A series-parallel switching oil-gas integrated force control suspension system for vehicles and its application method

Abstract

This invention discloses a series-parallel switching hydraulic-gas integrated force-controlled suspension system for automobiles and its usage method, belonging to the field of automotive suspension technology. This invention solves the problem that the adjustable frequency range of suspension systems is relatively low, and that they cannot simultaneously achieve rapid adjustment and wide-frequency vibration damping. Based on electromagnetic levitation technology, this invention sets up a magnetic levitation vibration reduction system, designing a series-parallel switching adjustment device between the hydraulic vibration absorption module and the electromagnetic levitation module. In series operation, the hydraulic vibration absorption module is actively adjusted by adjusting the valve opening size and changing the actuation speed and direction of the electromagnetic levitation module, enhancing its damping effect range. In parallel operation, the electromagnetic levitation module and the hydraulic vibration absorption module work independently. In this case, the electromagnetic levitation module can directly actuate between the sprung and unsprung masses of the vehicle, achieving vertical load-bearing and buffer limiting, and further reducing the output of its force-controlled motor dynamic load, thus improving overall energy efficiency.

Description

Technical Field

[0001] This invention belongs to the field of automotive suspension technology, specifically relating to a series-parallel switching oil-gas integrated force control suspension system for vehicles and its usage method. Background Technology

[0002] With the rapid development and application of electrification and intelligentization technologies in the automotive industry, hydraulic active suspension systems have been first applied to some high-end models. While ensuring the conventional vibration reduction and isolation performance of the suspension system, it uses a high-speed electro-hydraulic pump for bidirectional drive to generate active hydraulic pressure, decoupling the active force and actuation speed of the suspension. It can output force along the positive or negative Z-axis of the vehicle coordinate system at any time as needed. Based on the coordinated action of multiple actuators, it achieves rapid adjustment of the vehicle's attitude, reducing undulation, roll, and pitch during road unevenness, steering / lane changing, and acceleration / braking. However, the frequency range adjustable by such hydraulic active suspension systems is still limited to the 0-30Hz range, which is of concern for ride comfort, and cannot reach the 200-300Hz range, a key industry challenge related to road noise. Furthermore, the promotion and application of distributed drive technology for in-wheel motors in new energy vehicles will drastically increase unsprung mass and bring wider frequency damping requirements, posing even more stringent requirements and challenges to active suspension systems.

[0003] Patent CN 117656733 A discloses a parallel electromagnetic suspension system and an electric vehicle equipped with a hub motor. The system includes a suspension body and a wheel body. The suspension body comprises a magnetorheological damper, a linear actuator, a steering knuckle, an upper control arm, a front control arm, and a rear control arm. One end of the linear actuator is spherically connected to the front control arm, and the other end is spherically connected to the vehicle body. The linear actuator and the magnetorheological damper are arranged in parallel. This parallel structure reduces the energy consumption of the force-controlled motor and allows for greater thrust. However, the linear actuator, arranged in parallel with the original damping system, occupies a large unsprung space. Furthermore, relying solely on the linear actuator for adjustment limits the range of low-frequency, large-amplitude vehicle attitude adjustments to a relatively low frequency range, typically 0–5 Hz.

[0004] Patent CN110712488A discloses a fully self-powered hub motor-driven electromagnetic suspension system and a vehicle, including a main suspension unit and a hub motor unit for mounting in the wheel. The main suspension unit includes a first linear electromagnetic actuator and a damping spring, with the linear electromagnetic actuator and damping spring connected in parallel. The hub motor unit includes a second linear electromagnetic actuator for mounting on the wheel as a shock absorber. The stator or mover of the second linear electromagnetic actuator is connected to the main suspension unit, and the first and second linear electromagnetic actuators are electrically connected to form a circuit. However, the electric wheel uses traditional contact transmission, and this rigid connection has an unsatisfactory attenuation effect on road excitation, while also resulting in significant frictional losses. Although it uses two-stage linear actuators, and some energy recovery can be achieved by relying on the lower-stage linear actuator, from a vibration damping perspective, the frequency range that can be controlled is still relatively narrow, not exceeding the 0-30Hz range that is important for ride comfort.

