A pre-look electrorheological semi-active suspension control system

Abstract

The application discloses a pre-look current variable semi-active suspension control system, which comprises a driving information detection unit, a comprehensive evaluation index calculation unit, a pre-look current variable semi-active suspension control mode selection unit and a pre-look current variable semi-active suspension execution unit. The driving information detection unit is used for acquiring a longitudinal speed, a target pre-look time and an actual pre-look time. The comprehensive evaluation index calculation unit is used for calculating a suspension target function factor, a road single-point pre-look evaluation factor and a transmission signal evaluation factor, so as to obtain a comprehensive evaluation index. The pre-look current variable semi-active suspension control mode selection unit comprises a first electric field intensity control mode, a second electric field intensity control mode and a third electric field intensity control mode. The pre-look current variable semi-active suspension execution unit adjusts vehicle control according to different control modes.

Description

Technical Field

[0001] This invention relates to a pre-aiming electrorheological semi-active suspension control system. Background Technology

[0002] As vehicles become increasingly intelligent, the development of related functions for autonomous vehicles, particularly focusing on environmental perception, path planning, and decision-making control, has largely neglected anti-slip electro-variable semi-active suspension control technology to ensure safety and reliability. Furthermore, the evaluation metrics for anti-slip electro-variable semi-active suspension control are relatively simplistic. However, for vehicle ride comfort and driver comfort, anti-slip electro-variable semi-active suspension requires consideration of suspension objective function factors, single-point road surface anti-slip evaluation factors, and transmission signal evaluation factors. Therefore, effectively ensuring vehicle ride comfort has become a pressing technical problem for the applicant. To address these issues, this invention proposes a pre-aiming electro-variable semi-active suspension control system. Summary of the Invention

[0003] The purpose of this invention is to provide a pre-aiming electro-variable semi-active suspension control system to solve the problems encountered in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a pre-aiming electro-electric semi-active suspension control system, comprising a driving information detection unit, a comprehensive evaluation index calculation unit, a pre-aiming electro-electric semi-active suspension control mode selection unit, and a pre-aiming electro-electric semi-active suspension execution unit.

[0005] The driving information detection unit is used to obtain the longitudinal speed v. x Target aiming time t a Actual aiming time t b ;

[0006] The comprehensive evaluation index calculation unit calculates the suspension objective function factor J1, the road surface single-point preview evaluation factor J2, and the transmission signal evaluation factor J3, thereby obtaining the comprehensive evaluation index J; the suspension objective function factor J1 depends on the vertical acceleration. Pitch acceleration The dynamic travel of the front suspension x1, the dynamic travel of the rear suspension x2, the dynamic tire deformation of the front wheel x3, and the dynamic tire deformation of the rear wheel x4; the single-point road surface preview evaluation factor J2 depends on the longitudinal road surface preview distance L. x Lateral road surface pre-aiming distance L y Target aiming time t a Actual aiming time t b The longitudinal road surface pre-aiming distance L x Depends on longitudinal velocity v xLongitudinal aiming signal time delay transmission factor k a and longitudinal interference factor k b Lateral road surface pre-aiming distance L y Depends on the yaw rate w y lateral acceleration a y Horizontal pre-aiming signal time delay transmission factor k c Horizontal interference factor k d And lateral angle aiming error k e The transmission signal evaluation factor J3 depends on the CAN control line influence factor K. C1 LIN control line influence factor K L2 FlexRay control line influence factor K F3 MOST control line influence factor K M4 ;

[0007] The pre-aiming electro-variable semi-active suspension control mode selection unit includes a first electric field strength control mode, a second electric field strength control mode, and a third electric field strength control mode. The control strength of the third electric field strength control mode is higher than that of the second electric field strength control mode, and the control strength of the second electric field strength control mode is higher than that of the first electric field strength control mode. The control strength of the control mode is described by designing the first electric field strength control factor threshold γ1, the second electric field strength control factor threshold γ2, and the third electric field strength control factor threshold γ3, where 0 < γ3 < γ2 < γ1 < 1. When the comprehensive evaluation index J satisfies γ1≤J<1, the pre-aiming electro-electro-modulated semi-active suspension actuator executes the first electric field strength control mode; when the comprehensive evaluation index J satisfies γ2≤J<γ1, the pre-aiming electro-electro-modulated semi-active suspension actuator executes the second electric field strength control mode; when the comprehensive evaluation index J satisfies γ3≤J<γ2, the pre-aiming electro-electro-modulated semi-active suspension actuator executes the third electric field strength control mode; when the comprehensive evaluation index J satisfies 0≤J<γ3, the pre-aiming electro-electro-modulated semi-active suspension actuator does not perform any operation.

[0008] The pre-aiming electrorheological semi-active suspension actuator executes the first electric field strength control mode. The output damping force F1 of the pre-aiming electrorheological semi-active suspension depends on the applied electric field intensity E1, the applied electric field time T1, the coefficient α related to the electrorheological fluid material, the viscosity χ1 of the electrorheological fluid under the first electric field strength control mode, and the critical viscosity value χ of the electrorheological fluid. char Damping force compensation value f under the first electric field strength control mode 10 Hysteresis variable value z under the first electric field strength control mode 10The evaluation factor η1 for the first electric field strength control mode is designed to evaluate the degree of pre-aiming electro-variable semi-active suspension control under the first electric field strength control mode. Its value depends on the piston speed V1 and the breakdown electric field strength threshold E under the first electric field strength control mode. char Design a first electric field strength control judgment factor λ1 and a first electric field strength control re-judgment time t1, where 0 < λ1 < 15%, and adjust the vehicle rules accordingly based on the magnitude of the first electric field strength control mode evaluation factor η1.

[0009] The pre-aiming electrorheological semi-active suspension actuator executes the second electric field strength control mode. The output damping force F2 of the pre-aiming electrorheological semi-active suspension depends on the electric field intensity E2 applied under the second electric field strength control mode, the electric field application time T2 under the second electric field strength control mode, the coefficient α related to the electrorheological fluid material, the viscosity χ2 of the electrorheological fluid under the second electric field strength control mode, and the critical viscosity value χ of the electrorheological fluid. char Damping force compensation value f under the second electric field strength control mode 20 The hysteresis variable value z under the second electric field strength control mode 20 The second electric field strength control mode evaluation factor η2 is designed to evaluate the degree of pre-aiming electrovaristor semi-active suspension control under the second electric field strength control mode. Its value depends on the piston speed V2 and the breakdown electric field strength threshold E under the second electric field strength control mode. char Design a second electric field strength control judgment factor λ2 and a second electric field strength control re-judgment time t2, where 0 < λ2 < 18%, and adjust the vehicle rules accordingly based on the magnitude of the second electric field strength control mode evaluation factor η2.

