A method and device for controlling the on / off frequency of the air valve in a four-wheeled vehicle air lift system.

Abstract

This invention discloses a method for controlling the on / off frequency of air valves in a four-wheeled vehicle air suspension system. The process is as follows: Calculate the difference between the intended target on / off frequency and the transient target on / off frequency, the minimum amplitude of the on / off frequency difference, the ratio of the intended target on / off frequency to the minimum amplitude of the on / off frequency difference, the maximum theoretical on / off frequency, the on / off frequency increment, the maximum on / off frequency ratio, the maximum value of the maximum on / off frequency ratio, the on / off frequency change execution amount, and the current transient target on / off frequency. Repeat the above process multiple times to obtain the air valves reaching the intended target on / off frequency simultaneously. This invention also discloses a device for controlling the on / off frequency of air valves in a four-wheeled vehicle air suspension system. This invention solves the problems of air pipe damage and different steady-state adjustment times for the four air suspensions in four-wheeled vehicle air suspension systems, and can be widely applied in vehicle manufacturing.

Description

Technical Field

[0001] This invention relates to vehicle air suspension, and in particular to a method and apparatus for controlling the on / off frequency of an air valve in a four-wheeled vehicle air lifting device. Background Technology

[0002] Vehicle suspension systems come in various forms, one of which is air suspension, which adjusts suspension height by inflating and deflating air. To control the rate of height change during adjustment, the on / off frequency of air valves on each wheel's air suspension is controlled. A faster on / off frequency results in a faster height change, and a slower frequency results in a slower change. However, air suspension systems in four-wheeled vehicles suffer from problems. Excessive on / off frequency of air valves can damage air lines or shorten their lifespan. Furthermore, the on / off frequencies of the four air suspensions cannot be coordinated dynamically, leading to different times to reach a steady state. Currently, there is no good solution to this problem. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide a method and device for controlling the on / off frequency of air valves in a four-wheeled vehicle air suspension system. This solves the problems of excessively fast on / off frequency of air valves in four-wheeled vehicle air suspension systems, which leads to damage to air lines or reduced service life. At the same time, the four air suspensions cannot coordinate with each other when dynamically adjusting the on / off frequency of air valves, resulting in different times to reach a steady state.

[0004] This invention provides a method for controlling the on / off frequency of an air valve in a four-wheel vehicle air lift system. The specific process of this method is as follows: Calculate the difference between the intended target on / off frequency of the air valve in the four-wheel air lift system and its transient target on / off frequency at the previous moment; obtain the minimum amplitude of the difference in the on / off frequencies of the air valve in the air lift system; calculate the ratio of the intended target on / off frequency of the air valve in the four-wheel air lift system to the minimum amplitude of the difference in the on / off frequencies of the air valve in the air lift system; obtain the maximum theoretical on / off frequency that the air valve in the four-wheel air lift system can vary within the task cycle; calculate the doubling change in the on / off frequency of the air valve body in the four-wheel air lift system; calculate the on / off frequency of the four-wheel air lift system... The ratio of the doubling change in the on / off frequency of the air valve body of the four-wheel air lift device to the maximum on / off frequency that the air valve of the four-wheel air lift device can change within the task cycle is obtained; the maximum value of the ratio of the doubling change in the on / off frequency of the air valve body of the four-wheel air lift device to the maximum on / off frequency that the air valve of the four-wheel air lift device can change within the task cycle is obtained; the execution amount of the on / off frequency change of the air valve of the four-wheel air lift device is calculated; the transient target on / off frequency of the air valve of the four-wheel air lift device at the current moment is calculated; by repeating the above process multiple times, the transient target on / off frequency of the air valve of the four-wheel air lift device at the current moment can be coordinated to reach the intended target on / off frequency of the air valve at the same time.

[0005] In the above technical solution, the specific process of calculating the difference between the intended on / off frequency of the air valve of the four-wheel air lifting device and its transient on / off frequency at the previous moment is as follows: The calculation formula for this step is as follows:

[0006] in: —The intended on / off frequency of the air valve of the left front wheel air lift device; —The intended on / off frequency of the air valve of the right front wheel air lift device; —The intended on / off frequency of the air valve of the left rear wheel air lift device; —The intended on / off frequency of the air valve of the right rear wheel air lift device; —The transient on / off frequency of the air lift device on the left front wheel at a given moment; —The transient on / off frequency of the right front wheel air lift device at the previous moment; —The transient on / off frequency of the left rear wheel air lift device at a given moment; —The transient on / off frequency of the right rear wheel air lift device at the previous moment; —Difference in the on / off frequency of the air valve of the left front wheel air lift device; —Difference in the on / off frequency of the air valve of the right front wheel air lift device; —Difference in the on / off frequency of the air valve of the left rear wheel air lift device; —The frequency difference between the on / off states of the air valve of the right rear wheel air lift device; the specific process of obtaining the minimum amplitude of the frequency difference between the on / off states of the air lift device air valve is as follows: This minimum amplitude is equal to the minimum value among the absolute values ​​of the frequency differences between the on / off states of the left front wheel air lift device air valve, the right front wheel air lift device air valve, the left rear wheel air lift device air valve, and the right rear wheel air lift device air valve, that is:

[0007]

[0008] in: —The minimum amplitude of the frequency difference between the on and off states of the air valve in the air lifting device.

