Semi-automatic suspension control method, system, suspension, vehicle and electronic device

Abstract

The application relates to the technical field of suspension control, and provides a semi-automatic suspension control method, a semi-automatic suspension control system, a suspension, a vehicle and an electronic device, wherein when acceleration sensors are arranged on the sprung and un-sprung parts respectively, the method comprises the following steps: acquiring first and second signals respectively representing the speeds of the sprung and un-sprung parts; determining a third signal representing the relative motion speed of the semi-automatic suspension based on the first and second signals; when the first reference parameter is greater than the square of the second signal, controlling the semi-automatic suspension based on a damping coefficient determined according to a first execution strategy; and when the first reference parameter is not greater than the square of the second signal, controlling the semi-automatic suspension based on a damping coefficient determined according to a second execution strategy. The application is used to solve the problem that the semi-automatic suspension is controlled by a skyhook control algorithm in the prior art, the suppression effect on medium-high frequency vibration is poor, and the semi-automatic suspension is controlled by combining the skyhook control algorithm with a damping control algorithm, which is usually accompanied by the defect of a severe high-frequency response.

Description

Technical Field

[0001] This invention relates to the field of suspension control technology, and more particularly to semi-automatic suspension control methods, systems, suspensions, vehicles, and electronic devices. Background Technology

[0002] Semi-active suspension is used in many mechanical fields, such as wheeled cars, motorcycles, agricultural machinery, rail vehicles, home appliances, tracked armored vehicles, and so on. Whether it's a semi-active or active suspension system, the goal is to achieve both ride comfort and handling stability. Taking vehicles as an example, ride comfort is strictly related to the vehicle itself and is usually evaluated using weighted sprung mass acceleration; while handling stability, or grip, is strictly related to the contact force between the tire and the asphalt.

[0003] Understandably, from a dynamics perspective, ride comfort and handling stability cannot be simultaneously achieved. Therefore, although semi-active suspension can achieve better results than passive suspension under the control of control algorithms, a trade-off still needs to be made between the two, which is known as the tuning of the control algorithm. Currently, for semi-active suspension, the optimal control strategy for a given road surface excitation and optimization objective can be obtained through model predictive control.

[0004] However, model predictive control (MMC) requires significant computational resources to iterate and derive the optimal control strategy, often failing to meet the real-time requirements of suspension control. Therefore, most semi-active suspension control algorithms deployed in vehicles are based on heuristic algorithms with simple criteria. The most widely used semi-active suspension control algorithm currently is Skyhook control. However, Skyhook control is ineffective at suppressing mid-to-high frequency vibrations, and therefore is often combined with acceleration-driven damping control (ADD), such as the SH-ADD algorithm. However, the deployment of ADD algorithms is often accompanied by severe extremely high-frequency responses. Summary of the Invention

[0005] This invention provides a semi-automatic suspension control method, system, suspension, vehicle, and electronic equipment to solve the problems in the prior art where the control of semi-automatic suspension by the ceiling control algorithm is not effective in suppressing mid-to-high frequency vibrations, and the control of semi-automatic suspension by combining the ceiling control algorithm and the damping control algorithm is usually accompanied by severe ultra-high frequency response.

[0006] This invention provides a semi-automatic suspension control method, applied to a semi-automatic suspension connected between an upper and a lower sprung component, wherein acceleration sensors are respectively arranged on the upper and lower sprung components, and the control method includes:

[0007] Acquire a first signal characterizing the velocity of the sprung component and a second signal characterizing the velocity of the unsprung component;

[0008] Based on the first signal and the second signal, a third signal characterizing the relative motion speed of the semi-automatic suspension is determined;

[0009] When the first reference parameter is greater than the square of the second signal, the semi-automatic suspension is controlled based on the damping coefficient determined according to the first execution strategy. The first reference parameter is the product of the square of the first preset weighted parameter and the square of the first signal.

[0010] When the first reference parameter is less than or equal to the square of the second signal, the semi-automatic suspension is controlled based on the damping coefficient determined according to the second execution strategy;

[0011] The first execution strategy is to determine the damping coefficient based on the product of the first signal and the third signal.

[0012] The second execution strategy is to determine the damping coefficient based on the product of the second signal and the third signal.

[0013] This invention also provides another semi-automatic suspension control method, applied to a semi-automatic suspension connected between an oversprung component and an unsprung component, wherein an acceleration sensor is arranged on the oversprung component and a relative displacement sensor is arranged on the unsprung component, and the control method includes:

[0014] Acquire a first signal characterizing the velocity of the sprung component and a second signal characterizing the velocity of the unsprung component;

[0015] Based on the first signal and the second signal, a third signal characterizing the relative motion speed of the semi-automatic suspension is determined;

[0016] When the second reference parameter is greater than the square of the third signal, the semi-automatic suspension is controlled based on the damping coefficient determined according to the first execution strategy. The second reference parameter is the product of the square of the second preset weighted parameter and the square of the first signal.