[0010] The pre-aiming electrorheological semi-active suspension actuator executes the third electric field strength control mode. The output damping force F3 of the pre-aiming electrorheological semi-active suspension depends on the electric field intensity E3 applied under the third electric field strength control mode, the electric field application time T3 under the third electric field strength control mode, the coefficient α related to the electrorheological fluid material, the viscosity χ3 of the electrorheological fluid under the third electric field strength control mode, and the critical viscosity value χ of the electrorheological fluid. char Damping force compensation value f under the third electric field intensity control mode 30 The hysteresis variable value z under the third electric field strength control mode 30 The evaluation factor η3 for the third electric field strength control mode is designed to evaluate the degree of pre-aiming electrovaristor semi-active suspension control under the third electric field strength control mode. Its value depends on the piston speed V3 and the breakdown electric field strength threshold E under the third electric field strength control mode. charDesign a third electric field strength control judgment factor λ3 and a third electric field strength control re-judgment time t3, where 0 < λ3 < 20%, and adjust the vehicle rules accordingly based on the magnitude of the third electric field strength control mode evaluation factor η3.

[0011] Specifically, it includes the following:

[0012] S1. The comprehensive evaluation index calculation unit can establish the suspension objective function factor according to the following formula:

[0013]

[0014] Where w1, w2, w3, w4, and w5 are weighting coefficients. For vertical acceleration, Let x1 be the pitch acceleration, x2 be the dynamic travel of the front suspension, x3 be the dynamic deformation of the front tire, and x4 be the dynamic deformation of the rear tire. The dynamic travel x1 of the front suspension depends on the vertical displacement u of the vehicle body. c The distance 'a' from the center of mass to the front axle, the pitch angle 'θ' of the vehicle body, and the vertical displacement 'u' of the front wheels. f Its expression is as follows:

[0015] x1=u c +aθ-u f ,

[0016] The dynamic travel x2 of the rear suspension depends on the vertical displacement u of the vehicle body. c The distance b from the center of gravity to the rear axle, the pitch angle θ of the vehicle body, and the vertical displacement u of the rear wheels. r Its expression is as follows:

[0017] x2=u c +bθ-u r ,

[0018] The dynamic deformation of the front tire x3 depends on the displacement input u of the front tire. f0 and the vertical displacement u of the front wheel f Its expression is as follows:

[0019] x3=u f -u f0 ,

[0020] The dynamic tire deformation x4 of the rear wheel depends on the displacement input u of the rear wheel. r0 and the vertical displacement u of the rear wheel r Its expression is as follows:

[0021] x4=u r -u r0 ;

[0022] S2. The comprehensive evaluation index calculation unit can establish a single-point pre-aiming evaluation factor for the road surface according to the following formula:

[0023]

[0024] Where w6 and w7 are weighting coefficients, L x L is the longitudinal road surface pre-aiming distance. y t is the lateral road surface aiming distance. a For the target aiming time, t b The actual aiming time is represented by the longitudinal road surface aiming distance L. x Depends on longitudinal velocity v x Longitudinal aiming signal time delay transmission factor k a and longitudinal interference factor k b Its expression is as follows:

[0025]

[0026] Lateral road surface aiming distance L y Depends on the yaw rate w y lateral acceleration a y Horizontal pre-aiming signal time delay transmission factor k c Horizontal interference factor k d And lateral angle aiming error k e Its expression is as follows:

[0027]

[0028] S3. The comprehensive evaluation index calculation unit can establish the transmission signal evaluation factor according to the following formula:

[0029]

[0030] Among them, w8, w9, w 10 w 11 K is the weighting coefficient. C1 K is the influence factor for the CAN control line. L2 K is the influence factor of the LIN control line. F3 K is the influence factor of the FlexRay control line. M4 The influence factor of the MOST control line is K, where the influence factor of the CAN control line is K. C1 Depends on the CAN control line length L C1 CAN control line signal transmission delay time t C1 CAN control line transmission signal attenuation coefficient f C1 CAN control line signal level coefficient χ C1 Number of CAN control line connection units n C1Its expression is as follows:

[0031]

[0032] LIN control line influence factor K L2 Depends on the LIN control line length L L2 LIN control line signal transmission delay time t L2 LIN control line signal attenuation coefficient f L2 LIN control line signal level coefficient χ L2 Number of LIN control line connection units n L2 Its expression is as follows:

[0033]

[0034] FlexRay control line influence factor K F3 Depends on the FlexRay control line length L F3 FlexRay control line signal transmission delay time t F3 FlexRay control line signal attenuation coefficient f F3 FlexRay control line signal level coefficient χ F3 Number of FlexRay control line connection units n F3 Its expression is as follows:

[0035]

[0036] MOST control line influence factor K M4 Depends on the length L of the MOST control line used M4 MOST control line transmission signal delay time t M4 MOST control line transmission signal attenuation coefficient f M4 χ, the signal level coefficient of the MOST control line M4 Number of MOST control line connection units n M4 Its expression is as follows:

[0037]

[0038] The comprehensive evaluation index calculation unit can calculate the comprehensive evaluation index according to the following formula:

[0039]

[0040] Among them, Q1, Q2, and Q3 are the weighted values ​​calculated for individual indicators.

[0041] The pre-aiming electro-variable semi-active suspension control mode selection unit includes a first electric field strength control mode, a second electric field strength control mode, and a third electric field strength control mode. The control strength of the third electric field strength control mode is higher than that of the second electric field strength control mode, and the control strength of the second electric field strength control mode is higher than that of the first electric field strength control mode. The control strength of the control mode is described by designing the first electric field strength control factor threshold γ1, the second electric field strength control factor threshold γ2, and the third electric field strength control factor threshold γ3, where 0 < γ3 < γ2 < γ1 < 1.

[0042] When the comprehensive evaluation index J satisfies γ1≤J<1, the pre-aiming electro-variable semi-active suspension actuator executes the first electric field strength control mode, and the expression for the output damping force of the pre-aiming electro-variable semi-active suspension is as follows:

[0043]

[0044] Where E1 is the applied electric field intensity under the first electric field intensity control mode, T1 is the applied electric field time under the first electric field intensity control mode, α is a coefficient related to the electrorheological fluid material, χ1 is the viscosity of the electrorheological fluid under the first electric field intensity control mode, and χ char f is the critical viscosity value of the electrorheological fluid. 10 z is the damping force compensation value under the first electric field strength control mode. 10 The hysteresis variable value is the value under the first electric field strength control mode;

[0045] The evaluation factor η1 for the first electric field strength control mode is designed to evaluate the degree of the pre-aiming electro-variable semi-active suspension control under the first electric field strength control mode. Its expression is as follows:

[0046]

[0047] Where V1 is the piston speed under the first electric field intensity control mode, and E char To prevent breakdown of the electric field strength threshold;

[0048] Design a first electric field strength control judgment factor λ1 and a first electric field strength control re-judgment time t1, where 0 < λ1 < 15%. Adjust the vehicle accordingly based on the magnitude of the first electric field strength control mode evaluation factor η1, with the following adjustment rules:

[0049] When the evaluation factor of the first electric field strength control mode satisfies λ1≤η1≤15%, it is judged that the effect of the pre-aiming current-variable semi-active suspension actuator in executing the first electric field strength control mode is good, the pre-aiming current-variable semi-active suspension control is still executed normally, and the damping force is still output normally. When the evaluation factor of the first electric field strength control mode satisfies η1>15% or 0≤η1<λ1, it is judged that the effect of the pre-aiming current-variable semi-active suspension actuator in executing the first electric field strength control mode is poor, the pre-aiming current-variable semi-active suspension control is temporarily executed normally, and the control system continues for t1s to judge again whether η1 satisfies λ1≤η1≤15%. If it is judged again that λ1≤η1≤15%, the pre-aiming current-variable semi-active suspension control is still executed normally, and the damping force is still output normally. If it is judged again that η1>15% or 0≤η1<λ1, it is necessary to recalculate and then adjust the control and damping force output of the pre-aiming current-variable semi-active suspension.