[0009] In the above technical solution, the specific process of calculating the ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the four-wheel air lifting device and the on / off frequency of the air valve of the air lifting device is as follows: The calculation formula for this step is as follows:

[0010] in: —The ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the left front wheel air lift device and the on / off frequency of the air valve of the air lift device; —The ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the right front wheel air lift device and the on / off frequency of the air valve of the air lift device; —The ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the left rear wheel air lift device and the on / off frequency of the air valve of the air lift device. —The ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the right rear wheel air lift device and the on / off frequency of the air valve of the air lift device; the specific process of obtaining the maximum theoretical on / off frequency that can vary within the task cycle of the four-wheel air lift device air valve is as follows: Based on the design boundary characteristics of the air pipeline of the air lift device and the working characteristics of the valve body, the maximum theoretical on / off frequency that can vary within the task cycle of the four-wheel air lift device air valve is obtained. This maximum theoretical on / off frequency is equal to the minimum value of the maximum on / off frequency that can vary within the task cycle of the air valves of the left front wheel air lift device, the right front wheel air lift device, the left rear wheel air lift device, and the right rear wheel air lift device. The calculation formula is:

[0011] in: —The maximum theoretical on / off frequency that the air valve of the four-wheel air lifting device can vary within the mission cycle; —The maximum on / off frequency that the air valve of the left front wheel air lift device can vary during the mission cycle; —The maximum on / off frequency that the air valve of the right front wheel air lift device can vary during the mission cycle; —The maximum on / off frequency that the air valve of the left rear wheel air lift device can vary during the mission cycle; —The maximum on / off frequency that the air valve of the right rear wheel air lift device can vary during the mission cycle; furthermore, The size is determined by the piping characteristics and air valve characteristics of the left front wheel air lift device. The size is determined by the piping characteristics and air valve characteristics of the right front wheel air lift device. The size is determined by the piping characteristics and air valve characteristics of the left rear wheel air lift device. The size is determined by the piping characteristics and air valve characteristics of the right rear wheel air lift device; furthermore, it can be known that: , , , .

[0012] In the above technical solution, the specific process for calculating the doubling change in the on / off frequency of the four-wheel air lift device's air valve body is as follows: Using the maximum theoretical on / off frequency that the four-wheel air lift device's air valve can vary within the task cycle as a benchmark, and combining this with the ratio of the minimum amplitude of the difference between the intended target on / off frequency and the on / off frequency of the air lift device's air valve, the doubling change in the on / off frequency of the four-wheel air lift device's air valve is calculated. This doubling change in on / off frequency is equal to the maximum theoretical on / off frequency that the four-wheel air lift device's air valve can vary within the task cycle multiplied by the ratio of the minimum amplitude of the difference between the intended target on / off frequency and the on / off frequency of the air lift device's air valve, i.e.:

[0013] in: —The frequency of on / off changes of the air valve body of the left front wheel air lift device; —The frequency of on / off changes of the air valve body of the right front wheel air lift device; —The frequency of the air valve body of the left rear wheel air lift device is doubled. —The frequency of on / off changes of the air valve body of the right rear wheel air lift device.

[0014] In the above technical solution, the specific process of calculating the ratio of the doubling change in the on / off frequency of the air valve body of the four-wheel air lifting device to the maximum on / off frequency that the air valve of the four-wheel air lifting device can vary within the task cycle is as follows: The calculation formula for this step is as follows:

[0015] in: —The ratio of the doubling change in the on / off frequency of the air valve body of the left front wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can change within the mission cycle. —The ratio of the doubling change in the on / off frequency of the air valve body of the right front wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can change within the mission cycle. —The ratio of the doubling change in the on / off frequency of the air valve body of the left rear wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can change within the mission cycle. —The ratio of the doubling change in the on / off frequency of the air valve body of the right rear wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can vary within the mission cycle; further, it can be known that: .

[0016] In the above technical solution, the specific process of obtaining the maximum value of the ratio of the doubling change of the on / off frequency of the air valve body of the four-wheel air lifting device to the maximum on / off frequency that the air valve of the four-wheel air lifting device can change within the task cycle is as follows: The calculation formula for this step is as follows: that is:

[0017] in: —The maximum value of the ratio of the doubling change in the on / off frequency of the air valve body of the four-wheel air lift system to the maximum on / off frequency that the air valve of the air lift system can vary within the mission cycle; further, it can be known that: .