[0017] When the second reference parameter is less than or equal to the square of the third signal, the semi-automatic suspension is controlled based on the damping coefficient determined according to the second execution strategy;

[0018] The first execution strategy is to determine the damping coefficient based on the product of the first signal and the third signal.

[0019] The second execution strategy is to determine the damping coefficient based on the product of the second signal and the third signal.

[0020] According to the semi-automatic suspension control method of the present invention, determining the damping coefficient based on the product of the first signal and the third signal includes:

[0021] If the product of the first signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be the preset maximum damping coefficient;

[0022] If the product of the first signal and the third signal is less than zero, the damping coefficient is determined to be the preset minimum damping coefficient.

[0023] According to the semi-automatic suspension control method of the present invention, determining the damping coefficient based on the product of the second signal and the third signal includes:

[0024] If the product of the second signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be the preset maximum damping coefficient;

[0025] If the product of the second signal and the third signal is less than zero, the damping coefficient is determined to be the preset minimum damping coefficient.

[0026] The present invention also provides a semi-automatic suspension control system, applied to a semi-automatic suspension connected between an oversprung component and an unsprung component, wherein acceleration sensors are respectively arranged on the oversprung component and the unsprung component, and the control system includes:

[0027] The first signal acquisition module is used to acquire a first signal characterizing the speed of the sprung component and a second signal characterizing the speed of the unsprung component;

[0028] The first signal determination module is used to determine a third signal characterizing the relative motion speed of the semi-automatic suspension based on the first signal and the second signal.

[0029] The first strategy selection execution module is configured to control the semi-automatic suspension based on a damping coefficient determined according to a first execution strategy when a first reference parameter is greater than the square of the second signal, wherein the first reference parameter is the product of the square of a first preset weighted parameter and the square of the first signal; and to control the semi-automatic suspension based on the damping coefficient determined according to a second execution strategy when the first reference parameter is less than or equal to the square of the second signal.

[0030] The first execution strategy is to determine the damping coefficient based on the product of the first signal and the third signal.

[0031] The second execution strategy is to determine the damping coefficient based on the product of the second signal and the third signal.

[0032] This invention also provides another semi-automatic suspension control system, applied to a semi-automatic suspension connected between an oversprung component and an unsprung component, wherein an acceleration sensor is arranged on the oversprung component and a relative displacement sensor is arranged on the unsprung component, the control system comprising:

[0033] The second signal acquisition module is used to acquire a first signal characterizing the speed of the sprung component and a second signal characterizing the speed of the unsprung component;

[0034] The second signal determination module is used to determine a third signal characterizing the relative motion speed of the semi-automatic suspension based on the first signal and the second signal.

[0035] The second strategy selection execution module is used to control the semi-automatic suspension based on a damping coefficient determined according to the first execution strategy when the second reference parameter is greater than the square of the third signal, wherein the second reference parameter is the product of the square of the second preset weighted parameter and the square of the first signal; and to control the semi-automatic suspension based on the damping coefficient determined according to the second execution strategy when the second reference parameter is less than or equal to the square of the third signal.

[0036] The first execution strategy is to determine the damping coefficient based on the product of the first signal and the third signal.

[0037] The second execution strategy is to determine the damping coefficient based on the product of the second signal and the third signal.

[0038] The present invention also provides a semi-automatic control suspension including the semi-automatic suspension control system described above.

[0039] The present invention also provides a vehicle including the semi-automatic control suspension as described above.

[0040] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the semi-automatic suspension control method as described above.

[0041] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the semi-automatic suspension control method as described above.

[0042] This invention provides a semi-automatic suspension control method, system, suspension, vehicle, and electronic equipment. It offers a method for controlling a semi-automatic suspension where acceleration sensors are arranged on both the sprung and unsprung components, or where an acceleration sensor is arranged on the sprung component and a relative displacement sensor is arranged on the unsprung component. The method involves acquiring a first signal representing the velocity of the sprung component and a second signal representing the velocity of the unsprung component. Based on these signals, a third signal representing the relative motion velocity of the semi-automatic suspension is determined. Then, a reference parameter is determined based on the product of the square of a preset weighted parameter and the square of the first signal. Finally, based on the reference parameter and the square of the second or third signal, an execution strategy for controlling the semi-automatic suspension is determined. This execution strategy includes a control strategy based on a ceiling control algorithm and a control strategy based on a diode algorithm. This achieves semi-automatic suspension control based on a combination of ceiling and diode algorithms, providing a semi-automatic suspension control method that effectively suppresses mid-to-high frequency vibrations and avoids strong responses at extremely high frequencies, thus effectively improving the control performance of the semi-automatic suspension. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 This is a flowchart illustrating a semi-automatic suspension control method provided by the present invention;

[0045] Figure 2 This is a flowchart illustrating another semi-automatic suspension control method provided by the present invention;

[0046] Figure 3 It is a 1 / 4 scale vehicle model of a damping-controllable semi-active suspension system;

[0047] Figure 4 These are the two principal modes of vibration for a two-degree-of-freedom system;

[0048] Figure 5 It is the frequency response of the sprung acceleration when applying existing control algorithms under random road surface excitation;

[0049] Figure 6 It is the frequency response of sprung acceleration when ADD and Diode control are applied under random road surface excitation;

[0050] Figure 7This describes the sprung displacement after crossing a convex road surface, comparing the application of Diode control with traditional control.

