A trailing arm type oil-gas suspension control system and control method thereof

Abstract

The present invention discloses a trailing arm type oil-gas suspension control system and a control method thereof, comprising: an oil-gas suspension system, a braking system and a power unit assembly; the oil-gas suspension system and the braking system are respectively connected to the power unit assembly. The oil-gas suspension system comprises: a plurality of axle suspension systems; the axle suspension system comprises a left suspension cylinder, a left suspension accumulator, a left through valve, a left attitude adjustment valve, and a right suspension cylinder, a right suspension accumulator, a right through valve, and a right attitude adjustment valve; the braking system comprises: a brake accumulator, an inverse proportional brake valve, a brake, a pressure sensor, and an oil replenishment valve. Advantages: without adding any complex hydraulic valve group and control strategy, the real-time synchronous lifting and lowering action of the multi-axis oil-gas suspension is realized through the brake assistance of the hydraulic brake system; the oil-gas suspension system does not add any additional control elements, and the oil-gas suspension can realize any one-key leveling within the travel range through the built-in position sensor of the suspension cylinder.

Description

Technical Field

[0001] The invention relates to a trailing arm type oil-gas suspension control system and a control method thereof, belonging to the technical field of suspension control. Background Art

[0002] There are two main suspension structure arrangements for off-road vehicles: transverse arm type and longitudinal arm type. Transverse arm suspension refers to a suspension structure in which the wheels swing in the lateral plane of the vehicle, and longitudinal arm suspension refers to a suspension structure in which the wheels swing in the longitudinal plane of the vehicle. Hydro-pneumatic suspension is a suspension device that integrates elastic elements and shock absorbers. It overcomes the linear characteristics of leaf springs and is used in engineering vehicles and special vehicles. It has good vibration reduction performance, smoothness and vehicle driving stability, and can achieve adjustability of vehicle body height. The upper end of the longitudinal arm hydro-pneumatic suspension is hinged to the frame, and the lower end is hinged to the longitudinal arm swing leg. As the suspension cylinder expands and contracts, the frame and the longitudinal arm swing leg move relative to each other, causing the entire vehicle body to rise and fall relative to the ground.

[0003] The automatic leveling of the oil-gas suspension means that each suspension cylinder reaches different designated positions, or reaches the same designated position, so that the superstructure is level. The commonly used implementation method is to control the opening and closing time of the switch valve through position sensors and angle sensors, thereby controlling the extension and retraction amount of each suspension cylinder.

[0004] The synchronous lifting of oil and gas suspension means that the oil cylinders move at the same time and at the same speed. At present, the synchronous lifting of oil and gas suspension is generally achieved through synchronous pumps, gear diverters, speed control valves, diverter and converging valves, etc. A more precise system is a post-valve compensation system composed of an electromagnetic proportional valve and a hydraulically controlled directional valve to achieve synchronous action.

[0005] It is easy for oil-gas suspension to level automatically, but difficult to raise and lower synchronously. Automatic leveling requires results, while synchronization requires a process. In the process of lifting the upper body of a multi-axis longitudinal arm suspension, due to the interaction between the front and rear axles, the tires on the longitudinal arm swing leg will roll relative to the ground, which makes it difficult to synchronize the lifting and lowering of the suspension, affecting the stability of the upper body.

[0006] In summary, the existing technology has the following disadvantages: (1) The synchronization and leveling system of the oil-gas suspension is complex; (2) The leveling system of the oil-gas suspension cannot achieve leveling of arbitrary displacement; (3) The synchronization accuracy is greatly affected by the manufacturing accuracy of the valve group, and on-site debugging is difficult. Summary of the invention

[0007] The technical problem to be solved by the present invention is to overcome the defects of the prior art, provide a trailing arm oil-gas suspension control system and a control method thereof, realize the posture adjustment action, driving brake and parking brake of the off-road vehicle; the present invention can quickly realize the independent control of the suspension cylinder, the synchronous control of the coaxial suspension cylinder, the synchronous control of the same-side suspension cylinder and the synchronous adjustment of the whole vehicle lifting, and can meet the requirements of various driving states. The scheme of the present invention can improve the driving safety and maneuverability of the off-road vehicle.