[0050] When the comprehensive evaluation index J satisfies γ2≤J<γ1, the pre-aiming electro-variable semi-active suspension actuator executes the second electric field strength control mode, and the expression for the output damping force of the pre-aiming electro-variable semi-active suspension is as follows:

[0051]

[0052] Where E2 is the applied electric field intensity under the second electric field intensity control mode, T2 is the applied electric field time under the second electric field intensity control mode, α is a coefficient related to the electrorheological fluid material, and χ2 is the viscosity of the electrorheological fluid under the second electric field intensity control mode. char f is the critical viscosity value of the electrorheological fluid. 20 z is the damping force compensation value under the second electric field strength control mode. 20 The hysteresis variable value is the value under the second electric field strength control mode;

[0053] The evaluation factor η2 for the second electric field strength control mode is designed to evaluate the degree of pre-aiming electro-variable semi-active suspension control under the second electric field strength control mode. Its expression is as follows:

[0054]

[0055] Where V2 is the piston speed under the second electric field intensity control mode, and E char To prevent breakdown of the electric field strength threshold;

[0056] Design a second electric field strength control judgment factor λ2 and a second electric field strength control re-judgment time t2, where 0 < λ2 < 18%. Adjust the vehicle accordingly based on the magnitude of the second electric field strength control mode evaluation factor η2, with the following adjustment rules:

[0057] When the evaluation factor for the second electric field strength control mode satisfies λ2≤η2≤18%, the effect of the pre-aiming electro-electro-coupled semi-active suspension actuator in executing the second electric field strength control mode is good, and the pre-aiming electro-electro-coupled semi-active suspension control continues to execute normally, with the damping force still outputting normally. When the evaluation factor for the second electric field strength control mode satisfies η2>18% or 0≤η2<λ2, the effect of the pre-aiming electro-electro-coupled semi-active suspension actuator in executing the second electric field strength control mode is poor, and the pre-aiming electro-electro-coupled semi-active suspension control temporarily executes normally. After the control system continues for t2s, it re-evaluates whether η2 satisfies λ2≤η2≤18%. If it is again determined that λ2≤η2≤18%, the pre-aiming electro-electro-coupled semi-active suspension control continues to execute normally, with the damping force still outputting normally. If it is again determined that η2>18% or 0≤η2<λ2, it is necessary to recalculate and adjust the control and damping force output of the pre-aiming electro-electro-coupled semi-active suspension.

[0058] When the comprehensive evaluation index J satisfies γ3≤J<γ2, the pre-aiming electro-variable semi-active suspension actuator executes the third electric field strength control mode, and the expression for the output damping force of the pre-aiming electro-variable semi-active suspension is as follows:

[0059]

[0060] Where E3 is the applied electric field intensity under the third electric field intensity control mode, T3 is the applied electric field time under the third electric field intensity control mode, α is a coefficient related to the electrorheological fluid material, χ3 is the viscosity of the electrorheological fluid under the third electric field intensity control mode, and χ char f is the critical viscosity value of the electrorheological fluid. 30 z is the damping force compensation value under the third electric field intensity control mode. 30 The hysteresis variable value is under the third electric field strength control mode;

[0061] The evaluation factor η3 for the third electric field strength control mode is designed to evaluate the degree of pre-aiming electro-variable semi-active suspension control under the third electric field strength control mode. Its expression is as follows:

[0062]

[0063] Where V3 is the piston speed under the third electric field intensity control mode, and E char To prevent breakdown of the electric field strength threshold;

[0064] Design a third electric field strength control judgment factor λ3 and a third electric field strength control re-judgment time t3, where 0 < λ3 < 20%. Adjust the vehicle accordingly based on the magnitude of the third electric field strength control mode evaluation factor η3, with the following adjustment rules:

[0065] When the evaluation factor for the third electric field strength control mode satisfies λ3≤η3≤20%, the effect of the pre-aiming electro-electro-coupled semi-active suspension actuator in executing the third electric field strength control mode is good, and the pre-aiming electro-electro-coupled semi-active suspension control continues to execute normally, with the damping force still outputting normally. When the evaluation factor for the third electric field strength control mode satisfies η3>20% or 0≤η3<λ3, the effect of the pre-aiming electro-electro-coupled semi-active suspension actuator in executing the third electric field strength control mode is poor, and the pre-aiming electro-electro-coupled semi-active suspension control temporarily executes normally. After the control system continues for t3s, it re-evaluates whether η3 satisfies λ3≤η3≤20%. If it is again determined that λ3≤η3≤20%, the pre-aiming electro-electro-coupled semi-active suspension control continues to execute normally, with the damping force still outputting normally. If it is again determined that η3>20% or 0≤η3<λ3, it is necessary to recalculate and adjust the control and damping force output of the pre-aiming electro-electro-coupled semi-active suspension.

[0066] When the comprehensive evaluation index J satisfies 0≤J<γ3, the pre-aiming electro-electric semi-active suspension actuator does not perform its function.

[0067] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0068] 1. A semi-active suspension control system based on a pre-aiming electrovariable system obtains a comprehensive evaluation index based on the suspension objective function factor, the road surface single-point pre-aiming evaluation factor, and the transmission signal evaluation factor.

[0069] 2. The control modes of the present invention include a first electric field strength control mode, a second electric field strength control mode, and a third electric field strength control mode. The control strength of the third electric field strength control mode is higher than that of the second electric field strength control mode, and the control strength of the second electric field strength control mode is higher than that of the first electric field strength control mode. The control strength of the control mode is described by designing the first electric field strength control factor threshold, the second electric field strength control factor threshold, and the third electric field strength control factor threshold.

[0070] 3. Based on different control modes, calculate the output damping force of the pre-aiming electro-electro-modulated semi-active suspension. Use the evaluation factors of different control modes to evaluate the degree of control of the pre-aiming electro-electro-modulated semi-active suspension under different control modes, and then make corresponding rule adjustments to the vehicle control. Attached Figure Description

[0071] The present invention will be further described below with reference to the accompanying drawings:

[0072] Figure 1 This invention proposes a pre-aiming electro-variable semi-active suspension control system. Detailed Implementation

[0073] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0074] like Figure 1 As shown, the present invention is a pre-aiming electro-electro-modulated semi-active suspension control system, including a driving information detection unit, a comprehensive evaluation index calculation unit, a pre-aiming electro-electro-modulated semi-active suspension control mode selection unit, and a pre-aiming electro-electro-modulated semi-active suspension execution unit.