[0051] Figure 8 This describes the sprung acceleration after passing over a convex road surface, using Diode control versus traditional control.

[0052] Figure 9 This describes the change of the root mean square value of the sprung acceleration with the excitation frequency when applying Diode control, traditional control, and minimum damping control under frequency sweep excitation.

[0053] Figure 10 It is the frequency response of sprung acceleration when applying ADD control, Diode control, SH-D1 control and SH-D2 control under random road excitation;

[0054] Figure 11 It is the frequency response of sprung acceleration when SH-D1 and SH-D3 control are applied under random road excitation;

[0055] Figure 12 This is a schematic diagram of a semi-automatic suspension control system provided by the present invention;

[0056] Figure 13 This is a schematic diagram of another semi-automatic suspension control structure provided by the present invention;

[0057] Figure 14 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0059] The following is combined with Figures 1 to 11 The present invention describes a semi-automatic suspension control method that can be executed by software and / or hardware in electronic devices such as computers, tablets, and mobile phones.

[0060] It should be noted that the semi-automatic suspension control method provided in this embodiment of the invention is applied to a semi-automatic suspension connected between the sprung and unsprung components. In order to avoid state lag and errors caused by excessive signal processing, two semi-automatic suspension control methods are further provided for two structures: one in which an acceleration sensor is arranged on the sprung and unsprung components respectively, and the other in which an acceleration sensor is arranged on the sprung component and a relative displacement sensor is arranged on the unsprung component.

[0061] Specifically, for structures where acceleration sensors are respectively arranged on the sprung and unsprung components, the semi-automatic suspension control method provided in this embodiment of the invention, such as... Figure 1 As shown, the main steps include:

[0062] 101. Obtain a first signal characterizing the velocity of the sprung component and a second signal characterizing the velocity of the unsprung component;

[0063] 102. Based on the first and second signals, determine the third signal characterizing the relative motion speed of the semi-automatic suspension;

[0064] 103. When the first reference parameter is greater than the square of the second signal, the semi-automatic suspension is controlled based on the damping coefficient determined according to the first execution strategy. The first reference parameter is the product of the square of the first preset weighted parameter and the square of the first signal.

[0065] 104. When the first reference parameter is less than or equal to the square of the second signal, the semi-automatic suspension is controlled based on the damping coefficient determined according to the second execution strategy.

[0066] The first execution strategy is to determine the damping coefficient based on the product of the first signal and the third signal.

[0067] The second execution strategy is to determine the damping coefficient based on the product of the second and third signals.

[0068] Regarding the structure where an acceleration sensor is arranged on the sprung component and a relative displacement sensor is arranged on the unsprung component, this invention provides another semi-automatic suspension control method, such as... Figure 2 As shown, the main steps include:

[0069] 201. Obtain a first signal characterizing the velocity of the sprung component and a second signal characterizing the velocity of the unsprung component;

[0070] 202. Based on the first and second signals, determine the third signal characterizing the relative motion speed of the semi-automatic suspension;

[0071] 203. When the second reference parameter is greater than the square of the third signal, the semi-automatic suspension is controlled based on the damping coefficient determined according to the first execution strategy. The second reference parameter is the product of the square of the second preset weighted parameter and the square of the first signal.

[0072] 204. When the second reference parameter is less than or equal to the square of the third signal, the semi-automatic suspension is controlled based on the damping coefficient determined according to the second execution strategy.

[0073] The first execution strategy is to determine the damping coefficient based on the product of the first signal and the third signal.

[0074] The second execution strategy is to determine the damping coefficient based on the product of the second and third signals.

[0075] As can be seen, the two semi-automatic suspension control methods provided in the embodiments of the present invention both adopt the method of combining two identical execution strategies to obtain the damping coefficient for controlling the semi-automatic suspension. The main difference lies in the fact that the criteria for determining which execution strategy is used to control the semi-automatic suspension differs depending on the different structures connected to the semi-automatic suspension.

[0076] Specifically, compared with existing technologies, the method provided in this invention can better suppress the vibration of sprung mass, achieving better ride comfort (and can also be used to achieve better handling stability). At the same time, the introduction of this control method is also expected to have a good control effect on roll, pitch, and yaw.

[0077] It should be noted that the semi-automatic suspension control method provided in this embodiment of the invention is applicable to many semi-active suspensions such as magnetorheological dampers (MRD), continuously damped control (CDC) dampers, electrorheological dampers (ERD), and multi-chamber air springs.

[0078] Based on the above embodiments, in the semi-automatic suspension control method provided by this invention, the first execution strategy is to determine the damping coefficient based on the product of the first signal and the third signal, as shown below:

[0079] If the product of the first signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be the preset maximum damping coefficient.