[0008] In order to solve the above technical problems, the present invention provides a trailing arm type oil-gas suspension control system, comprising: an oil-gas suspension system, a brake system and a power unit assembly; the oil-gas suspension system and the brake system are respectively connected to the power unit assembly;

[0009] The oil-gas suspension system comprises: a plurality of pairs of axle suspension systems, the number of which is consistent with the number of axles; the axle suspension system comprises a left suspension cylinder, a left suspension accumulator, a left through-valve, a left attitude adjustment valve, and a right suspension cylinder, a right suspension accumulator, a right through-valve, and a right attitude adjustment valve; wherein the left suspension cylinder is respectively connected to the left through-valve and the left attitude adjustment valve, the left suspension accumulator is connected to the left through-valve, and the left attitude adjustment valve is also respectively connected to the power unit assembly and the left through-valve; the right suspension cylinder is respectively connected to the right through-valve and the right attitude adjustment valve, the right suspension accumulator is connected to the right through-valve, and the right attitude adjustment valve is also respectively connected to the power unit assembly and the right through-valve; both the left suspension cylinder and the right suspension cylinder are equipped with displacement sensors;

[0010] The braking system comprises: a brake accumulator, an inverse proportional brake valve, a brake, a pressure sensor, and an oil replenishing valve; the brake accumulator is respectively connected to the pressure sensor, the oil replenishing valve and the inverse proportional brake valve, the power unit assembly is connected to the oil replenishing valve, the inverse proportional brake valve is connected to the brake, and the brake is arranged on the tire rim for braking the vehicle;

[0011] The pressure sensor is used to collect the oil pressure in the brake accumulator and convert it into an electrical signal for transmission to the power unit assembly; the inverse proportional brake valve has pressure output when it is not energized and no pressure output when it is energized; the brake is locked with pressure and released without pressure; the entire vehicle is braked when the inverse proportional brake valve is not energized and the entire vehicle is released when it is energized.

[0012] Furthermore, the brake accumulator and the inverse proportional brake valve are provided in pairs, forming a pair of control modules;

[0013] One control module controls the brakes on the left side of the axle, and the other control module controls the brakes on the right side of the axle.

[0014] Furthermore, the power unit assembly adopts a hydraulic power unit assembly, which is used to control the oil-gas suspension system and the brake system through hydraulic oil to perform suspension cylinder movement and braking movement.

[0015] Furthermore, the lower hinge points of the left suspension cylinder and the right suspension cylinder of the axle suspension system are symmetrically arranged on the swing legs corresponding to the axle, and the upper hinge points of the cylinders are arranged on the vehicle body.

[0016] Furthermore, the oil inlet of the inverse proportional brake valve is connected to the brake accumulator, the oil return port of the inverse proportional brake valve is connected to the oil tank of the power unit assembly, and the output port of the inverse proportional brake valve is connected to the brake.

[0017] Furthermore, the suspension accumulators in all the axle suspension systems have the same volume and the same pre-charge pressure.

[0018] A hydraulic braking method for a trailing arm type oil-gas suspension control system, comprising:

[0019] In the initial state, the inverse proportional brake valve is not energized, and the pressure oil in the brake accumulator is input into the brake through the oil inlet of the inverse proportional brake valve. The brake locks the wheel rim under the action of the hydraulic oil to achieve vehicle braking.

[0020] When the pressure sensor detects that the pressure in the brake accumulator is lower than the set value, the power unit assembly supplies oil to the brake accumulator until the pressure in the brake accumulator reaches the set value, and then the power unit assembly stops supplying oil;

[0021] When the brakes need to be released, a certain current is continuously supplied to the inverse proportional brake valve to control the hydraulic oil in the brake to flow back to the oil tank through the oil return port. The brake is separated from the brake disc under the action of the spring force, so that the entire vehicle is completely released from the brakes.