[0075] The driving information detection unit is used to obtain the longitudinal speed v. x Target aiming time t a Actual aiming time t b ;

[0076] The comprehensive evaluation index calculation unit calculates the suspension objective function factor J1, the road surface single-point preview evaluation factor J2, and the transmission signal evaluation factor J3, thereby obtaining the comprehensive evaluation index J; the suspension objective function factor J1 depends on the vertical acceleration. Pitch acceleration The dynamic travel of the front suspension x1, the dynamic travel of the rear suspension x2, the dynamic tire deformation of the front wheel x3, and the dynamic tire deformation of the rear wheel x4; the single-point road surface preview evaluation factor J2 depends on the longitudinal road surface preview distance L. x Lateral road surface pre-aiming distance L y Target aiming time t a Actual aiming time t b The longitudinal road surface pre-aiming distance L x Depends on longitudinal velocity v x Longitudinal aiming signal time delay transmission factor k a and longitudinal interference factor k b Lateral road surface pre-aiming distance L y Depends on the yaw rate w y lateral acceleration a y Horizontal pre-aiming signal time delay transmission factor k c Horizontal interference factor k d And lateral angle aiming error k e The transmission signal evaluation factor J3 depends on the CAN control line influence factor K. C1 LIN control line influence factor K L2 FlexRay control line influence factor K F3 MOST control line influence factor K M4 ;

[0077] The pre-aiming electro-variable semi-active suspension control mode selection unit includes a first electric field strength control mode, a second electric field strength control mode, and a third electric field strength control mode. The control strength of the third electric field strength control mode is higher than that of the second electric field strength control mode, and the control strength of the second electric field strength control mode is higher than that of the first electric field strength control mode. The control strength of the control mode is described by designing the first electric field strength control factor threshold γ1, the second electric field strength control factor threshold γ2, and the third electric field strength control factor threshold γ3, where 0 < γ3 < γ2 < γ1 < 1. When the comprehensive evaluation index J satisfies γ1≤J<1, the pre-aiming electro-electro-modulated semi-active suspension actuator executes the first electric field strength control mode; when the comprehensive evaluation index J satisfies γ2≤J<γ1, the pre-aiming electro-electro-modulated semi-active suspension actuator executes the second electric field strength control mode; when the comprehensive evaluation index J satisfies γ3≤J<γ2, the pre-aiming electro-electro-modulated semi-active suspension actuator executes the third electric field strength control mode; when the comprehensive evaluation index J satisfies 0≤J<γ3, the pre-aiming electro-electro-modulated semi-active suspension actuator does not perform any operation.

[0078] The pre-aiming electrorheological semi-active suspension actuator executes the first electric field strength control mode. The output damping force F1 of the pre-aiming electrorheological semi-active suspension depends on the applied electric field intensity E1, the applied electric field time T1, the coefficient α related to the electrorheological fluid material, the viscosity χ1 of the electrorheological fluid under the first electric field strength control mode, and the critical viscosity value χ of the electrorheological fluid. char Damping force compensation value f under the first electric field strength control mode 10 Hysteresis variable value z under the first electric field strength control mode 10 The evaluation factor η1 for the first electric field strength control mode is designed to evaluate the degree of pre-aiming electro-variable semi-active suspension control under the first electric field strength control mode. Its value depends on the piston speed V1 and the breakdown electric field strength threshold E under the first electric field strength control mode. char Design a first electric field strength control judgment factor λ1 and a first electric field strength control re-judgment time t1, where 0 < λ1 < 15%, and adjust the vehicle rules accordingly based on the magnitude of the first electric field strength control mode evaluation factor η1.

[0079] The pre-aiming electrorheological semi-active suspension actuator executes the second electric field strength control mode. The output damping force F2 of the pre-aiming electrorheological semi-active suspension depends on the electric field intensity E2 applied under the second electric field strength control mode, the electric field application time T2 under the second electric field strength control mode, the coefficient α related to the electrorheological fluid material, the viscosity χ2 of the electrorheological fluid under the second electric field strength control mode, and the critical viscosity value χ of the electrorheological fluid. char Damping force compensation value f under the second electric field strength control mode20 The hysteresis variable value z under the second electric field strength control mode 20 The second electric field strength control mode evaluation factor η2 is designed to evaluate the degree of pre-aiming electrovaristor semi-active suspension control under the second electric field strength control mode. Its value depends on the piston speed V2 and the breakdown electric field strength threshold E under the second electric field strength control mode. char Design a second electric field strength control judgment factor λ2 and a second electric field strength control re-judgment time t2, where 0 < λ2 < 18%, and adjust the vehicle rules accordingly based on the magnitude of the second electric field strength control mode evaluation factor η2.

[0080] The pre-aiming electrorheological semi-active suspension actuator executes the third electric field strength control mode. The output damping force F3 of the pre-aiming electrorheological semi-active suspension depends on the electric field intensity E3 applied under the third electric field strength control mode, the electric field application time T3 under the third electric field strength control mode, the coefficient α related to the electrorheological fluid material, the viscosity χ3 of the electrorheological fluid under the third electric field strength control mode, and the critical viscosity value χ of the electrorheological fluid. char Damping force compensation value f under the third electric field intensity control mode 30 The hysteresis variable value z under the third electric field strength control mode 30 The evaluation factor η3 for the third electric field strength control mode is designed to evaluate the degree of pre-aiming electrovaristor semi-active suspension control under the third electric field strength control mode. Its value depends on the piston speed V3 and the breakdown electric field strength threshold E under the third electric field strength control mode. char Design a third electric field strength control judgment factor λ3 and a third electric field strength control re-judgment time t3, where 0 < λ3 < 20%, and adjust the vehicle rules accordingly based on the magnitude of the third electric field strength control mode evaluation factor η3.

[0081] Specifically, it includes the following:

[0082] S1. The comprehensive evaluation index calculation unit can establish the suspension objective function factor according to the following formula:

[0083]

[0084] Where w1, w2, w3, w4, and w5 are weighting coefficients. For vertical acceleration, Let x1 be the pitch acceleration, x2 be the dynamic travel of the front suspension, x3 be the dynamic deformation of the front tire, and x4 be the dynamic deformation of the rear tire. The dynamic travel x1 of the front suspension depends on the vertical displacement u of the vehicle body. c The distance 'a' from the center of mass to the front axle, the pitch angle 'θ' of the vehicle body, and the vertical displacement 'u' of the front wheels. f Its expression is as follows:

[0085] x1=u c +aθ-u f ,

[0086] The dynamic travel x2 of the rear suspension depends on the vertical displacement u of the vehicle body. c The distance b from the center of gravity to the rear axle, the pitch angle θ of the vehicle body, and the vertical displacement u of the rear wheels. r Its expression is as follows:

[0087] x2=u c +bθ-u r ,

[0088] The dynamic deformation of the front tire x3 depends on the displacement input u of the front tire. f0 and the vertical displacement u of the front wheel f Its expression is as follows:

[0089] x3=u f -u f0 ,

[0090] The dynamic tire deformation x4 of the rear wheel depends on the displacement input u of the rear wheel. r0 and the vertical displacement u of the rear wheel r Its expression is as follows:

[0091] x4=u r -u r0 ;

[0092] S2. The comprehensive evaluation index calculation unit can establish a single-point pre-aiming evaluation factor for the road surface according to the following formula:

[0093]

[0094] Where w6 and w7 are weighting coefficients, L x L is the longitudinal road surface pre-aiming distance. y t is the lateral road surface aiming distance. a For the target aiming time, t b The actual aiming time is represented by the longitudinal road surface aiming distance L. x Depends on longitudinal velocity v x Longitudinal aiming signal time delay transmission factor k a and longitudinal interference factor k b Its expression is as follows:

[0095]

[0096] Lateral road surface aiming distance L y Depends on the yaw rate w y lateral acceleration a yHorizontal pre-aiming signal time delay transmission factor k c Horizontal interference factor k d And lateral angle aiming error k e Its expression is as follows:

[0097]

[0098] S3. The comprehensive evaluation index calculation unit can establish the transmission signal evaluation factor according to the following formula:

[0099]

[0100] Among them, w8, w9, w 10 w 11 K is the weighting coefficient. C1 K is the influence factor for the CAN control line. L2 K is the influence factor of the LIN control line. F3 K is the influence factor of the FlexRay control line. M4 The influence factor of the MOST control line is K, where the influence factor of the CAN control line is K. C1 Depends on the CAN control line length L C1 CAN control line signal transmission delay time t C1 CAN control line transmission signal attenuation coefficient f C1 CAN control line signal level coefficient χ C1 Number of CAN control line connection units n C1 Its expression is as follows:

[0101]

[0102] LIN control line influence factor K L2 Depends on the LIN control line length L L2 LIN control line signal transmission delay time t L2 LIN control line signal attenuation coefficient f L2 LIN control line signal level coefficient χ L2 Number of LIN control line connection units n L2 Its expression is as follows:

[0103]

[0104] FlexRay control line influence factor K F3 Depends on the FlexRay control line length L F3 FlexRay control line signal transmission delay time t F3 FlexRay control line signal attenuation coefficient f F3FlexRay control line signal level coefficient χ F3 Number of FlexRay control line connection units n F3 Its expression is as follows:

[0105]

[0106] MOST control line influence factor K M4 Depends on the length L of the MOST control line used M4 MOST control line transmission signal delay time t M4 MOST control line transmission signal attenuation coefficient f M4 χ, the signal level coefficient of the MOST control line M4 Number of MOST control line connection units n M4 Its expression is as follows:

[0107]

[0108] The comprehensive evaluation index calculation unit can calculate the comprehensive evaluation index according to the following formula:

[0109]

[0110] Among them, Q1, Q2, and Q3 are the weighted values ​​calculated for individual indicators.

[0111] The pre-aiming electro-variable semi-active suspension control mode selection unit includes a first electric field strength control mode, a second electric field strength control mode, and a third electric field strength control mode. The control strength of the third electric field strength control mode is higher than that of the second electric field strength control mode, and the control strength of the second electric field strength control mode is higher than that of the first electric field strength control mode. The control strength of the control mode is described by designing the first electric field strength control factor threshold γ1, the second electric field strength control factor threshold γ2, and the third electric field strength control factor threshold γ3, where 0 < γ3 < γ2 < γ1 < 1.

[0112] When the comprehensive evaluation index J satisfies γ1≤J<1, the pre-aiming electro-variable semi-active suspension actuator executes the first electric field strength control mode, and the expression for the output damping force of the pre-aiming electro-variable semi-active suspension is as follows:

[0113]

[0114] Where E1 is the applied electric field intensity under the first electric field intensity control mode, T1 is the applied electric field time under the first electric field intensity control mode, α is a coefficient related to the electrorheological fluid material, χ1 is the viscosity of the electrorheological fluid under the first electric field intensity control mode, and χ char f is the critical viscosity value of the electrorheological fluid. 10z is the damping force compensation value under the first electric field strength control mode. 10 The hysteresis variable value is the value under the first electric field strength control mode;

[0115] The evaluation factor η1 for the first electric field strength control mode is designed to evaluate the degree of the pre-aiming electro-variable semi-active suspension control under the first electric field strength control mode. Its expression is as follows:

[0116]

[0117] Where V1 is the piston speed under the first electric field intensity control mode, and E char To prevent breakdown of the electric field strength threshold;

[0118] Design a first electric field strength control judgment factor λ1 and a first electric field strength control re-judgment time t1, where 0 < λ1 < 15%. Adjust the vehicle accordingly based on the magnitude of the first electric field strength control mode evaluation factor η1, with the following adjustment rules:

[0119] When the evaluation factor of the first electric field strength control mode satisfies λ1≤η1≤15%, it is judged that the effect of the pre-aiming current-variable semi-active suspension actuator in executing the first electric field strength control mode is good, the pre-aiming current-variable semi-active suspension control is still executed normally, and the damping force is still output normally. When the evaluation factor of the first electric field strength control mode satisfies η1>15% or 0≤η1<λ1, it is judged that the effect of the pre-aiming current-variable semi-active suspension actuator in executing the first electric field strength control mode is poor, the pre-aiming current-variable semi-active suspension control is temporarily executed normally, and the control system continues for t1s to judge again whether η1 satisfies λ1≤η1≤15%. If it is judged again that λ1≤η1≤15%, the pre-aiming current-variable semi-active suspension control is still executed normally, and the damping force is still output normally. If it is judged again that η1>15% or 0≤η1<λ1, it is necessary to recalculate and then adjust the control and damping force output of the pre-aiming current-variable semi-active suspension.

[0120] When the comprehensive evaluation index J satisfies γ2≤J<γ1, the pre-aiming electro-variable semi-active suspension actuator executes the second electric field strength control mode, and the expression for the output damping force of the pre-aiming electro-variable semi-active suspension is as follows:

[0121]

[0122] Where E2 is the applied electric field intensity under the second electric field intensity control mode, T2 is the applied electric field time under the second electric field intensity control mode, α is a coefficient related to the electrorheological fluid material, and χ2 is the viscosity of the electrorheological fluid under the second electric field intensity control mode. char f is the critical viscosity value of the electrorheological fluid. 20 z is the damping force compensation value under the second electric field strength control mode.20 The hysteresis variable value is the value under the second electric field strength control mode;

[0123] The evaluation factor η2 for the second electric field strength control mode is designed to evaluate the degree of pre-aiming electro-variable semi-active suspension control under the second electric field strength control mode. Its expression is as follows:

[0124]

[0125] Where V2 is the piston speed under the second electric field intensity control mode, and E char To prevent breakdown of the electric field strength threshold;

[0126] Design a second electric field strength control judgment factor λ2 and a second electric field strength control re-judgment time t2, where 0 < λ2 < 18%. Adjust the vehicle accordingly based on the magnitude of the second electric field strength control mode evaluation factor η2, with the following adjustment rules:

[0127] When the evaluation factor for the second electric field strength control mode satisfies λ2≤η2≤18%, the effect of the pre-aiming electro-electro-coupled semi-active suspension actuator in executing the second electric field strength control mode is good, and the pre-aiming electro-electro-coupled semi-active suspension control continues to execute normally, with the damping force still outputting normally. When the evaluation factor for the second electric field strength control mode satisfies η2>18% or 0≤η2<λ2, the effect of the pre-aiming electro-electro-coupled semi-active suspension actuator in executing the second electric field strength control mode is poor, and the pre-aiming electro-electro-coupled semi-active suspension control temporarily executes normally. After the control system continues for t2 s, it re-evaluates whether η2 satisfies λ2≤η2≤18%. If it is again determined that λ2≤η2≤18%, the pre-aiming electro-electro-coupled semi-active suspension control continues to execute normally, with the damping force still outputting normally. If it is again determined that η2>18% or 0≤η2<λ2, it is necessary to recalculate and adjust the control and damping force output of the pre-aiming electro-electro-coupled semi-active suspension.