[0005] The invention patent with patent number CN117662661A provides a vibration damping assembly and a vehicle having the same, comprising: a force-controlled motor, the force-controlled motor including a first part and a second part that are relatively movable in a vertical direction, the first part being for connecting to the vehicle body and the second part being for connecting to the wheel end; a first piston, the first piston being adapted to be fixed to the vehicle body, at least a portion of the structure of the first piston extending into the second part and being movable in a vertical direction along the second part, the first piston and the second part cooperating to define a first oil chamber; an adjustment structure, the projection of the adjustment structure in a horizontal plane being arranged at intervals from the projection of the force-controlled motor in a horizontal plane, the adjustment structure having a second oil chamber with adjustable volume, the first oil chamber and the second oil chamber being selectively connected, the adjustment structure providing damping force for the movement of the first piston through the second oil chamber and an oil pipe. However, the frequency range that this patent can adjust is relatively narrow, limited to the 0-30Hz range that is of concern for smoothness; in this patent, the force control motor provides both the main driving force and serves as the main load-bearing unit of the suspension, which will lead to high energy consumption; the force control motor proposed in this patent uses three sets of flat-plate movers and stators, and the edge effects at the upper and lower ends and left and right sides of the flat-plate force control motor will produce large thrust fluctuations, which are not conducive to the smoothness of control. Summary of the Invention

[0006] To address the issue that existing suspension systems have a relatively low adjustable frequency range and cannot simultaneously achieve rapid adjustment and wide-frequency vibration damping, this invention provides a series-parallel switching hydraulic-gas integrated force-controlled suspension system for vehicles and its usage method. The electromagnetic levitation module enables high-frequency, low-amplitude vibration damping, buffering, and vertical load bearing within the 0–300Hz range. Simultaneously, the force-controlled motor enables rapid adjustment and low-frequency, high-amplitude attitude adjustment. The hydraulic damping vibration absorption module achieves impact attenuation and magnetic guidance, thereby improving overall energy efficiency.

[0007] The technical solution adopted in this invention is as follows:

[0008] A series-parallel switching oil-gas integrated force control suspension system for automobiles includes a magnetic levitation damping system. The magnetic levitation damping system includes an active force control module and an electromagnetic levitation module. The active force control module includes a force control motor module, a hydraulic vibration absorption module, and an elastic load-bearing module. The hydraulic vibration absorption module and the electromagnetic levitation module are connected in series or in parallel through a series-parallel switching adjustment device. The active force control module, the electromagnetic levitation module, and the series-parallel switching adjustment device are electrically connected to a drive controller module. The series-parallel switching adjustment device is connected to an oil reservoir.

[0009] The force control motor module includes a force control motor housing, and a force control motor permanent magnet and a force control motor coil are disposed inside the force control motor housing. The force control motor coil is electrically connected to the drive controller module.

[0010] The hydraulic vibration damping module includes a working cylinder slidably disposed within the force-controlled motor housing. One end of the working cylinder extends from the force-controlled motor housing and is connected to the unsprung mass. A hydraulic vibration damping piston mechanism is slidably connected within the working cylinder. One end of the hydraulic vibration damping piston mechanism is connected to the force-controlled motor housing, which is connected to the sprung mass. The hydraulic vibration damping piston mechanism divides the working cylinder into an upper damping chamber and a lower damping chamber, both of which are connected to a series-parallel switching adjustment device. The force-controlled motor permanent magnet and the force-controlled motor coil are respectively disposed on the inner wall of the force-controlled motor housing and the outer wall of the working cylinder.

[0011] The electromagnetic levitation module includes an electromagnetic levitation module shell, a magnetic levitation piston mechanism is provided inside the electromagnetic levitation module shell, a magnetic levitation mechanism is provided between the magnetic levitation piston mechanism and the electromagnetic levitation module shell, the magnetic levitation piston mechanism divides the electromagnetic levitation module shell into an upper electromagnetic levitation module cavity and a lower electromagnetic levitation module cavity, both of which are connected to a series-parallel switching adjustment device.

[0012] After adopting this technical solution, a magnetic levitation vibration reduction system was set up based on electromagnetic levitation technology. With controllable system energy efficiency, this force-controlled suspension system can balance rapid adjustment and wide-frequency vibration damping, while ensuring good vehicle ride comfort and handling stability. A series-parallel switching adjustment device is designed between the hydraulic vibration absorption module and the electromagnetic levitation module. Connected via a hydraulic circuit, the hydraulic vibration absorption module and the electromagnetic levitation module can operate in series or in parallel. In series operation, the hydraulic vibration absorption module can be actively adjusted by adjusting the valve size and changing the actuation speed and direction of the electromagnetic levitation module, enhancing its damping effect range. In parallel operation, the electromagnetic levitation module and the hydraulic vibration absorption module operate independently. In this case, the electromagnetic levitation module can directly actuate between the sprung and unsprung masses of the vehicle, achieving vertical and buffer limits, and further reducing the output of the force-controlled motor's dynamic load, thus improving overall energy efficiency.