[0080] If the product of the first signal and the third signal is less than zero, the damping coefficient is determined to be the preset minimum damping coefficient.

[0081] In this embodiment, the first execution strategy is Skyhook control (2-stage), that is, when the product of the speed of the sprung components and the relative speed of the semi-automatic suspension is greater than or equal to 0, the semi-automatic suspension is subjected to maximum damping control; and when the product of the speed of the sprung components and the relative speed of the semi-automatic suspension is less than 0, the semi-automatic suspension is subjected to minimum damping control.

[0082] Based on the above embodiments, the second execution strategy is to determine the damping coefficient based on the product of the second signal and the third signal, as shown below:

[0083] If the product of the second signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be the preset maximum damping coefficient.

[0084] If the product of the second signal and the third signal is less than zero, the damping coefficient is determined to be the preset minimum damping coefficient.

[0085] In this embodiment, the second execution strategy is a diode algorithm (2-stage), whose underlying logic is to maximize the energy output from the suspension system to the unsprung mass while minimizing the energy input from the unsprung mass to the suspension system. Specifically, for a damping-controllable semi-active suspension, when the product of the speed of the unsprung component and the relative speed of the semi-active suspension is greater than or equal to 0, maximum damping control is applied to the semi-active suspension; conversely, when the product of the speed of the unsprung component and the relative speed of the semi-active suspension is less than 0, minimum damping control is applied to the semi-active suspension.

[0086] Specifically, the diode algorithm is equivalent to the reverse application of the suspension control algorithm. Based on this phenomenon, the semi-automatic suspension control method provided in this embodiment of the invention can directly apply the corresponding control parameters when the control objective switches from optimal ride comfort to optimal handling stability in an emergency. Therefore, it can save memory and time.

[0087] Furthermore, for a stiffness-controllable semi-active suspension, the stiffness switching principle can be as follows: when the product of the speed of the unsprung component and the suspension travel is greater than or equal to 0, the semi-automatic suspension adopts maximum stiffness control; and when the product of the speed of the unsprung component and the suspension travel is less than 0, the semi-automatic suspension adopts minimum stiffness control.

[0088] More specifically, the first preset weighting parameter and the second preset weighting parameter are used to control the switching between ceiling control and diode control. The specific principle is that the larger the value, the more the semi-automatic control algorithm tends to switch to ceiling control.

[0089] Furthermore, a corresponding weighted control algorithm can be proposed to suppress jerk (the rate of change of acceleration).

[0090] It should be noted that the semi-automatic suspension control method provided in this embodiment of the invention mainly improves the control effect of the semi-automatic suspension by using the control criteria or factors of the diode algorithm for sprung vibration control, and by combining the ceiling algorithm with the diode algorithm.

[0091] The following example, using a semi-automatic suspension applied to a vehicle, illustrates the control effect of the semi-automatic suspension control method provided in the above embodiments. Figure 3 As shown, a 1 / 4 scale vehicle model of a semi-active suspension system with controllable damping is displayed. Where m s The sprung mass (also known as suspension mass in vehicle structure, i.e., the mass of the vehicle body), m us Let k be the unsprung mass (also known as the unsprung mass in vehicle structure, i.e., the mass of components such as the wheels of the vehicle). tis the tire stiffness, k s is the suspension stiffness, c s is the suspension damping coefficient. In addition, z s 、z us and z r are the vertical displacements of the sprung mass, unsprung mass and road surface unevenness relative to their equilibrium positions respectively. and are the sprung speed and acceleration respectively, is the unsprung speed. Let z def =z s -z us be the suspension dynamic stroke, be the suspension relative motion speed.

[0092] Figure 4 Shows two principal vibration modes of the two-degree-of-freedom system. It can be understood that w1 and w2 are the two roots of the quarter-vehicle system frequency equation respectively, where w2 is greater than w1. And when the excitation frequency is w1 and w2, the transfer function between the sprung mass and the road excitation is independent of the damping coefficient of the suspension. Generally, the lower w1 of the double-mass system principal frequency is close to the natural circular frequency w0 of the sprung mass, while the higher w2 is close to the natural circular frequency w t of the unsprung mass, and there is w1 < w0 < w t < w2. In the case of forced vibration, when the excitation frequency is close to w1, it vibrates according to the first-order principal vibration mode, and the amplitude of the sprung mass is much larger than that of the unsprung mass, which is called the body-type vibration. When the excitation frequency is close to w2, it vibrates according to the second-order principal vibration mode, and the amplitude of the unsprung mass is much larger than that of the sprung mass, which is called the wheel-type vibration.

[0093] Specifically, by simulating the specific situation of the semi-active suspension adopting several semi-active suspension control methods mentioned below, the control effect of the semi-active suspension control method provided by the embodiment of the present invention is verified:

[0094] 1. Minimum damping control: c s =c min .

[0095] 2. Maximum damping control: c s =c max .

[0096] 3. Skyhook control (2 stages): When , c s =c max ; when , c s =c min .

[0097] 4. ADD control (2 stages): When At that time, c s =c max ;when At that time, c s =c min .