[0128] When the comprehensive evaluation index J satisfies γ3≤J<γ2, the pre-aiming electro-variable semi-active suspension actuator executes the third electric field strength control mode, and the expression for the output damping force of the pre-aiming electro-variable semi-active suspension is as follows:

[0129]

[0130] Where E3 is the applied electric field intensity under the third electric field intensity control mode, T3 is the applied electric field time under the third electric field intensity control mode, α is a coefficient related to the electrorheological fluid material, χ3 is the viscosity of the electrorheological fluid under the third electric field intensity control mode, and χ char f is the critical viscosity value of the electrorheological fluid. 30 z is the damping force compensation value under the third electric field intensity control mode. 30The hysteresis variable value is under the third electric field strength control mode;

[0131] The evaluation factor η3 for the third electric field strength control mode is designed to evaluate the degree of pre-aiming electro-variable semi-active suspension control under the third electric field strength control mode. Its expression is as follows:

[0132]

[0133] Where V3 is the piston speed under the third electric field intensity control mode, and E char To prevent breakdown of the electric field strength threshold;

[0134] Design a third electric field strength control judgment factor λ3 and a third electric field strength control re-judgment time t3, where 0 < λ3 < 20%. Adjust the vehicle accordingly based on the magnitude of the third electric field strength control mode evaluation factor η3, with the following adjustment rules:

[0135] When the evaluation factor for the third electric field strength control mode satisfies λ3≤η3≤20%, the effect of the pre-aiming electro-electro-coupled semi-active suspension actuator in executing the third electric field strength control mode is good, and the pre-aiming electro-electro-coupled semi-active suspension control continues to execute normally, with the damping force still outputting normally. When the evaluation factor for the third electric field strength control mode satisfies η3>20% or 0≤η3<λ3, the effect of the pre-aiming electro-electro-coupled semi-active suspension actuator in executing the third electric field strength control mode is poor, and the pre-aiming electro-electro-coupled semi-active suspension control temporarily executes normally. After the control system continues for t3s, it re-evaluates whether η3 satisfies λ3≤η3≤20%. If it is again determined that λ3≤η3≤20%, the pre-aiming electro-electro-coupled semi-active suspension control continues to execute normally, with the damping force still outputting normally. If it is again determined that η3>20% or 0≤η3<λ3, it is necessary to recalculate and adjust the control and damping force output of the pre-aiming electro-electro-coupled semi-active suspension.

[0136] When the comprehensive evaluation index J satisfies 0≤J<γ3, the pre-aiming electro-electric semi-active suspension actuator does not perform its function.

Claims

1. A pre-aiming electro-variable semi-active suspension control system, characterized in that, Includes the following: It includes a driving information detection unit, a comprehensive evaluation index calculation unit, a pre-aiming electro-electric semi-active suspension control mode selection unit, and a pre-aiming electro-electric semi-active suspension execution unit. The driving information detection unit is used to obtain the longitudinal speed v. x Target aiming time t a Actual aiming time t b ; The comprehensive evaluation index calculation unit calculates the suspension objective function factor J1, the road surface single-point preview evaluation factor J2, and the transmission signal evaluation factor J3, thereby obtaining the comprehensive evaluation index J; suspension objective function factor J1 Depends on vertical acceleration Pitch acceleration The dynamic travel of the front suspension x1, the dynamic travel of the rear suspension x2, the dynamic tire deformation of the front wheel x3, and the dynamic tire deformation of the rear wheel x4; the single-point road surface preview evaluation factor J2 depends on the longitudinal road surface preview distance L. x Lateral road surface pre-aiming distance L y Target aiming time t a Actual aiming time t b The longitudinal road surface pre-aiming distance L x Depends on longitudinal velocity v x Longitudinal aiming signal time delay transmission factor k a and longitudinal interference factor k b Lateral road surface pre-aiming distance L y Depends on the yaw rate w y lateral acceleration a y Horizontal pre-aiming signal time delay transmission factor k c Horizontal interference factor k d And lateral angle aiming error k e The transmission signal evaluation factor J3 depends on the CAN control line influence factor K. C1 LIN control line influence factor K L2 FlexRay control line influence factor K F3 MOST control line influence factor K M4 ; The pre-aiming electro-variable semi-active suspension control mode selection unit includes a first electric field strength control mode, a second electric field strength control mode, and a third electric field strength control mode. The control strength of the third electric field strength control mode is higher than that of the second electric field strength control mode, and the control strength of the second electric field strength control mode is higher than that of the first electric field strength control mode. The control strength of the control mode is described by designing the first electric field strength control factor threshold γ1, the second electric field strength control factor threshold γ2, and the third electric field strength control factor threshold γ3, where 0 < γ3 < γ2 < γ1 < 1. When the comprehensive evaluation index J satisfies γ1≤J<1, the pre-aiming electro-electro-modulated semi-active suspension actuator executes the first electric field strength control mode; when the comprehensive evaluation index J satisfies γ2≤J<γ1, the pre-aiming electro-electro-modulated semi-active suspension actuator executes the second electric field strength control mode; when the comprehensive evaluation index J satisfies γ3≤J<γ2, the pre-aiming electro-electro-modulated semi-active suspension actuator executes the third electric field strength control mode; when the comprehensive evaluation index J satisfies 0≤J<γ3, the pre-aiming electro-electro-modulated semi-active suspension actuator does not perform any operation. The pre-aiming electrorheological semi-active suspension actuator executes the first electric field strength control mode. The output damping force F1 of the pre-aiming electrorheological semi-active suspension depends on the applied electric field intensity E1, the applied electric field time T1, the coefficient α related to the electrorheological fluid material, the viscosity χ1 of the electrorheological fluid under the first electric field strength control mode, and the critical viscosity value χ of the electrorheological fluid. char Damping force compensation value f under the first electric field strength control mode 10 Hysteresis variable value z under the first electric field strength control mode 10 The evaluation factor η1 for the first electric field strength control mode is designed to evaluate the degree of pre-aiming electro-variable semi-active suspension control under the first electric field strength control mode. Its value depends on the piston speed V1 and the breakdown electric field strength threshold E under the first electric field strength control mode. char Design a first electric field strength control judgment factor λ1 and a first electric field strength control re-judgment time t1, where 0 < λ1 < 15%, and adjust the vehicle rules accordingly based on the magnitude of the first electric field strength control mode evaluation factor η1. The pre-aiming electrorheological semi-active suspension actuator executes the second electric field strength control mode. The output damping force F2 of the pre-aiming electrorheological semi-active suspension depends on the electric field intensity E2 applied under the second electric field strength control mode, the electric field application time T2 under the second electric field strength control mode, the coefficient α related to the electrorheological fluid material, the viscosity χ2 of the electrorheological fluid under the second electric field strength control mode, and the critical viscosity value χ of the electrorheological fluid. char Damping force compensation value f under the second electric field strength control mode 20 The hysteresis variable value z under the second electric field strength control mode 20 The second electric field strength control mode evaluation factor η2 is designed to evaluate the degree of pre-aiming electrovaristor semi-active suspension control under the second electric field strength control mode. Its value depends on the piston speed V2 and the breakdown electric field strength threshold E under the second electric field strength control mode. char Design a second electric field strength control judgment factor λ2 and a second electric field strength control re-judgment time t2, where 0 < λ2 < 18%, and adjust the vehicle rules accordingly based on the magnitude of the second electric field strength control mode evaluation factor η2. The pre-aiming electrorheological semi-active suspension actuator executes the third electric field strength control mode. The output damping force F3 of the pre-aiming electrorheological semi-active suspension depends on the electric field intensity E3 applied under the third electric field strength control mode, the electric field application time T3 under the third electric field strength control mode, the coefficient α related to the electrorheological fluid material, the viscosity χ3 of the electrorheological fluid under the third electric field strength control mode, and the critical viscosity value χ of the electrorheological fluid. char Damping force compensation value f under the third electric field intensity control mode 30 The hysteresis variable value z under the third electric field strength control mode 30 The evaluation factor η3 for the third electric field strength control mode is designed to evaluate the degree of pre-aiming electrovaristor semi-active suspension control under the third electric field strength control mode. Its value depends on the piston speed V3 and the breakdown electric field strength threshold E under the third electric field strength control mode. char Design a third electric field strength control judgment factor λ3 and a third electric field strength control re-judgment time t3, where 0 < λ3 < 20%, and adjust the vehicle rules accordingly based on the magnitude of the third electric field strength control mode evaluation factor η3.