[0018] In the above technical solution, the specific process of calculating the execution amount of the on / off frequency change of the air valve of the four-wheel air lifting device is as follows: The execution amount of the on / off frequency change of the air valve of the four-wheel air lifting device is calculated based on the maximum value of the ratio of the difference in the on / off frequency of the air valve body of the four-wheel air lifting device, the doubling change in the on / off frequency of the air valve body of the four-wheel air lifting device, and the ratio of the doubling change in the on / off frequency of the air valve body of the four-wheel air lifting device to the maximum on / off frequency that the air valve of the air lifting device can change within the task cycle. That is:

[0019] in: —The frequency of on / off operation of the air valve of the left front wheel air lift device; —The frequency of on / off operation of the air valve of the right front wheel air lift device; —The frequency of on / off operation of the air valve of the left rear wheel air lift device; —The frequency of on / off operation of the air valve of the right rear wheel air lift device; —— Symbols and signs; —— Symbols and signs; —— Symbols and signs; —— The symbolic markings; further, it can be seen that: Furthermore, it can be seen that: Furthermore, it can be seen that:

[0020] That is, the magnitude of the change in the on / off frequency of the air valves in the four-wheel air lifting device is all less than or equal to the maximum on / off frequency that the corresponding air valve can change within the task cycle.

[0021] In the above technical solution, the specific process of calculating the transient target on / off frequency of the air valve of the four-wheel air lift device at the current moment is as follows: Calculate the transient target on / off frequency of the air valve of the four-wheel air lift device at the current moment. This transient target on / off frequency at the current moment is equal to the transient target on / off frequency at the previous moment plus its on / off frequency change execution amount, that is:

[0022] in: —The transient on / off frequency of the air valve of the left front wheel air lift device at the current moment; —The instantaneous on / off frequency of the air valve of the right front wheel air lift device at the current moment; —The instantaneous on / off frequency of the air valve of the left rear wheel air lift device at the current moment; —The current transient target on / off frequency of the air valve of the right rear wheel air lift device; further, update the previous transient target on / off frequency of the air valves of the four-wheel air lift devices: .

[0023] In the above technical solution, the specific process of calculating the transient target on / off frequency of the air valve of the four-wheel air lift device at the current moment and simultaneously reaching the intended target on / off frequency of the air valve is as follows: Repeat the aforementioned steps, and finally, the transient target on / off frequency of the air valve of the four-wheel air lift device at the current moment is equal to the intended target on / off frequency of the air valve of the four-wheel air lift device, that is: Furthermore, the transient on / off frequency of the air valves in the four-wheel air lift system at the current moment can be used to obtain the time required for the air valves to achieve the intended on / off frequency of the four-wheel air lift system.

[0024] in: —The instantaneous on / off frequency of the air valve of the left front wheel air lift device is equal to the time required for its intended on / off frequency. —The instantaneous on / off frequency of the air valve of the left front wheel air lift device is equal to the time required for its intended on / off frequency. —The instantaneous on / off frequency of the air valve of the left front wheel air lift device is equal to the time required for its intended on / off frequency. —The instantaneous on / off frequency of the air valve in the left front wheel air lift system is equal to the time required for its intended on / off frequency; furthermore, by combining the steps of calculating the execution quantity of the on / off frequency change of the air valves in the four-wheel air lift system, it can be known that: Furthermore, it can be simplified to: Furthermore, by combining the steps of calculating the doubling change in the on / off frequency of the air valve body of the four-wheel air lifting device, it can be known that: Furthermore, by combining the steps of calculating the ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the four-wheel air lift device and the on / off frequency of the air valve of the air lift device, it can be known that: Furthermore, it can be simplified to: It can be known that: The instantaneous on / off frequency of the air valves in the four-wheel air lifting device is equal at the current moment, which means that the time required for the air valves to reach the intended on / off frequency of the four-wheel air lifting device is the same. In other words, the instantaneous on / off frequency of the air valves in the four-wheel air lifting device is coordinated and reaches the intended on / off frequency of the air valves at the same time.

[0025] The present invention also provides a four-wheel vehicle air lift device air valve on / off frequency control device, which has a computer program that can execute the four-wheel vehicle air lift device air valve on / off frequency control method.

[0026] The present invention provides a method and apparatus for controlling the on / off frequency of the air valve in a four-wheeled vehicle air lift device, which has the following beneficial effects:

[0027] 1. The magnitude of the change in the on / off frequency of the air valves in the four-wheel air lifting device is all less than or equal to the maximum on / off frequency that the corresponding air valve can change within the task cycle. This avoids the risk of damage to air pipelines and air valve bodies and reduced service life, and improves the reliability of the system.

[0028] 2. This solves the problem that the on / off frequencies of the four air suspensions cannot be coordinated with each other when dynamically adjusting the air valves, resulting in different times to reach a steady state. In other words, the transient target on / off frequencies of the air valves of the four-wheel air lifting device are coordinated at the current moment and reach their intended target on / off frequencies at the same time. Attached Figure Description

[0029] Figure 1 This is a schematic diagram illustrating the overall concept of the air valve on / off frequency control method for the four-wheeled vehicle air lifting device of the present invention.

[0030] Figure 2 This is a schematic diagram illustrating the specific steps of the air valve on / off frequency control method for the four-wheeled vehicle air lifting device of the present invention.

[0031] Figure 3 This is a schematic diagram of the air valve on / off frequency control device of the four-wheeled vehicle air lifting device of the present invention. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, but these embodiments should not be construed as limiting the present invention.