[0098] 5. Diode Control (2-stage): When At that time, c s =c max ;when At that time, c s =c min .

[0099] 6. SH-D1 control (the first semi-automatic suspension control method provided in this embodiment of the invention): when At that time, c s =c max ;when At that time, c s =c min Where && is the AND logical operator, || is the OR logical operator, and the first preset weighting parameter α = 2.

[0100] 7. SH-D2 control: When At that time, c s =c max ;when At that time, c s =c min , where α = 3π.

[0101] 8. SH-D3 control (the first semi-automatic suspension control method provided in this embodiment of the invention): when At that time, c s =c max ;when At that time, c s =c min The second preset weighting parameter α = 3.

[0102] The specific comparison scenarios include: random roads (C level), convex hull roads (at 1s), and frequency sweep excitation.

[0103] Comparison revealed that the Diode control algorithm outperforms the ADD algorithm in overall performance. The hybrid algorithm scheme used in SH-D1 is superior to the hybrid algorithm scheme used in SH-D2.

[0104] in, Figure 5 This demonstrates the frequency response of sprung acceleration when applying existing control algorithms under random road surface excitation. Figure 5It is evident that the ceiling control algorithm effectively suppresses low-frequency vibrations, but performs poorly in the mid-to-high frequency range. The ADD algorithm is not effective in suppressing low-frequency vibrations, performs well in the mid-to-high frequency range, but performs extremely poorly in the ultra-high frequency range.

[0105] Figure 6 This demonstrates the frequency response of sprung acceleration when ADD and Diode control are applied under random road surface excitation, by Figure 6 It can be seen that the frequency response suppression of Diode control is largely the same as that of ADD control, but it does not have the strong response of ADD control at extremely high frequencies.

[0106] Figure 7 This demonstrates the sprung displacement after traversing a convex road surface, comparing the effects of Diode control and traditional control. Figure 7 It is evident that Diode control exhibits significantly faster attenuation of sprung displacement impact than ADD control when over-bump, and is slightly superior to ceiling control.

[0107] Figure 8 This demonstrates the sprung acceleration after traversing a convex road surface using both Diode control and traditional control. Figure 8 It is evident that Diode control significantly outperforms ceiling control in suppressing spring acceleration caused by impacts during bump control, and is similar to ADD control. However, Diode control does not cause drastic acceleration fluctuations (control flutter) resulting from frequent control switching.

[0108] Figure 9 This demonstrates the variation of the root mean square value of the sprung acceleration with the excitation frequency when using Diode control, conventional control, and minimum damping control under swept-frequency excitation. Figure 9 It is evident that Diode control outperforms ceiling control and ADD control in suppressing simple harmonic vibrations of a single frequency across the entire frequency range. Specifically, Diode control is similar to ceiling control in suppressing low-frequency vibrations, while its vibration suppression effect in the mid-to-high frequency range is similar to minimum damping control and superior to ADD control.

[0109] Figure 10 This demonstrates the frequency response of sprung acceleration under random road surface excitation using ADD control, Diode control, SH-D1 control, and SH-D2 control. Figure 10 It is evident that the combined SH-D1 and SH-D2 control methods can effectively improve the poor low-frequency vibration suppression performance of Diode control by introducing ceiling control. Furthermore, while the frequency responses of SH-D1 and SH-D2 control are largely similar, SH-D1 lacks the strong response of SH-D2 control at extremely high frequencies, thus exhibiting superior overall performance.

[0110] Figure 11This demonstrates the frequency response of sprung acceleration when applying SH-D1 and SH-D3 control under random road surface excitation. Figure 11 It can be seen that the control effect of the combined SH-D1 and SH-D3 control method by adjusting parameters is consistent.

[0111] Based on the same general inventive concept, this invention also protects a semi-automatic suspension control system. The semi-automatic suspension control system provided by this invention will be described below. The semi-automatic suspension control system described below can be referred to in correspondence with the semi-automatic suspension control method described above.

[0112] Figure 12 and Figure 13 These are schematic diagrams of the two semi-automatic suspension control systems provided by this invention.

[0113] The first type of semi-automatic suspension control system is applied to a semi-automatic suspension connecting the sprung and unsprung components, with acceleration sensors respectively arranged on the sprung and unsprung components, such as... Figure 12 As shown, it includes: a first signal acquisition module 1210, a first signal determination module 1220, and a first strategy selection and execution module 1230; wherein,

[0114] The first signal acquisition module 1210 is used to acquire a first signal characterizing the speed of the sprung component and a second signal characterizing the speed of the unsprung component;

[0115] The first signal determination module 1220 is used to determine a third signal characterizing the relative motion speed of the semi-automatic suspension based on the first signal and the second signal;

[0116] The first strategy selection execution module 1230 is used to control the semi-automatic suspension based on a damping coefficient determined according to the first execution strategy when the first reference parameter is greater than the square of the second signal, wherein the first reference parameter is the product of the square of the first preset weighted parameter and the square of the first signal; and to control the semi-automatic suspension based on a damping coefficient determined according to the second execution strategy when the first reference parameter is less than or equal to the square of the second signal.