2. The pre-aiming electro-variable semi-active suspension control system according to claim 1, characterized in that: Specifically, it includes the following: S1. The comprehensive evaluation index calculation unit can establish the suspension objective function factor according to the following formula: Where w1, w2, w3, w4, and w5 are weighting coefficients. For vertical acceleration, Let x1 be the pitch acceleration, x2 be the dynamic travel of the front suspension, x3 be the dynamic deformation of the front tire, and x4 be the dynamic deformation of the rear tire. The dynamic travel x1 of the front suspension depends on the vertical displacement u of the vehicle body. c The distance 'a' from the center of mass to the front axle, the pitch angle 'θ' of the vehicle body, and the vertical displacement 'u' of the front wheels. f Its expression is as follows: x1=u c +aθ-u f , The dynamic travel x2 of the rear suspension depends on the vertical displacement u of the vehicle body. c The distance b from the center of gravity to the rear axle, the pitch angle θ of the vehicle body, and the vertical displacement u of the rear wheels. r Its expression is as follows: x2=u c +bθ-u r , The dynamic deformation of the front tire x3 depends on the displacement input u of the front tire. f0 and the vertical displacement u of the front wheel f Its expression is as follows: x3 = u f -u f0 , The dynamic tire deformation x4 of the rear wheel depends on the displacement input u of the rear wheel. r0 and the vertical displacement u of the rear wheel r Its expression is as follows: x4=u r -in r0 ; S2. The comprehensive evaluation index calculation unit can establish a single-point pre-aiming evaluation factor for the road surface according to the following formula: Where w6 and w7 are weighting coefficients, L x L is the longitudinal road surface pre-aiming distance. y t is the lateral road surface aiming distance. a For the target aiming time, t b The actual aiming time is represented by the longitudinal road surface aiming distance L. x Depends on longitudinal velocity v x Longitudinal aiming signal time delay transmission factor k a and longitudinal interference factor k b Its expression is as follows: Lateral road surface aiming distance L y Depends on the yaw rate w y lateral acceleration a y Horizontal pre-aiming signal time delay transmission factor k c Horizontal interference factor k d And lateral angle aiming error k e Its expression is as follows: S3. The comprehensive evaluation index calculation unit can establish the transmission signal evaluation factor according to the following formula: Among them, w8, w9, w 10 w 11 K is the weighting coefficient. C1 K is the influence factor for the CAN control line. L2 K is the influence factor of the LIN control line. F3 K represents the influence factor of the FlexRay control line. M4 The influence factor of the MOST control line is K, where the influence factor of the CAN control line is K. C1 Depends on the CAN control line length L C1 CAN control line signal transmission delay time t C1 CAN control line transmission signal attenuation coefficient f C1 CAN control line signal level coefficient χ C1 Number of CAN control line connection units n C1 Its expression is as follows: LIN control line influence factor K L2 Depends on the LIN control line length L L2 LIN control line signal transmission delay time t L2 LIN control line signal attenuation coefficient f L2 LIN control line signal level coefficient χ L2 Number of LIN control line connection units n L2 Its expression is as follows: FlexRay control line influence factor K F3 Depends on the FlexRay control line length L F3 FlexRay control line signal transmission delay time t F3 FlexRay control line signal attenuation coefficient f F3 FlexRay control line signal level coefficient χ F3 Number of FlexRay control line connection units n F3 Its expression is as follows: MOST control line influence factor K M4 Depends on the length L of the MOST control line used M4 MOST control line transmission signal delay time t M4 MOST control line transmission signal attenuation coefficient f M4 χ, the signal level coefficient of the MOST control line M4 Number of MOST control line connection units n M4 Its expression is as follows:

3. The pre-aiming electro-variable semi-active suspension control system according to claim 1, characterized in that: The comprehensive evaluation index calculation unit can calculate the comprehensive evaluation index according to the following formula: Among them, Q1, Q2, and Q3 are the weighted values ​​calculated for individual indicators.

4. The pre-aiming electro-variable semi-active suspension control system according to claim 1, characterized in that: The pre-aiming electro-variable semi-active suspension control mode selection unit includes a first electric field strength control mode, a second electric field strength control mode, and a third electric field strength control mode. The control strength of the third electric field strength control mode is higher than that of the second electric field strength control mode, and the control strength of the second electric field strength control mode is higher than that of the first electric field strength control mode. The control strength of the control mode is described by designing the first electric field strength control factor threshold γ1, the second electric field strength control factor threshold γ2, and the third electric field strength control factor threshold γ3, where 0 < γ3 < γ2 < γ1 < 1.