[0033] See Figure 1 The present invention relates to a method for controlling the on / off frequency of the air valve in a four-wheeled vehicle air lift device. The overall idea of ​​this method is as follows:

[0034] Calculate the difference between the intended on / off frequency of the air valve of the four-wheel air lift system and its transient on / off frequency at the previous moment. Obtain the minimum amplitude of the frequency difference. Calculate the ratio of the intended on / off frequency to the minimum amplitude of the frequency difference. Obtain the maximum theoretical on / off frequency that the air valve of the four-wheel air lift system can vary within the mission cycle. Calculate the doubling change in the on / off frequency of the air valve body. Calculate the relationship between the doubling change in the on / off frequency of the air valve body and the four-wheel air lift system. The ratio of the maximum on / off frequency that the air valve of the four-wheel air lift device can vary within the task cycle is used to obtain the maximum value of the ratio of the doubling change of the on / off frequency of the air valve body of the four-wheel air lift device to the maximum on / off frequency that the air valve of the four-wheel air lift device can vary within the task cycle. The execution amount of the on / off frequency change of the air valve of the four-wheel air lift device is calculated. The transient target on / off frequency of the air valve of the four-wheel air lift device at the current moment is calculated. By repeating the above process multiple times, the transient target on / off frequency of the air valve of the four-wheel air lift device at the current moment can be coordinated to reach the intended target on / off frequency of the air valve at the same time.

[0035] See Figure 2 The specific steps of the air valve on / off frequency control method for the four-wheel vehicle air lifting device of the present invention are as follows:

[0036] Step 1: Calculate the difference between the intended on / off frequency of the air valve of the four-wheel air lift device and its transient on / off frequency at the previous moment:

[0037]

[0038] in: —The intended on / off frequency of the air valve of the left front wheel air lift device; —The intended on / off frequency of the air valve of the right front wheel air lift device; —The intended on / off frequency of the air valve of the left rear wheel air lift device; —The intended on / off frequency of the air valve of the right rear wheel air lift device; —The transient on / off frequency of the air lift device on the left front wheel at a given moment; —The transient on / off frequency of the right front wheel air lift device at the previous moment; —The transient on / off frequency of the left rear wheel air lift device at a given moment; —The transient on / off frequency of the right rear wheel air lift device at the previous moment; —Difference in the on / off frequency of the air valve of the left front wheel air lift device; —Difference in the on / off frequency of the air valve of the right front wheel air lift device; —Difference in the on / off frequency of the air valve of the left rear wheel air lift device; —Difference in the on / off frequency of the air valve of the right rear wheel air lift device.

[0039] Step 2: Obtain the minimum amplitude of the frequency difference between the on / off states of the air lift valves. This minimum amplitude is equal to the minimum of the absolute values ​​of the frequency differences between the on / off states of the air lift valves for the left front wheel, right front wheel, left rear wheel, and right rear wheel. That is:

[0040]

[0041] in: —The minimum amplitude of the frequency difference between the on and off states of the air valve in the air lifting device.

[0042] Step 3: Calculate the ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the four-wheel air lift system and the on / off frequency of the air valve of the air lift system. The calculation formula is:

[0043]

[0044] in: —The ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the left front wheel air lift device and the on / off frequency of the air valve of the air lift device; —The ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the right front wheel air lift device and the on / off frequency of the air valve of the air lift device; —The ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the left rear wheel air lift device and the on / off frequency of the air valve of the air lift device. —The ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the right rear wheel air lift device and the on / off frequency of the air valve of the air lift device.

[0045] Step 4: Based on the design boundary characteristics of the air pipeline and the working characteristics of the valve body of the air lift system, obtain the maximum theoretical on / off frequency that the air valves of the four-wheel air lift system can vary within the task cycle. This maximum theoretical on / off frequency is equal to the minimum of the maximum on / off frequencies of the air valves of the left front wheel air lift system, the right front wheel air lift system, the left rear wheel air lift system, and the right rear wheel air lift system within the task cycle. The calculation formula is as follows:

[0046]

[0047] in: —The maximum theoretical on / off frequency that the air valve of the four-wheel air lifting device can vary within the mission cycle; —The maximum on / off frequency that the air valve of the left front wheel air lift device can vary during the mission cycle; —The maximum on / off frequency that the air valve of the right front wheel air lift device can vary during the mission cycle; —The maximum on / off frequency that the air valve of the left rear wheel air lift device can vary during the mission cycle; —The maximum on / off frequency that the air valve of the right rear wheel air lift device can vary during the mission cycle.

[0048] Further: The size is determined by the piping characteristics and air valve characteristics of the left front wheel air lift device. The size is determined by the piping characteristics and air valve characteristics of the right front wheel air lift device. The size is determined by the piping characteristics and air valve characteristics of the left rear wheel air lift device. The size is determined by the piping characteristics and air valve characteristics of the right rear wheel air lift device.

[0049] Furthermore, it can be seen that: , , , .