[0022] A coaxial suspension synchronous lifting control method of a trailing arm oil-gas suspension control system, comprising:

[0023] The hydraulic brake system is in the initial state, all tires are in the braking state, the vehicle's swing arm rotates around the tire's contact point with the ground, and the frame rotates around the swing arm;

[0024] If the suspension of a certain bridge needs to be raised or lowered synchronously, the left attitude adjustment valve and the right attitude adjustment valve corresponding to the bridge are controlled by the power unit assembly to be energized, the rodless chamber of the left suspension cylinder and the rod chamber return oil, and the left suspension cylinder and the right suspension cylinder are extended synchronously under the joint action of their respective swing arms and frames, driving the upper body to move upward synchronously, and the stroke position of the left suspension cylinder and the right suspension cylinder is detected by the built-in displacement sensor in the left suspension cylinder and the right suspension cylinder, and leveling is performed at any position within the stroke range of the suspension cylinder according to the detected stroke position.

[0025] A method for synchronous lifting and lowering control of suspension on the same side of a trailing arm type oil-gas suspension control system, comprising:

[0026] The hydraulic brake system is in the initial state, all tires are in the braking state, the vehicle's swing arm rotates around the tire's contact point with the ground, and the frame rotates around the swing arm;

[0027] If the suspension on one side needs to be raised or lowered synchronously, all the attitude adjustment valves on the same side are controlled by the power unit assembly to be energized at the same time, the rodless chambers of all the suspension cylinders on the same side enter oil and the rod chambers return oil, and all the suspension cylinders on the same side extend synchronously under the joint action of their respective swing arms and frames, driving the superstructure to move upward synchronously, and the stroke position of each suspension cylinder is detected by the built-in displacement sensors of all the suspension cylinders, and leveling is performed at any position within the stroke range of the suspension cylinder according to the detected stroke position; all the attitude adjustment valves on the same side refer to all the left attitude adjustment valves or the right attitude adjustment valves on the same side, and all the suspension cylinders on the same side refer to all the left suspension cylinders or all the right suspension cylinders on the same side.

[0028] A vehicle suspension synchronous lifting control method of a trailing arm type oil-gas suspension control system, comprising:

[0029] The hydraulic brake system is in the initial state, all tires are in the braking state, the vehicle's swing arm rotates around the tire's contact point with the ground, and the frame rotates around the swing arm;

[0030] If the suspension of the entire vehicle needs to be raised or lowered synchronously, all the attitude adjustment valves of the entire vehicle are controlled by the power unit assembly to be energized at the same time, the rodless chambers of all the suspension cylinders of the entire vehicle enter oil and the rod chambers return oil, and all the suspension cylinders of the entire vehicle extend synchronously under the joint action of their respective swing arms and frames, driving the superstructure to move upward synchronously, and the stroke position of each suspension cylinder is detected by the built-in displacement sensors of all the suspension cylinders of the entire vehicle, and leveling is performed at any position within the stroke range of the suspension cylinder according to the detected stroke position; all the attitude adjustment valves of the entire vehicle refer to all the left attitude adjustment valves and all the right attitude adjustment valves of the entire vehicle, and all the suspension cylinders of the entire vehicle refer to all the left suspension cylinders and all the right suspension cylinders of the entire vehicle.

[0031] It can realize leveling at any position within the range of cylinder stroke. When the suspension is lowered synchronously, the reversing valve DT3 is energized, and the energization of other valves is the same as that of synchronous raising.