5. The pre-aiming electro-variable semi-active suspension control system according to claim 1, characterized in that: When the comprehensive evaluation index J satisfies γ1≤J<1, the pre-aiming electro-variable semi-active suspension actuator executes the first electric field strength control mode, and the expression for the output damping force of the pre-aiming electro-variable semi-active suspension is as follows: Where E1 is the applied electric field intensity under the first electric field intensity control mode, T1 is the applied electric field time under the first electric field intensity control mode, α is a coefficient related to the electrorheological fluid material, χ1 is the viscosity of the electrorheological fluid under the first electric field intensity control mode, and χ char f is the critical viscosity value of the electrorheological fluid. 10 z is the damping force compensation value under the first electric field strength control mode. 10 The hysteresis variable value is the value under the first electric field strength control mode; The evaluation factor η1 for the first electric field strength control mode is designed to evaluate the degree of the pre-aiming electro-variable semi-active suspension control under the first electric field strength control mode. Its expression is as follows: Where V1 is the piston speed under the first electric field intensity control mode, and E char To prevent breakdown of the electric field strength threshold; Design a first electric field strength control judgment factor λ1 and a first electric field strength control re-judgment time t1, where 0 < λ1 < 15%. Adjust the vehicle accordingly based on the magnitude of the first electric field strength control mode evaluation factor η1, with the following adjustment rules: When the evaluation factor of the first electric field strength control mode satisfies λ1≤η1≤15%, it is judged that the effect of the pre-aiming current-variable semi-active suspension actuator in executing the first electric field strength control mode is good, the pre-aiming current-variable semi-active suspension control is still executed normally, and the damping force is still output normally. When the evaluation factor of the first electric field strength control mode satisfies η1>15% or 0≤η1<λ1, it is judged that the effect of the pre-aiming current-variable semi-active suspension actuator in executing the first electric field strength control mode is poor, the pre-aiming current-variable semi-active suspension control is temporarily executed normally, and the control system continues for t1s to judge again whether η1 satisfies λ1≤η1≤15%. If it is judged again that λ1≤η1≤15%, the pre-aiming current-variable semi-active suspension control is still executed normally, and the damping force is still output normally. If it is judged again that η1>15% or 0≤η1<λ1, it is necessary to recalculate and then adjust the control and damping force output of the pre-aiming current-variable semi-active suspension.

6. The pre-aiming electro-variable semi-active suspension control system according to claim 1, characterized in that: When the comprehensive evaluation index J satisfies γ2≤J<γ1, the pre-aiming electro-variable semi-active suspension actuator executes the second electric field strength control mode, and the expression for the output damping force of the pre-aiming electro-variable semi-active suspension is as follows: Where E2 is the applied electric field intensity under the second electric field intensity control mode, T2 is the applied electric field time under the second electric field intensity control mode, α is a coefficient related to the electrorheological fluid material, and χ2 is the viscosity of the electrorheological fluid under the second electric field intensity control mode. char f is the critical viscosity value of the electrorheological fluid. 20 z is the damping force compensation value under the second electric field strength control mode. 20 This represents the hysteresis variable value under the second electric field strength control mode. The evaluation factor η2 for the second electric field strength control mode is designed to evaluate the degree of pre-aiming electro-variable semi-active suspension control under the second electric field strength control mode. Its expression is as follows: Where V2 is the piston speed under the second electric field intensity control mode, and E char To prevent breakdown of the electric field strength threshold; Design a second electric field strength control judgment factor λ2 and a second electric field strength control re-judgment time t2, where 0 < λ2 < 18%. Adjust the vehicle accordingly based on the magnitude of the second electric field strength control mode evaluation factor η2, with the following adjustment rules: When the evaluation factor for the second electric field strength control mode satisfies λ2≤η2≤18%, the effect of the pre-aiming electro-electro-coupled semi-active suspension actuator in executing the second electric field strength control mode is good, and the pre-aiming electro-electro-coupled semi-active suspension control continues to execute normally, with the damping force still outputting normally. When the evaluation factor for the second electric field strength control mode satisfies η2>18% or 0≤η2<λ2, the effect of the pre-aiming electro-electro-coupled semi-active suspension actuator in executing the second electric field strength control mode is poor, and the pre-aiming electro-electro-coupled semi-active suspension control temporarily executes normally. After the control system continues for t2 s, it re-evaluates whether η2 satisfies λ2≤η2≤18%. If it is again determined that λ2≤η2≤18%, the pre-aiming electro-electro-coupled semi-active suspension control continues to execute normally, with the damping force still outputting normally. If it is again determined that η2>18% or 0≤η2<λ2, it is necessary to recalculate and adjust the control and damping force output of the pre-aiming electro-electro-coupled semi-active suspension.

7. The pre-aiming electro-variable semi-active suspension control system according to claim 1, characterized in that: When the comprehensive evaluation index J satisfies γ3≤J<γ2, the pre-aiming electro-variable semi-active suspension actuator executes the third electric field strength control mode, and the expression for the output damping force of the pre-aiming electro-variable semi-active suspension is as follows: Where E3 is the applied electric field intensity under the third electric field intensity control mode, T3 is the applied electric field time under the third electric field intensity control mode, α is a coefficient related to the electrorheological fluid material, χ3 is the viscosity of the electrorheological fluid under the third electric field intensity control mode, and χ char f is the critical viscosity value of the electrorheological fluid. 30 z is the damping force compensation value under the third electric field intensity control mode. 30 This represents the hysteresis variable value under the third electric field strength control mode. The evaluation factor η3 for the third electric field strength control mode is designed to evaluate the degree of pre-aiming electro-variable semi-active suspension control under the third electric field strength control mode. Its expression is as follows: Where V3 is the piston speed under the third electric field intensity control mode, and E char To prevent breakdown of the electric field strength threshold; Design a third electric field strength control judgment factor λ3 and a third electric field strength control re-judgment time t3, where 0 < λ3 < 20%. Adjust the vehicle accordingly based on the magnitude of the third electric field strength control mode evaluation factor η3, with the following adjustment rules: When the evaluation factor for the third electric field strength control mode satisfies λ3≤η3≤20%, the effect of the pre-aiming electro-electro-coupled semi-active suspension actuator in executing the third electric field strength control mode is good, and the pre-aiming electro-electro-coupled semi-active suspension control continues to execute normally, with the damping force still outputting normally. When the evaluation factor for the third electric field strength control mode satisfies η3>20% or 0≤η3<λ3, the effect of the pre-aiming electro-electro-coupled semi-active suspension actuator in executing the third electric field strength control mode is poor, and the pre-aiming electro-electro-coupled semi-active suspension control temporarily executes normally. After the control system continues for t3s, it re-evaluates whether η3 satisfies λ3≤η3≤20%. If it is again determined that λ3≤η3≤20%, the pre-aiming electro-electro-coupled semi-active suspension control continues to execute normally, with the damping force still outputting normally. If it is again determined that η3>20% or 0≤η3<λ3, it is necessary to recalculate and adjust the control and damping force output of the pre-aiming electro-electro-coupled semi-active suspension.

8. The pre-aiming electro-variable semi-active suspension control system according to claim 1, characterized in that: When the comprehensive evaluation index J satisfies 0≤J<γ3, the pre-aiming electro-electric semi-active suspension actuator does not perform its function.

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