[0050] Step 5: Using the maximum theoretical on / off frequency that the four-wheel air lift system's air valve can vary within the mission cycle as a benchmark, and combining this with the ratio of the minimum amplitude of the difference between the intended target on / off frequency and the on / off frequency of the air lift system's air valve, calculate the doubling change in the on / off frequency of the four-wheel air lift system's air valve. This doubling is equal to the maximum theoretical on / off frequency that the four-wheel air lift system's air valve can vary within the mission cycle multiplied by the ratio of the minimum amplitude of the difference between the intended target on / off frequency and the on / off frequency of the air lift system's air valve, i.e.:

[0051]

[0052] in: —The frequency of on / off changes of the air valve body of the left front wheel air lift device; —The frequency of on / off changes of the air valve body of the right front wheel air lift device; —The frequency of the air valve body of the left rear wheel air lift device is doubled. —The frequency of on / off changes of the air valve body of the right rear wheel air lift device;

[0053] Step 6: Calculate the ratio of the doubling change in the on / off frequency of the air valve body of the four-wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can change during the mission cycle.

[0054]

[0055] in: —The ratio of the doubling change in the on / off frequency of the air valve body of the left front wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can change within the mission cycle. —The ratio of the doubling change in the on / off frequency of the air valve body of the right front wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can change within the mission cycle. —The ratio of the doubling change in the on / off frequency of the air valve body of the left rear wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can change within the mission cycle. —The ratio of the doubling change in the on / off frequency of the air valve body of the right rear wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can change within the mission cycle.

[0056] Furthermore, it can be seen that:

[0057]

[0058] Step 7: Obtain the maximum value of the ratio of the doubling change in the on / off frequency of the four-wheel air lift device's air valve to the maximum on / off frequency that the air valve of the air lift device can vary within the task cycle. That is:

[0059]

[0060] in: —The maximum value of the ratio of the doubling change of the on / off frequency of the air valve body of the four-wheel air lifting device to the maximum on / off frequency that the air valve of the air lifting device can change within the mission cycle.

[0061] Furthermore, it can be seen that:

[0062]

[0063] Step 8: Calculate the execution amount of the on / off frequency change of the four-wheel air lift system's air valves based on the maximum value of the ratio of the difference in on / off frequency of the four-wheel air lift system's air valves, the doubling change in the on / off frequency of the four-wheel air lift system's air valves, and the ratio of the doubling change in the on / off frequency of the four-wheel air lift system's air valves to the maximum on / off frequency that the air lift system's air valves can change within the task cycle. That is:

[0064]

[0065] in: —The frequency of on / off operation of the air valve of the left front wheel air lift device; —The frequency of on / off operation of the air valve of the right front wheel air lift device; —The frequency of on / off operation of the air valve of the left rear wheel air lift device; —The frequency of on / off operation of the air valve of the right rear wheel air lift device; —— Symbols and signs; —— Symbols and signs; —— Symbols and signs; —— The symbol or mark.

[0066] Furthermore, it can be seen that:

[0067]

[0068] Furthermore, it can be seen that:

[0069]

[0070] Furthermore, it can be seen that:

[0071]

[0072] In other words, the magnitude of the change in the on / off frequency of the air valves in the four-wheel air lifting device is all less than or equal to the maximum on / off frequency that the corresponding air valve can change within the task cycle. This avoids the risk of damage to air pipelines and air valve bodies and reduced service life, and improves the reliability of the system.

[0073] Step 9: Calculate the transient target on / off frequency of the air valve of the four-wheel air lift device at the current moment. This frequency is equal to the transient target on / off frequency at the previous moment plus the change in its on / off frequency, i.e.:

[0074]

[0075] in: —The transient on / off frequency of the air valve of the left front wheel air lift device at the current moment; —The instantaneous on / off frequency of the air valve of the right front wheel air lift device at the current moment; —The instantaneous on / off frequency of the air valve of the left rear wheel air lift device at the current moment; —The instantaneous on / off frequency of the air valve of the right rear wheel air lift device at the current moment;

[0076] Then, update the transient target on / off frequency of the air valve of the four-wheel air lift device at the previous moment:

[0077] Step 10: Repeat steps 1 to 9. Finally, the transient on / off frequency of the air valves of the four-wheel air lift device at the current moment is equal to the intended on / off frequency of the air valves of the four-wheel air lift device, that is:

[0078] Furthermore, the transient on / off frequency of the air valves in the four-wheel air lift system at the current moment can be used to obtain the time required for the air valves to achieve the intended on / off frequency of the four-wheel air lift system.

[0079]

[0080] in: —The instantaneous on / off frequency of the air valve of the left front wheel air lift device is equal to the time required for its intended on / off frequency. —The instantaneous on / off frequency of the air valve of the left front wheel air lift device is equal to the time required for its intended on / off frequency. —The instantaneous on / off frequency of the air valve of the left front wheel air lift device is equal to the time required for its intended on / off frequency. —The instantaneous on / off frequency of the air valve of the left front wheel air lift device is equal to the time required for its intended on / off frequency.