[0032] The beneficial effects achieved by the present invention are:

[0033] (1) Without adding any complex hydraulic valve group and control strategy, the real-time synchronous lifting and lowering action of the multi-axis oil-gas suspension is realized through the brake assistance of the hydraulic brake system;

[0034] (2) The hydro-pneumatic suspension system does not add any additional control components. Through the built-in position sensor of the suspension cylinder, the hydro-pneumatic suspension can be leveled at any time within the travel range. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1This is the schematic diagram of the oil-gas suspension and brake hydraulic pressure of the present invention;

[0036] Figure 2 This is the structural layout diagram of the trailing arm oil and gas suspension. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0038] The scheme of the present invention provides a trailing arm oil-gas suspension control system for oil-gas suspension synchronization and leveling. In this embodiment, it is applied to an off-road vehicle to realize the off-road vehicle posture adjustment action, driving brake and parking brake; the present invention can quickly realize the independent control of the suspension cylinder, the synchronous control of the coaxial suspension cylinder, the synchronous control of the same-side suspension cylinder and the synchronous adjustment of the whole vehicle lifting, which can meet various driving state requirements. The scheme of the present invention can improve the driving safety and maneuverability of the off-road vehicle.

[0039] Embodiment 1:

[0040] like Figure 1 As shown, it is the schematic diagram of the oil-gas suspension and brake described in this scheme. The oil-gas suspension system and the brake system share the power unit assembly 1. The oil-gas suspension system includes suspension cylinders 311 / 312 / 313 / 321 / 322 / 323, suspension accumulator 4, through valve 5, left attitude adjustment valve 7, right attitude adjustment valve 8; the brake system includes brake accumulator 9, inverse proportional brake valve 10, brake 11, pressure sensor 12, oil replenishment valve 13 and the like. There are 6 suspension cylinders, 6 suspension accumulators 4, 6 through valves 5 and 6 brakes 11, and the 6 suspension cylinders are symmetrically arranged on the 6 swing legs. Each suspension cylinder has a built-in displacement sensor (the displacement sensor used in this embodiment is a magnetostrictive position sensor 6), which can continuously monitor the cylinder stroke. The installation form of the suspension cylinder is shown in FIG. Figure 2 , Trailing arm oil-gas suspension layout: 6 suspension cylinders, the suspension cylinders of the same bridge are arranged symmetrically, each suspension cylinder is connected to the vehicle body 15 and the swing arm 16 through a pin 14. The swing arm 16 is connected to the tire 17, and the brake is installed on the rim motor.

[0041] There are two brake accumulators 9 and two inverse proportional brake valves 10; there are one power unit assembly 1, one oil replenishing valve 13, one pressure sensor 12, one left attitude adjustment valve 7, and one right attitude adjustment valve 8. The power unit assembly includes an air filter 101, a gear pump 104, a motor 105, a hydraulic oil tank 108, an oil suction filter 102, an air filter 109, a relief valve 103, a one-way valve 106, a unloading valve 2, and a reversing valve 107; the left attitude adjustment valve 7 and the right attitude adjustment valve 8 each include 6 normally closed switch valves; the 6 through valves in different positions are numbered differently but have the same function, including through valves DT31 / DT32 / DT33 / DT34 / DT35 / DT36, the through valves are normally open by default, the switch valves in the left attitude adjustment valve are numbered DT11 / DT12 / DT13 / DT14 / DT15 / DT16, and the switch valves in the right attitude adjustment valve are numbered DT21 / DT22 / DT23 / DT24 / DT25 / DT26. The 6 brakes 11 are respectively installed on the 6 tire rims, and the pressure sensor 12 is installed between the oil replenishing valve 13 and the inverse proportional brake valve 10. The inverse proportional brake valve 10 has pressure output when it is not powered, and no pressure output when it is powered; the brake 11 is locked with pressure, and released without pressure. The P port of the inverse proportional brake valve 10 is connected to the brake accumulator 9, the T port is connected to the oil tank of the power unit assembly 1, and the output port A is connected to the brake 11. The whole vehicle is braked when the inverse proportional brake valve 10 is not powered, and the whole vehicle is released when it is powered. The 6 suspension accumulators 4 have the same volume and the same pre-charge pressure.