[0117] The first execution strategy is to determine the damping coefficient based on the product of the first signal and the third signal.

[0118] The second execution strategy is to determine the damping coefficient based on the product of the second and third signals.

[0119] The second type of semi-automatic suspension control system is applied to a semi-automatic suspension connecting the sprung and unsprung components, with an acceleration sensor mounted on the sprung component and a relative displacement sensor mounted on the unsprung component, such as... Figure 13As shown, it includes: a second signal acquisition module 1310, a second signal determination module 1320, and a second strategy selection and execution module 1330; wherein,

[0120] The second signal acquisition module 1310 is used to acquire a first signal characterizing the speed of the sprung component and a second signal characterizing the speed of the unsprung component.

[0121] The second signal determination module 1320 is used to determine a third signal characterizing the relative motion speed of the semi-automatic suspension based on the first and second signals.

[0122] The second strategy selection execution module 1330 is used to control the semi-automatic suspension based on the damping coefficient determined according to the first execution strategy when the second reference parameter is greater than the square of the third signal, wherein the second reference parameter is the product of the square of the second preset weighted parameter and the square of the first signal; and to control the semi-automatic suspension based on the damping coefficient determined according to the second execution strategy when the second reference parameter is less than or equal to the square of the third signal.

[0123] The first execution strategy is to determine the damping coefficient based on the product of the first signal and the third signal.

[0124] The second execution strategy is to determine the damping coefficient based on the product of the second and third signals.

[0125] The semi-automatic suspension control system provided in this invention, after acquiring a first signal representing the speed of the sprung components and a second signal representing the speed of the unsprung components, determines a third signal representing the relative motion speed of the semi-automatic suspension based on the first and second signals. Then, a reference parameter is determined based on the product of the square of a preset weighted parameter and the square of the first signal. Finally, an execution strategy for controlling the semi-automatic suspension is determined based on the reference parameter and the square of the second or third signal. The execution strategy includes a control strategy based on a ceiling control algorithm and a control strategy based on a diode algorithm. This realizes semi-automatic suspension control based on a combination of ceiling and diode algorithms, thus providing a semi-automatic suspension control method that can not only effectively suppress mid-to-high frequency vibrations but also avoid strong responses at extremely high frequencies, thereby effectively improving the control effect of the semi-automatic suspension.

[0126] Optionally, the first execution strategy specifically includes:

[0127] If the product of the first signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be the preset maximum damping coefficient.

[0128] If the product of the first signal and the third signal is less than zero, the damping coefficient is determined to be the preset minimum damping coefficient.

[0129] Optionally, the second execution strategy specifically includes:

[0130] If the product of the second signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be the preset maximum damping coefficient.

[0131] If the product of the second signal and the third signal is less than zero, the damping coefficient is determined to be the preset minimum damping coefficient.

[0132] Based on the same general inventive concept, the present invention also protects a semi-automatic suspension including a semi-automatic suspension control system as provided in any of the above embodiments.

[0133] Specifically, this semi-automatic suspension can be applied to passenger vehicles such as motorcycles and automobiles, as well as equipment such as agricultural machinery, railway vehicles, tracked vehicles, and household appliances.

[0134] Based on the same general inventive concept, the present invention also protects a vehicle including a semi-automatic control suspension as provided in any of the above embodiments.

[0135] Figure 14 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 14As shown, the electronic device may include: a processor 1410, a communications interface 1420, a memory 1430, and a communications bus 1440, wherein the processor 1410, the communications interface 1420, and the memory 1430 communicate with each other through the communications bus 1440. The processor 1410 can call logic instructions in the memory 1430 to execute a semi-automatic suspension control method. This method is applied to a semi-automatic suspension connected between an upper and lower sprung component, with acceleration sensors respectively arranged on the upper and lower sprung components. The control method includes: acquiring a first signal characterizing the speed of the upper sprung component and a second signal characterizing the speed of the lower sprung component; determining a third signal characterizing the relative motion speed of the semi-automatic suspension based on the first and second signals; controlling the semi-automatic suspension based on a damping coefficient determined according to a first execution strategy when a first reference parameter is greater than the square of the second signal, wherein the first reference parameter is the product of the square of a first preset weighted parameter and the square of the first signal; and controlling the semi-automatic suspension based on a damping coefficient determined according to a second execution strategy when the first reference parameter is less than or equal to the square of the second signal. The first execution strategy is to determine the damping coefficient based on the product of the first and third signals; the second execution strategy is to determine the damping coefficient based on the product of the second and third signals. Alternatively, it can be applied to a semi-automatic suspension connecting an upper-sprung component and an unsprung component, wherein an acceleration sensor is arranged on the upper-sprung component and a relative displacement sensor is arranged on the unsprung component. The control method includes: acquiring a first signal characterizing the velocity of the upper-sprung component and a second signal characterizing the velocity of the unsprung component; determining a third signal characterizing the relative motion velocity of the semi-automatic suspension based on the first and second signals; controlling the semi-automatic suspension based on a damping coefficient determined according to a first execution strategy when a second reference parameter is greater than the square of the third signal, wherein the second reference parameter is the product of the square of a second preset weighted parameter and the square of the first signal; and controlling the semi-automatic suspension based on a damping coefficient determined according to a second execution strategy when the second reference parameter is less than or equal to the square of the third signal. The first execution strategy is to determine the damping coefficient based on the product of the first and third signals; the second execution strategy is to determine the damping coefficient based on the product of the second and third signals.