[0081] Furthermore, combining this with step 8, we can see that:

[0082] Furthermore, it can be simplified to:

[0083]

[0084] Furthermore, combining this with step 5, we can see that:

[0085]

[0086] Furthermore, combining this with step 3, we can see that:

[0087]

[0088] Furthermore, it can be simplified to:

[0089]

[0090] It can be known that: The time required for the transient on / off frequency of the air valve of the four-wheel air lifting device to reach its intended on / off frequency is the same as that required for the air valve to reach its intended on / off frequency at the same time.

[0091] See Figure 3 The present invention relates to a frequency control device for controlling the on / off state of an air valve in a four-wheeled vehicle air lift system, comprising the following parts:

[0092] Relative Difference Module: Calculates the difference between the intended on / off frequency of the air valve of the four-wheel air lift device and the transient on / off frequency of the target at the previous moment;

[0093] Minimum Amplitude Module: Obtains the minimum amplitude of the difference between the on / off frequencies of the air valve in the air lifting device;

[0094] First Proportion Module: Calculates the ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the four-wheel air lift device and the on / off frequency of the air valve of the air lift device.

[0095] Maximum theoretical on / off frequency module: Obtains the maximum theoretical on / off frequency that the air valve of the four-wheel air lifting device can vary within the mission cycle;

[0096] Multiplier Variable Module: Calculates the multiplier change in the on / off frequency of the air valve body of the four-wheel air lift device;

[0097] The second proportional module calculates the ratio of the doubling change in the on / off frequency of the air valve body of the four-wheel air lift device to the maximum on / off frequency that the air valve of the four-wheel air lift device can change within the task cycle.

[0098] The third proportional module: obtains the maximum value of the ratio of the doubling change of the on / off frequency of the air valve body of the four-wheel air lift device to the maximum on / off frequency that the air valve of the four-wheel air lift device can change within the task cycle;

[0099] Variable execution quantity module: Calculates the variable execution quantity of the on / off frequency of the air valve of the four-wheel air lifting device;

[0100] Transient target on / off frequency module: Calculates the transient target on / off frequency of the air valve of the four-wheel air lift device at the current moment;

[0101] Frequency synchronization calculation module: By repeating the above process multiple times, the transient target on / off frequency of the air valve of the four-wheel air lifting device can be coordinated to reach the intended target on / off frequency of the air valve at the same time.

[0102] The technical advantages of the present invention regarding the method and device for controlling the on / off frequency of the air valve in a four-wheeled vehicle air lift system are as follows:

[0103] 1. The magnitude of the change in the on / off frequency of the air valves in the four-wheel air lifting device is all less than or equal to the maximum on / off frequency that the corresponding air valve can change within the task cycle. This avoids the risk of damage to air pipelines and air valve bodies and reduced service life, and improves the reliability of the system.

[0104] 2. This solves the problem that the on / off frequencies of the four air suspensions cannot be coordinated with each other when dynamically adjusting the air valves, resulting in different times to reach a steady state. In other words, the transient target on / off frequencies of the air valves of the four-wheel air lifting device are coordinated at the current moment and reach their intended target on / off frequencies at the same time.

[0105] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0106] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A method for controlling the on-off frequency of an air valve of an air lift device of a four-wheeled vehicle, characterized by: The specific process of this method is as follows: Calculate the difference between the intended on / off frequency of the air valve of the four-wheel air lift device and the transient on / off frequency of the target at the previous moment; Obtain the minimum amplitude of the frequency difference between the on / off states of the air valve in the air lifting device; Calculate the ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the four-wheel air lift device and the on / off frequency of the air valve of the air lift device. Obtain the maximum theoretical on / off frequency that the air valve of the four-wheel air lifting device can vary within the mission cycle; Calculate the doubling change of the on / off frequency of the air valve body of the four-wheel air lift device. The doubling change of the on / off frequency of the air valve body of the four-wheel air lift device is calculated by taking the maximum theoretical on / off frequency of the air valve of the four-wheel air lift device as the benchmark and combining it with the ratio of the minimum amplitude of the difference between the on / off frequency of the air valve of the four-wheel air lift device and the on / off frequency of the air valve of the air lift device. Calculate the ratio of the doubling change in the on / off frequency of the air valve body of the four-wheel air lift system to the maximum on / off frequency that the air valve of the four-wheel air lift system can vary within the mission cycle; Obtain the maximum value of the ratio of the doubling change of the on / off frequency of the air valve body of the four-wheel air lift device to the maximum on / off frequency that the air valve of the four-wheel air lift device can change within the mission cycle; Calculate the change in the on / off frequency of the air valve in the four-wheel air lift system. Calculate the transient target on / off frequency of the air valve of the four-wheel air lift device at the current moment; By repeating the above process multiple times, the instantaneous on / off frequency of the air valve of the four-wheel air lifting device can be coordinated to reach the intended on / off frequency of the air valve at the same time.