[0013] Preferably, the system also includes a magnetic levitation electric wheel, which comprises a hub motor stator, a hub motor rotor disposed outside the hub motor stator, a tire connected to the outside of the hub motor rotor, a gap between the hub motor rotor and the hub motor stator, a hub motor winding and a hub motor permanent magnet respectively connected to the hub motor rotor and the hub motor stator in the gap, and a magnetic levitation bearing disposed between the hub motor rotor and the hub motor stator.

[0014] This technical solution utilizes the properties of magnetic fields to reduce the rigid connection between the tire and the rim, thereby reducing the feeling of bumps. When the vehicle starts, a coil inside the rim generates an electromagnetic field, and the electromagnetic force creates a gap between the tire and the rim. This hollow design eliminates direct contact between the tire and the rim, reducing the transmission of vibrations. During driving, even on uneven roads, only the tires experience bumps, while the internal rim remains unaffected or minimally affected, thus ensuring the vehicle's smoothness.

[0015] Preferably, the magnetic levitation bearing includes a magnetic levitation bearing coil and a magnetic levitation bearing permanent magnet respectively disposed on the rotor and stator of the hub motor.

[0016] Preferably, the magnetic levitation piston mechanism includes a first magnetic levitation piston and a second magnetic levitation piston disposed inside the outer shell of the electromagnetic levitation module. The first magnetic levitation piston and the second magnetic levitation piston are connected by a magnetic levitation piston rod. A mounting platform is provided in the middle of the magnetic levitation piston rod. A first fixed guide frame is fixedly connected to the inner wall of the outer shell of the electromagnetic levitation module between the first magnetic levitation piston and the mounting platform. A second fixed guide frame is fixedly connected to the inner wall of the outer shell of the electromagnetic levitation module between the second magnetic levitation piston and the mounting platform.

[0017] The magnetic levitation mechanism includes a first magnetic levitation permanent magnet and a second magnetic levitation permanent magnet respectively disposed on the side of the mounting platform near the first magnetic levitation piston and the side near the second magnetic levitation piston. A first magnetic levitation coil and a second magnetic levitation coil are respectively disposed on the first fixed guide frame and the second fixed guide frame. The first magnetic levitation coil and the second magnetic levitation coil are electrically connected to the drive controller module.

[0018] By adopting this technical solution, the up-and-down movement control of the magnetic levitation piston mechanism is achieved through the cooperation of the first magnetic levitation permanent magnet with the first magnetic levitation coil and the cooperation of the second magnetic levitation permanent magnet with the second magnetic levitation coil.

[0019] Preferably, the elastic bearing module is one of a helical spring, a torsion bar spring, or an air spring.

[0020] By adopting this technical solution, the vehicle body is supported by an elastic load-bearing module, thereby reducing the load requirements on the active control module and indirectly saving energy.

[0021] Preferably, the upper part of the air spring is connected to the inner wall of the force control motor housing, the lower part of the air spring is connected to the outer wall of the working cylinder, the force control motor housing is provided with an air inlet and exhaust port that is sealed to the air spring, and the air inlet and exhaust port is connected to an air pump that is provided outside the force control motor housing.

[0022] By adopting this technical solution, using a built-in air spring as the elastic load-bearing module, not only can unsprung space be saved, but the vehicle height can also be better adjusted.

[0023] Preferably, the series-parallel switching regulating device includes a first valve, a second valve, and a third valve. The first valve is a two-position three-way valve, the second valve is a two-position two-way valve, and the third valve is a proportional regulating valve. The first valve is connected to oil pipes P1, P3, and P4, which are respectively connected to ports A1, A2, and A3 of the first valve. The second valve is connected to oil pipes P2 and P5, which are respectively connected to ports B1 and B2 of the second valve. The third valve is mounted on oil pipe P5.

[0024] The upper vibration damping cavity is connected to a first hydraulic oil pipe, which is connected to the P2 oil pipe.