[0136] Furthermore, the logical instructions in the aforementioned memory 1430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0137] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the semi-automatic suspension control method provided by the above methods, applied to a semi-automatic suspension connected between an upper-sprung component and an unsprung component, wherein acceleration sensors are respectively arranged on the upper-sprung component and the unsprung component. The control method includes: acquiring a first signal characterizing the velocity of the upper-sprung component and a second signal characterizing the velocity of the unsprung component; determining a third signal characterizing the relative motion velocity of the semi-automatic suspension based on the first signal and the second signal; controlling the semi-automatic suspension based on a damping coefficient determined according to a first execution strategy when a first reference parameter is greater than the square of the second signal, wherein the first reference parameter is the product of the square of a first preset weighted parameter and the square of the first signal; and controlling the semi-automatic suspension based on a damping coefficient determined according to a second execution strategy when the first reference parameter is less than or equal to the square of the second signal. The first execution strategy is to determine the damping coefficient based on the product of the first signal and the third signal; and the second execution strategy is to determine the damping coefficient based on the product of the second signal and the third signal. Alternatively, it can be applied to a semi-automatic suspension connecting an upper-sprung component and an unsprung component, wherein an acceleration sensor is arranged on the upper-sprung component and a relative displacement sensor is arranged on the unsprung component. The control method includes: acquiring a first signal characterizing the velocity of the upper-sprung component and a second signal characterizing the velocity of the unsprung component; determining a third signal characterizing the relative motion velocity of the semi-automatic suspension based on the first and second signals; controlling the semi-automatic suspension based on a damping coefficient determined according to a first execution strategy when a second reference parameter is greater than the square of the third signal, wherein the second reference parameter is the product of the square of a second preset weighted parameter and the square of the first signal; and controlling the semi-automatic suspension based on a damping coefficient determined according to a second execution strategy when the second reference parameter is less than or equal to the square of the third signal. The first execution strategy is to determine the damping coefficient based on the product of the first and third signals; the second execution strategy is to determine the damping coefficient based on the product of the second and third signals.

[0138] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the semi-automatic suspension control method provided by the above-described methods, applied to a semi-automatic suspension connected between an upper-sprung component and an unsprung component, wherein acceleration sensors are respectively arranged on the upper-sprung component and the unsprung component. The control method includes: acquiring a first signal characterizing the velocity of the upper-sprung component and a second signal characterizing the velocity of the unsprung component; determining a third signal characterizing the relative motion velocity of the semi-automatic suspension based on the first signal and the second signal; controlling the semi-automatic suspension based on a damping coefficient determined according to a first execution strategy when a first reference parameter is greater than the square of the second signal, wherein the first reference parameter is the product of the square of a first preset weighted parameter and the square of the first signal; and controlling the semi-automatic suspension based on a damping coefficient determined according to a second execution strategy when the first reference parameter is less than or equal to the square of the second signal. The first execution strategy is to determine the damping coefficient based on the product of the first signal and the third signal; and the second execution strategy is to determine the damping coefficient based on the product of the second signal and the third signal. Alternatively, it can be applied to a semi-automatic suspension connecting an upper-sprung component and an unsprung component, wherein an acceleration sensor is arranged on the upper-sprung component and a relative displacement sensor is arranged on the unsprung component. The control method includes: acquiring a first signal characterizing the velocity of the upper-sprung component and a second signal characterizing the velocity of the unsprung component; determining a third signal characterizing the relative motion velocity of the semi-automatic suspension based on the first and second signals; controlling the semi-automatic suspension based on a damping coefficient determined according to a first execution strategy when a second reference parameter is greater than the square of the third signal, wherein the second reference parameter is the product of the square of a second preset weighted parameter and the square of the first signal; and controlling the semi-automatic suspension based on a damping coefficient determined according to a second execution strategy when the second reference parameter is less than or equal to the square of the third signal. The first execution strategy is to determine the damping coefficient based on the product of the first and third signals; the second execution strategy is to determine the damping coefficient based on the product of the second and third signals.