[0042] Embodiment 2:

[0043] A hydraulic braking method for a trailing arm type oil-gas suspension control system, comprising:

[0044] The initial state is that the two inverse proportional brake valves 10 are not powered. At this time, the pressure oil in the brake accumulator 9 is input to the six brakes 11 through the P of the inverse proportional brake valve. The brake 11 locks the wheel rim under the action of the hydraulic oil to achieve the braking of the whole vehicle; due to the internal leakage of the inverse proportional brake valve 10, the parking brake can only be maintained for a period of time. When the pressure sensor 12 detects that the pressure of any brake accumulator 9 is lower than the set value, the motor 105 of the power unit assembly 1 is started, the switch valves DT1 and DT4 are powered, and the electromagnet DT2 of the reversing valve 107 is powered to supply oil to the brake accumulator 9 until the pressure of the brake accumulator 9 reaches the set value, the switch valves DT1 and DT4 are de-energized at the same time, the electromagnet DT2 of the reversing valve 107 is also de-energized, and the motor 105 of the power unit assembly 1 is then de-energized and stops supplying oil. The vehicle needs to release the brakes before normal driving. At this time, a certain current needs to be continuously supplied to the two inverse proportional brake valves 10. The hydraulic oil in the brake 11 flows back to the oil tank through the T port. The brake 11 is separated from the brake disc under the action of the spring force, so that the entire vehicle is completely released from the brakes.

[0045] Embodiment 3:

[0046] A coaxial suspension synchronous lifting control method of a trailing arm oil-gas suspension control system, comprising:

[0047] The hydraulic brake system is in the initial state, at which time the six tires are in the braking state, the swing arm rotates around the contact point between the tire and the ground, and the frame rotates around the swing arm. Taking the synchronous lifting of a bridge suspension as an example, the motor 105 is started, the gear pump 104 outputs hydraulic oil, the switch valve DT1 is energized, the electromagnet DT2 of the reversing valve 107 is energized, the left attitude adjustment valve DT11, DT12 and the right attitude adjustment valve DT21, DT22 are energized, the rodless chamber of the left suspension cylinder 311 of the bridge and the rod chamber of the right suspension cylinder 321 of the bridge enter oil, and the rod chamber returns oil. Under the joint action of their respective swing arms and frames, the two cylinders extend synchronously, driving the upper body to move upward synchronously. Through the position detection function of the built-in displacement sensor 6 of the cylinder, leveling at any position within the stroke range of the coaxial cylinder can be achieved. When the suspensions 311 and 321 of the bridge are lowered synchronously, the electromagnet DT3 of the reversing valve 107 is energized, and the energization of other valves is the same as that of the synchronous lifting.

[0048] Embodiment 4:

[0049] A method for synchronous lifting and lowering control of suspension on the same side of a trailing arm type oil-gas suspension control system, comprising:

[0050] The hydraulic brake system is in the initial state. At this time, the six tires are in the braking state, the swing arm rotates around the contact point between the tire and the ground, and the frame rotates around the swing arm. Taking the synchronous lifting of the left suspension as an example, the motor 105 is started, the gear pump 104 outputs hydraulic oil, the switch valve DT1 is energized, the reversing valve solenoid DT2 is energized, the left attitude adjustment valves DT11, DT12, DT13, DT14, DT15, and DT16 are energized at the same time, and the rodless chambers of the three left suspension cylinders 311 / 312 / 313 are filled with oil and the rod chambers are returned with oil. Under the joint action of their respective swing arms and the frame, the three cylinders extend synchronously, driving the upper body to move upward synchronously. Through the position detection function of the built-in displacement sensor 6 of the cylinder, leveling can be achieved at any position within the stroke range of the cylinder on the same side. When the left suspension is synchronously lowered, the solenoid DT3 of the reversing valve 107 is energized, and the energization of other valves is the same as that of synchronous lifting.