[0025] The vibration damping lower cavity is connected to a second hydraulic oil pipe, which is connected to the P1 oil pipe.

[0026] The upper cavity of the electromagnetic levitation module is connected to a third hydraulic oil pipe, which is connected to the P4 oil pipe.

[0027] The lower cavity of the electromagnetic levitation module is connected to a fourth hydraulic oil pipe, which is connected to the P5 oil pipe.

[0028] The P3 oil pipe is connected to the oil storage tank;

[0029] The hydraulic vibration-absorbing piston mechanism includes a hydraulic vibration-absorbing piston connected to a hydraulic vibration-absorbing piston rod. One end of the hydraulic vibration-absorbing piston rod extends out of the working cylinder and is fixedly connected to the force control motor housing. A piston rod oil passage is provided inside the hydraulic vibration-absorbing piston rod. One end of the piston rod oil passage is connected to a first hydraulic oil pipe, and the other end is connected to the upper vibration-damping chamber. The lower vibration-damping chamber is provided with a working cylinder oil passage connected to a second hydraulic oil pipe.

[0030] Preferably, the drive controller module is divided into an upper-layer module and a lower-layer module. The upper-layer module is an integrated control module, which specifically includes an electromagnetic levitation control module, a force-controlled motor control module, a hydraulic valve control module, and a pneumatic valve control module. The lower-layer module is an integrated power drive module, which specifically includes an electromagnetic levitation-power drive module, a force-controlled motor-power drive module, a hydraulic valve control module, and a pneumatic valve control module.

[0031] A method for using a series-parallel switching oil-gas integrated vehicle force control suspension system: if the requirement is to enhance the damping effect range, the series-parallel switching oil-gas integrated vehicle force control suspension system is set to series mode; if the requirement is to enhance the load-bearing effect, the series-parallel switching oil-gas integrated vehicle force control suspension system is set to parallel mode.

[0032] The working process of the serial mode is as follows:

[0033] When the suspension is compressed, the hydraulic vibration-absorbing piston mechanism and the force control motor housing move downwards, the working cylinder moves upwards, and the force control motor coil and the force control motor permanent magnet move to both sides respectively. At this time, current is passed through the force control motor coil. The magnetic force between the force control motor coil and the force control motor permanent magnet causes the hydraulic vibration-absorbing piston mechanism and the force control motor housing to have an upward tendency, and causes the working cylinder to have a downward tendency, thereby suppressing and attenuating the movement tendency of the hydraulic vibration-absorbing piston mechanism and the working cylinder.

[0034] Furthermore, due to the reduced space and increased pressure in the lower damping chamber during startup, and the increased space and decreased pressure in the upper damping chamber during startup, the oil in the reservoir flows to the upper damping chamber via a series-parallel switching and regulating device. The oil in the lower damping chamber also flows to the lower chamber of the electromagnetic levitation module via the same device. This causes the magnetic levitation piston mechanism to move upwards within the electromagnetic levitation module's outer shell. At this point, the magnetic levitation mechanism generates an attractive force that controls the movement of the magnetic levitation piston mechanism, causing the oil in the lower chamber of the electromagnetic levitation module to flow towards the lower damping chamber, and the oil in the upper damping chamber to flow towards the reservoir. By adjusting the speed and direction of the magnetic levitation piston mechanism, the hydraulic vibration absorption module is actively adjusted, enhancing its damping effect range. The movement process when the suspension extends is the opposite of the movement process when the suspension compresses.

[0035] The working process of parallel mode is as follows:

[0036] When the suspension is compressed, the hydraulic vibration-absorbing piston mechanism and the force control motor housing move downwards, the working cylinder moves upwards, and the force control motor coil and the force control motor permanent magnet move to both sides respectively. At this time, current is passed through the force control motor coil. The magnetic force between the force control motor coil and the force control motor permanent magnet causes the hydraulic vibration-absorbing piston mechanism and the force control motor housing to have an upward tendency, and causes the working cylinder to have a downward tendency, thereby suppressing and attenuating the movement tendency of the hydraulic vibration-absorbing piston mechanism and the working cylinder.