2. The air valve on-off frequency control method of a four-wheel automobile air lift device according to claim 1, characterized by: The specific process for calculating the difference between the intended on / off frequency of the air valve of the four-wheel air lifting device and its transient on / off frequency at the previous moment is as follows: The calculation formula for this step is as follows: in: —The intended on / off frequency of the air valve of the left front wheel air lift device; —The intended on / off frequency of the air valve of the right front wheel air lift device; —The intended on / off frequency of the air valve of the left rear wheel air lift device; —The intended on / off frequency of the air valve of the right rear wheel air lift device; —The transient on / off frequency of the air lift device on the left front wheel at a given moment; —The transient on / off frequency of the right front wheel air lift device at the previous moment; —The transient on / off frequency of the left rear wheel air lift device at a given moment; —The transient on / off frequency of the right rear wheel air lift device at the previous moment; —Difference in the on / off frequency of the air valve of the left front wheel air lift device; —Difference in the on / off frequency of the air valve of the right front wheel air lift device; —Difference in the on / off frequency of the air valve of the left rear wheel air lift device; —Difference in the on / off frequency of the air valve of the right rear wheel air lift device; The specific process for obtaining the minimum amplitude of the frequency difference between the on and off states of the air valve in the air lifting device is as follows: The minimum amplitude is equal to the minimum of the absolute values ​​of the on / off frequency differences of the air valves of the left front wheel air lifters, the right front wheel air lifters, the left rear wheel air lifters, and the right rear wheel air lifters, i.e.: in: —The minimum amplitude of the frequency difference between the on and off states of the air valve in the air lifting device.

3. The method for controlling the on / off frequency of the air valve in a four-wheeled vehicle air lift device according to claim 2, characterized in that: The specific process for calculating the ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the four-wheel air lift device and the on / off frequency of the air valve of the air lift device is as follows: The calculation formula for this step is as follows: in: —The ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the left front wheel air lift device and the on / off frequency of the air valve of the air lift device; —The ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the right front wheel air lift device and the on / off frequency of the air valve of the air lift device; —The ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the left rear wheel air lift device and the on / off frequency of the air valve of the air lift device. —The ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the right rear wheel air lift device and the on / off frequency of the air valve of the air lift device. The specific process for obtaining the maximum theoretical on / off frequency that the air valve of the four-wheel air lifting device can vary within the mission cycle is as follows: Based on the design boundary characteristics of the air pipeline and the working characteristics of the valve body of the air lift system, the maximum theoretical on / off frequency that the air valves of the four-wheel air lift system can vary within the task cycle is obtained. This maximum theoretical on / off frequency is equal to the minimum of the maximum on / off frequencies of the air valves of the left front wheel air lift system, the right front wheel air lift system, the left rear wheel air lift system, and the right rear wheel air lift system within the task cycle. The calculation formula is as follows: in: —The maximum theoretical on / off frequency that the air valve of the four-wheel air lifting device can vary within the mission cycle; —The maximum on / off frequency that the air valve of the left front wheel air lift device can vary during the mission cycle; —The maximum on / off frequency that the air valve of the right front wheel air lift device can vary during the mission cycle; —The maximum on / off frequency that the air valve of the left rear wheel air lift device can vary during the mission cycle; —The maximum on / off frequency that the air valve of the right rear wheel air lift device can vary during the mission cycle; Furthermore, The size is determined by the piping characteristics and air valve characteristics of the left front wheel air lift device. The size is determined by the piping characteristics and air valve characteristics of the right front wheel air lift device. The size is determined by the piping characteristics and air valve characteristics of the left rear wheel air lift device. The size is determined by the piping characteristics and air valve characteristics of the right rear wheel air lift device. Furthermore, it can be seen that: , , , .

4. The method for controlling the on / off frequency of the air valve in a four-wheeled vehicle air lift device according to claim 3, characterized in that: The specific steps for calculating the doubling change in the on / off frequency of the air valve body in a four-wheel air lifting device are as follows: The doubling change in the on / off frequency is equal to the ratio of the maximum theoretical on / off frequency that the air valve of the four-wheel air lift device can vary within the mission cycle to the minimum amplitude of the difference between the intended target on / off frequency of the air lift device and the on / off frequency of the air lift device, that is: in: —The frequency of on / off changes of the air valve body of the left front wheel air lift device; —The frequency of on / off changes of the air valve body of the right front wheel air lift device; —The frequency of the air valve body of the left rear wheel air lift device is doubled. —The frequency of on / off changes of the air valve body of the right rear wheel air lift device.