[0051] Embodiment 5:

[0052] A vehicle suspension synchronous lifting control method of a trailing arm type oil-gas suspension control system, comprising:

[0053] The hydraulic brake system is in the initial state. At this time, the six tires are in the braking state, the swing arm rotates around the contact point between the tire and the ground, and the frame rotates around the swing arm. The motor 105 is started, the gear pump 104 outputs hydraulic oil, the switch valve DT1 is energized, the reversing valve solenoid DT2 is energized, the left attitude adjustment valves DT11, DT12, DT13, DT14, DT15, and DT16 are energized at the same time, and the right attitude adjustment valves DT21, DT22, DT23, DT24, DT25, and DT26 are energized at the same time. The rodless chambers of the six suspension cylinders 311 / 312 / 313 / 321 / 322 / 323 are filled with oil, and the rod chambers are returned to oil. Under the joint action of their respective swing arms and frames, the six cylinders extend synchronously, driving the upper body to move upward synchronously. Through the position detection function of the built-in displacement sensor 6 of the cylinder, leveling at any position within the cylinder stroke range can be achieved. When the suspension is lowered synchronously, the reversing valve DT3 is energized, and the energization of other valves is the same as that of synchronous raising.

[0054] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A trailing arm type oil-gas suspension control system, characterized in that: include: The oil-gas suspension system, the brake system and the power unit assembly; the oil-gas suspension system and the brake system are respectively connected to the power unit assembly; The oil-gas suspension system comprises: a plurality of pairs of axle suspension systems, the number of which is consistent with the number of axles; the axle suspension system comprises a left suspension cylinder, a left suspension accumulator, a left through-valve, a left attitude adjustment valve, and a right suspension cylinder, a right suspension accumulator, a right through-valve, and a right attitude adjustment valve; wherein the left suspension cylinder is respectively connected to the left through-valve and the left attitude adjustment valve, the left suspension accumulator is connected to the left through-valve, and the left attitude adjustment valve is also respectively connected to the power unit assembly and the left through-valve; the right suspension cylinder is respectively connected to the right through-valve and the right attitude adjustment valve, the right suspension accumulator is connected to the right through-valve, and the right attitude adjustment valve is also respectively connected to the power unit assembly and the right through-valve; both the left suspension cylinder and the right suspension cylinder are equipped with displacement sensors; The braking system comprises: a brake accumulator, an inverse proportional brake valve, a brake, a pressure sensor, and an oil replenishing valve; the brake accumulator is respectively connected to the pressure sensor, the oil replenishing valve and the inverse proportional brake valve, the power unit assembly is connected to the oil replenishing valve, the inverse proportional brake valve is connected to the brake, and the brake is arranged on the tire rim for braking the vehicle; The pressure sensor is used to collect the oil pressure in the brake accumulator and convert it into an electrical signal for transmission to the power unit assembly; the inverse proportional brake valve has pressure output when it is not energized and no pressure output when it is energized; the brake is locked with pressure and released without pressure; the entire vehicle is braked when the inverse proportional brake valve is not energized and the entire vehicle is released when it is energized.

2. The trailing arm type oil-gas suspension control system according to claim 1, characterized in that: The brake accumulator and the inverse proportional brake valve are each two, forming a pair of control modules; One control module controls the brakes on the left side of the axle, and the other control module controls the brakes on the right side of the axle.

3. The trailing arm type oil-gas suspension synchronization and leveling system according to claim 1, characterized in that: The power unit assembly adopts a hydraulic power unit assembly, which is used to control the oil-gas suspension system and the brake system through hydraulic oil to perform suspension cylinder action and brake action.

4. The trailing arm type oil-gas suspension synchronization and leveling system according to claim 1, characterized in that: The lower hinge points of the left suspension cylinder and the right suspension cylinder of the axle suspension system are arranged symmetrically on the swing legs corresponding to the axle, and the upper hinge points of the cylinders are arranged on the vehicle body.

5. The trailing arm type oil-gas suspension synchronization and leveling system according to claim 1, characterized in that: The oil inlet of the inverse proportional brake valve is connected to the brake accumulator, the oil return port of the inverse proportional brake valve is connected to the oil tank of the power unit assembly, and the output port of the inverse proportional brake valve is connected to the brake.

6. The trailing arm type oil-gas suspension synchronization and leveling system according to claim 1, characterized in that: The suspension accumulators in all the axle suspension systems described have the same volume and the same pre-charge pressure.