[0139] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0140] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A semi-automatic suspension control method applied to a semi-automatic suspension connected between a spring upper member and a spring lower member, and acceleration sensors are respectively arranged on the spring upper member and the spring lower member, characterized by, The control method includes: Acquire a first signal characterizing the velocity of the sprung component and a second signal characterizing the velocity of the unsprung component; Based on the first signal and the second signal, a third signal characterizing the relative motion speed of the semi-automatic suspension is determined; When the first reference parameter is greater than the square of the second signal, the semi-automatic suspension is controlled based on the damping coefficient determined according to the first execution strategy. The first reference parameter is the product of the square of the first preset weighted parameter and the square of the first signal. When the first reference parameter is less than or equal to the square of the second signal, the semi-automatic suspension is controlled based on the damping coefficient determined according to the second execution strategy; The first execution strategy is as follows: if the product of the first signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be a preset maximum damping coefficient; if the product of the first signal and the third signal is less than zero, the damping coefficient is determined to be a preset minimum damping coefficient. The second execution strategy is as follows: if the product of the second signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be the preset maximum damping coefficient; if the product of the second signal and the third signal is less than zero, the damping coefficient is determined to be the preset minimum damping coefficient.

2. A semi-automatic suspension control method applied to a semi-automatic suspension connected between a spring upper member on which an acceleration sensor is arranged and a spring lower member on which a relative displacement sensor is arranged, characterized by, The control method includes: Acquire a first signal characterizing the velocity of the sprung component and a second signal characterizing the velocity of the unsprung component; Based on the first signal and the second signal, a third signal characterizing the relative motion speed of the semi-automatic suspension is determined; When the second reference parameter is greater than the square of the third signal, the semi-automatic suspension is controlled based on the damping coefficient determined according to the first execution strategy. The second reference parameter is the product of the square of the second preset weighted parameter and the square of the first signal. When the second reference parameter is less than or equal to the square of the third signal, the semi-automatic suspension is controlled based on the damping coefficient determined according to the second execution strategy; The first execution strategy is as follows: if the product of the first signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be a preset maximum damping coefficient; if the product of the first signal and the third signal is less than zero, the damping coefficient is determined to be a preset minimum damping coefficient. The second execution strategy is as follows: if the product of the second signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be the preset maximum damping coefficient; if the product of the second signal and the third signal is less than zero, the damping coefficient is determined to be the preset minimum damping coefficient.

3. A semi-automatic suspension control system applied to a semi-automatic suspension connected between a spring upper member and a spring lower member, and acceleration sensors are respectively arranged on the spring upper member and the spring lower member, characterized by, The control system includes: The first signal acquisition module is used to acquire a first signal characterizing the speed of the sprung component and a second signal characterizing the speed of the unsprung component; The first signal determination module is used to determine a third signal characterizing the relative motion speed of the semi-automatic suspension based on the first signal and the second signal. The first strategy selection execution module is configured to control the semi-automatic suspension based on a damping coefficient determined according to a first execution strategy when a first reference parameter is greater than the square of the second signal, wherein the first reference parameter is the product of the square of a first preset weighted parameter and the square of the first signal; and to control the semi-automatic suspension based on the damping coefficient determined according to a second execution strategy when the first reference parameter is less than or equal to the square of the second signal. The first execution strategy is as follows: if the product of the first signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be a preset maximum damping coefficient; if the product of the first signal and the third signal is less than zero, the damping coefficient is determined to be a preset minimum damping coefficient. The second execution strategy is as follows: if the product of the second signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be the preset maximum damping coefficient; if the product of the second signal and the third signal is less than zero, the damping coefficient is determined to be the preset minimum damping coefficient.

4. A semi-automatic suspension control system applied to a semi-automatic suspension connected between a spring upper member on which an acceleration sensor is arranged and a spring lower member on which a relative displacement sensor is arranged, characterized by, a control unit which controls the semi-automatic suspension based on a signal from the acceleration sensor and a signal from the relative displacement sensor. The control system includes: The second signal acquisition module is used to acquire a first signal characterizing the speed of the sprung component and a second signal characterizing the speed of the unsprung component; The second signal determination module is used to determine a third signal characterizing the relative motion speed of the semi-automatic suspension based on the first signal and the second signal. The second strategy selection execution module is used to control the semi-automatic suspension based on a damping coefficient determined according to the first execution strategy when the second reference parameter is greater than the square of the third signal, wherein the second reference parameter is the product of the square of the second preset weighted parameter and the square of the first signal; and to control the semi-automatic suspension based on the damping coefficient determined according to the second execution strategy when the second reference parameter is less than or equal to the square of the third signal. The first execution strategy is as follows: if the product of the first signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be a preset maximum damping coefficient; if the product of the first signal and the third signal is less than zero, the damping coefficient is determined to be a preset minimum damping coefficient. The second execution strategy is as follows: if the product of the second signal and the third signal is greater than or equal to zero, the damping coefficient is determined to be the preset maximum damping coefficient; if the product of the second signal and the third signal is less than zero, the damping coefficient is determined to be the preset minimum damping coefficient.

5. A semi-automatic control suspension, characterized by Includes the semi-automatic suspension control system as described in claim 3 or 4.

6. A vehicle characterized by comprising: Including the semi-automatic control suspension as described in claim 5.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the semi-automatic suspension control method as described in claim 1 or 2.

8. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, When the computer program is executed by the processor, it implements the semi-automatic suspension control method as described in claim 1 or 2.

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