5. The method for controlling the on / off frequency of the air valve in a four-wheeled vehicle air lift device according to claim 4, characterized in that: The specific process for calculating the ratio of the doubling change in the on / off frequency of the air valve body of the four-wheel air lift device to the maximum on / off frequency that the air valve of the four-wheel air lift device can vary within the task cycle is as follows: The calculation formula for this step is as follows: in: —The ratio of the doubling change in the on / off frequency of the air valve body of the left front wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can change within the mission cycle. —The ratio of the doubling change in the on / off frequency of the air valve body of the right front wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can change within the mission cycle. —The ratio of the doubling change in the on / off frequency of the air valve body of the left rear wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can change within the mission cycle. —The ratio of the doubling change in the on / off frequency of the air valve body of the right rear wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can change within the mission cycle. Furthermore, it can be seen that: 。 6. The method for controlling the on / off frequency of the air valve in a four-wheeled vehicle air lift device according to claim 5, characterized in that: The specific process for obtaining the maximum value of the ratio of the doubling change in the on / off frequency of the air valve body of the four-wheel air lift device to the maximum on / off frequency that the air valve of the four-wheel air lift device can vary within the task cycle is as follows: The calculation formula for this step is as follows: in: —The maximum value of the ratio of the doubling change of the on / off frequency of the air valve body of the four-wheel air lifting device to the maximum on / off frequency that the air valve of the air lifting device can change within the mission cycle; Furthermore, it can be seen that: 。 7. The method for controlling the on / off frequency of the air valve in a four-wheeled vehicle air lift device according to claim 6, characterized in that: The specific process for calculating the change in the on / off frequency of the air valve in the four-wheel air lifting device is as follows: The execution amount of the on / off frequency change of the four-wheel air lift device is calculated based on the maximum value of the ratio of the difference in the on / off frequency of the air valve of the four-wheel air lift device, the doubling change in the on / off frequency of the air valve body of the four-wheel air lift device, and the ratio of the doubling change in the on / off frequency of the air valve body of the four-wheel air lift device to the maximum on / off frequency that the air valve of the air lift device can change within the task cycle. in: —The frequency of on / off operation of the air valve of the left front wheel air lift device; —The frequency of on / off operation of the air valve of the right front wheel air lift device; —The frequency of on / off operation of the air valve of the left rear wheel air lift device; —The frequency of on / off operation of the air valve of the right rear wheel air lift device; —— Symbols and signs; —— Symbols and signs; —— Symbols and signs; —— Symbols and signs; Furthermore, it can be seen that: Furthermore, it can be seen that: Furthermore, it can be seen that: That is, the magnitude of the change in the on / off frequency of the air valves in the four-wheel air lifting device is all less than or equal to the maximum on / off frequency that the corresponding air valve can change within the task cycle.

8. The method for controlling the on / off frequency of the air valve in a four-wheeled vehicle air lift device according to claim 7, characterized in that: The specific process for calculating the transient target on / off frequency of the air valve of the four-wheel air lifting device at the current moment is as follows: Calculate the transient target on / off frequency of the air valve of the four-wheel air lift device at the current moment. This transient target on / off frequency at the current moment is equal to the transient target on / off frequency at the previous moment plus the change in its on / off frequency, i.e.: in: —The transient on / off frequency of the air valve of the left front wheel air lift device at the current moment; —The instantaneous on / off frequency of the air valve of the right front wheel air lift device at the current moment; —The instantaneous on / off frequency of the air valve of the left rear wheel air lift device at the current moment; —The instantaneous on / off frequency of the air valve of the right rear wheel air lift device at the current moment; Furthermore, update the transient target on / off frequency of the air valve of the four-wheel air lift device at the previous moment: .

9. The method for controlling the on / off frequency of the air valve in a four-wheeled vehicle air lift device according to claim 8, characterized in that: The specific process for calculating the instantaneous target on / off frequency of the air valve of the four-wheel air lifting device and simultaneously reaching the intended target on / off frequency of the air valve is as follows: Repeating the aforementioned steps, the transient on / off frequency of the air valves in the four-wheel air lift system at the current moment is equal to the intended on / off frequency of the air valves in the four-wheel air lift system, that is: Furthermore, the transient on / off frequency of the air valves in the four-wheel air lift system at the current moment can be used to obtain the time required for the air valves to achieve the intended on / off frequency of the four-wheel air lift system. in: —The instantaneous on / off frequency of the air valve of the left front wheel air lift device is equal to the time required for its intended on / off frequency. —The instantaneous on / off frequency of the air valve of the left front wheel air lift device is equal to the time required for its intended on / off frequency. —The instantaneous on / off frequency of the air valve of the left front wheel air lift device is equal to the time required for its intended on / off frequency. —The instantaneous on / off frequency of the air valve of the left front wheel air lift device is equal to the time required for its intended on / off frequency. Furthermore, by combining the calculation steps of the on / off frequency change of the air valve of the four-wheel air lifting device, it can be known that: Furthermore, it can be simplified to: Furthermore, by combining the steps of calculating the doubling change in the on / off frequency of the air valve body of the four-wheel air lifting device, it can be known that: Furthermore, by combining the steps of calculating the ratio of the minimum amplitude of the difference between the intended on / off frequency of the air valve of the four-wheel air lift device and the on / off frequency of the air valve of the air lift device, it can be known that: Furthermore, it can be simplified to: It can be known that: The instantaneous on / off frequency of the air valves in the four-wheel air lifting device is equal at the current moment, which means that the time required for the air valves to reach the intended on / off frequency of the four-wheel air lifting device is the same. In other words, the instantaneous on / off frequency of the air valves in the four-wheel air lifting device is coordinated and reaches the intended on / off frequency of the air valves at the same time.

10. A frequency control device for the on / off of an air valve in a four-wheeled vehicle air lift system, comprising a computer program, characterized in that: The computer program is capable of executing the on / off frequency control method for the air valve of the four-wheeled vehicle air lift device as described in any one of claims 1 to 9.

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