7. A hydraulic braking method based on the trailing arm type oil-gas suspension control system according to any one of claims 1 to 6, characterized in that: include: In the initial state, the inverse proportional brake valve is not energized, and the pressure oil in the brake accumulator is input into the brake through the oil inlet of the inverse proportional brake valve. The brake locks the wheel rim under the action of the hydraulic oil to achieve vehicle braking. When the pressure sensor detects that the pressure in the brake accumulator is lower than the set value, the power unit assembly supplies oil to the brake accumulator until the pressure in the brake accumulator reaches the set value, and then the power unit assembly stops supplying oil; When the brakes need to be released, a certain current is continuously supplied to the inverse proportional brake valve to control the hydraulic oil in the brake to flow back to the oil tank through the oil return port. The brake is separated from the brake disc under the action of the spring force, so that the entire vehicle is completely released from the brakes.

8. A coaxial suspension synchronous lifting control method based on the trailing arm oil-gas suspension control system according to any one of claims 1 to 6, characterized in that: include: The hydraulic brake system is in the initial state, all tires are in the braking state, the vehicle's swing arm rotates around the tire's contact point with the ground, and the frame rotates around the swing arm; If the suspension of a certain bridge needs to be raised or lowered synchronously, the left attitude adjustment valve and the right attitude adjustment valve corresponding to the bridge are controlled by the power unit assembly to be energized, the rodless chamber of the left suspension cylinder and the rod chamber return oil, and the left suspension cylinder and the right suspension cylinder are extended synchronously under the joint action of their respective swing arms and frames, driving the upper body to move upward synchronously, and the stroke position of the left suspension cylinder and the right suspension cylinder is detected by the built-in displacement sensor in the left suspension cylinder and the right suspension cylinder, and leveling is performed at any position within the stroke range of the suspension cylinder according to the detected stroke position.

9. A method for controlling synchronous lifting of the same-side suspension based on the trailing arm oil-gas suspension control system according to any one of claims 1 to 6, characterized in that: include: The hydraulic brake system is in the initial state, all tires are in the braking state, the vehicle's swing arm rotates around the tire's contact point with the ground, and the frame rotates around the swing arm; If the suspension on one side needs to be raised or lowered synchronously, all the attitude adjustment valves on the same side are controlled by the power unit assembly to be energized at the same time, the rodless chambers of all the suspension cylinders on the same side enter oil and the rod chambers return oil, and all the suspension cylinders on the same side extend synchronously under the joint action of their respective swing arms and frames, driving the superstructure to move upward synchronously, and the stroke position of each suspension cylinder is detected by the built-in displacement sensors of all the suspension cylinders, and leveling is performed at any position within the stroke range of the suspension cylinder according to the detected stroke position; all the attitude adjustment valves on the same side refer to all the left attitude adjustment valves or the right attitude adjustment valves on the same side, and all the suspension cylinders on the same side refer to all the left suspension cylinders or all the right suspension cylinders on the same side.

10. A vehicle suspension synchronous lifting control method based on the trailing arm oil-gas suspension control system according to any one of claims 1 to 6, characterized in that: include: The hydraulic brake system is in the initial state, all tires are in the braking state, the vehicle's swing arm rotates around the tire's contact point with the ground, and the frame rotates around the swing arm; If the suspension of the entire vehicle needs to be raised or lowered synchronously, all the attitude adjustment valves of the entire vehicle are controlled by the power unit assembly to be energized at the same time, the rodless chambers of all the suspension cylinders of the entire vehicle enter oil and the rod chambers return oil, and all the suspension cylinders of the entire vehicle extend synchronously under the joint action of their respective swing arms and frames, driving the superstructure to move upward synchronously, and the stroke position of each suspension cylinder is detected by the built-in displacement sensors of all the suspension cylinders of the entire vehicle, and leveling is performed at any position within the stroke range of the suspension cylinder according to the detected stroke position; all the attitude adjustment valves of the entire vehicle refer to all the left attitude adjustment valves and all the right attitude adjustment valves of the entire vehicle, and all the suspension cylinders of the entire vehicle refer to all the left suspension cylinders and all the right suspension cylinders of the entire vehicle.

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