is charged, and the rising control current I r From the driving power supply, it passes through the drain D of MOS tube T2, the source S of MOS tube T2, and the sampling resistor R s , magnetorheological damper inductor, magnetorheological damper resistor and the source S and drain D of MOS tube T1, and then flows to the main circuit grounding module; if the sampling resistor R s If the actual control current measured by the operational amplifier A1 is greater than the expected control current, the PI controller controls the PWM generator to generate a low pulse to provide a low level to the gate G of the MOS tube T1. At this time, the source S of the MOS tube T1 and the drain D of the MOS tube T1 are disconnected, the magnetorheological damper inductor is discharged, and the control current I d From the main circuit grounding module through the freewheeling diode D4, sampling resistor R s , magnetorheological damper inductor, magnetorheological damper resistor, freewheeling diode D3 and pre-charge capacitor flow to the secondary circuit grounding module; sampling resistor R s The actual control current measured by the operational amplifier A1 is the actual control current of the magnetorheological damper; by increasing the driving voltage of the driving power supply, the ideal response time τ of the current rise is shortened s,ri By increasing the value of the pre-charge capacitor, the ideal response time τ of the current drop is shortened s,di ; The parameter design method of the current source circuit comprises the following steps: Step 1: Determine the inductance value L of the magnetorheological damper inductor m , the resistance value R of the magnetorheological damper resistor m 、Maximum required excitation current I of magnetorheological damper max The value of , the value of the maximum response delay time τ; Step 2: Calculate the ideal response time τ for current rise s,ri ; When the actual control current input is equal to the maximum required excitation current I of the magnetorheological damper max When the vehicle power supply is an integer multiple of 12V, the driving voltage U of the driving power supply is in , according to the ideal response time τ of the current rise s,ri The calculation formula Calculate the ideal response time τ of the current source current rise corresponding to different driving voltages of the driving power supply in turn s,ri ; Step 3: Measure the average signal transmission time τ of the current in one working cycle s,w ; At the input of the maximum required excitation current I max In this case, the signal transmission time corresponding to different driving voltages of the driving power supply is measured in turn, and the average is calculated, which is considered to be the average signal transmission time τ of the current source in one working cycle. s,w ; Step 4: Determine the final driving voltage U of the driving power supply in '; According to the actual response time τ of the current rise s,ra The calculation formula of τ s,ra =τ s,w +τ s,ri , calculate the actual response time corresponding to different driving voltages of the driving power supply in turn, and select the actual response time τ of the current rise that is closest to but not exceeding the maximum response delay time τ s,ra The corresponding driving voltage is used as the final driving voltage U of the driving power supply in the current source in '; Step 5: Determine the actual value of the pre-charge capacitance; The ideal response time τ of current drop s,di The calculation formula is: In the formula I oc represents the expected control current given by the expected control current source CCS, and C2 is the capacitance value of the pre-charge capacitor; In order to obtain better magnetorheological semi-active suspension control effect, the ideal response time τ of current rise s,ri The ideal response time τ should be as close as possible to the current drop s,di is consistent, that is, τ s,ri =τ s,di ,thereby Among them, U in =U in ', calculate the value of C2, which is set as the initial value of the pre-charge capacitor, and determine the actual value of the pre-charge capacitor according to the actual capacitance product closest to the initial value.

2. A fast response current source circuit for a magnetorheological damper according to claim 1, characterized in that: The driving voltage U of the driving power supply in Take any one of 12V, 24V, 36V, 48V and 60V.

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