[0037] Furthermore, due to the reduced space and increased pressure in the lower damping chamber during startup, the oil in the upper chamber of the electromagnetic levitation module flows to the upper damping chamber via a series-parallel switching adjustment device, and the oil in the lower damping chamber flows to the lower electromagnetic levitation module via the same device. This causes the magnetic levitation piston mechanism to move upward within the outer shell of the electromagnetic levitation module. At this time, the magnetic levitation mechanism generates an attractive force to control the movement of the magnetic levitation piston mechanism, causing the oil in the lower electromagnetic levitation module to flow to the lower damping chamber, and the oil in the upper electromagnetic levitation module to flow to the upper damping chamber. Because the space in the upper electromagnetic levitation module is smaller and the pressure is increased, the oil flows to the upper damping chamber at a faster speed, achieving higher frequency vibration suppression. Moreover, the electromagnetic levitation module directly acts between the sprung and unsprung mass of the vehicle, achieving vertical load-bearing and buffering limits, enhancing the load-bearing effect. The movement process when the suspension extends is the opposite of the movement process when the suspension compresses.

[0038] As a preferred option, vibration reduction is achieved first through a magnetic levitation electric wheel before the magnetic levitation vibration reduction system. The magnetic levitation electric wheel is equipped with a magnetic levitation bearing, which reduces the rigid connection between the tire and the wheel hub, thereby reducing the feeling of bumps.

[0039] Preferably, the flow rate of the oil flowing between the damping chamber and the lower chamber of the electromagnetic levitation module is also adjusted to give the suspension system the required damping coefficient.

[0040] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0041] 1. This invention establishes a magnetic levitation vibration reduction system based on electromagnetic levitation technology. With controllable system energy efficiency, this force-controlled suspension system balances rapid adjustment and wide-frequency vibration damping, ensuring excellent vehicle ride comfort and handling stability. A series-parallel switching adjustment device is designed between the hydraulic vibration absorption module and the electromagnetic levitation module. Connected via a hydraulic circuit, the hydraulic vibration absorption module and the electromagnetic levitation module can operate in series or in parallel. In series operation, the hydraulic vibration absorption module is actively adjusted by regulating the valve opening size and changing the actuation speed and direction of the electromagnetic levitation module, enhancing its damping effect range. In parallel operation, the electromagnetic levitation module and the hydraulic vibration absorption module operate independently. In this case, the electromagnetic levitation module can directly actuate between the sprung and unsprung masses of the vehicle, achieving vertical and buffer limits, and further reducing the output of the force-controlled motor's dynamic load, thus improving overall energy efficiency.

[0042] 2. The present invention also includes a magnetic levitation electric wheel for vibration reduction, realizing non-contact vibration isolation and transmission, which can effectively suppress wide-frequency vibration within the wheel and reduce inter-shaft transmission friction, thus saving energy.

[0043] 3. This invention is based on a cylindrical force control motor to design an active force control module, thereby decoupling the active force of the suspension system from the suspension actuation speed and enabling rapid adjustment of the vehicle body's low-frequency, high-stress attitude. At the same time, the cylindrical design of the force control motor ensures high efficiency and reduces edge effects compared to a flat force control motor.

[0044] 4. The present invention incorporates an air spring in the force control motor, or uses the air gap between the primary and secondary windings of the force control motor as a "virtual airbag" or an external helical spring to design an elastic load-bearing module, thereby achieving the main load-bearing capacity of the vehicle body, reducing the load-bearing requirements of the force control motor and force control module, and indirectly saving energy consumption. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the magnetic levitation vibration reduction system in this invention;

[0046] Figure 2 This is a schematic diagram of the active force control module in the magnetic levitation vibration reduction system of the present invention;

[0047] Figure 3 This is a schematic diagram of the electromagnetic levitation module in the magnetic levitation vibration reduction system of the present invention;

[0048] Figure 4 This is a schematic diagram of the series-parallel switching adjustment device in the magnetic levitation vibration reduction system of the present invention;

[0049] Figure 5 This is a schematic diagram of the structure of the magnetic levitation electric wheel in this invention;

[0050] Figure 6 This is a schematic diagram of the magnetic bearing in the magnetic levitation electric wheel of the present invention;

[0051] Figure 7 This is a schematic diagram of the overall three-dimensional structure of the suspension system when the elastic load-bearing module is an air spring in this invention;

[0052] Figure 8 This is a schematic diagram of the magnetic levitation vibration reduction system when the elastic bearing module is an air spring and a helical spring in this invention;

[0053] Figure 9 This is a schematic diagram of the overall three-dimensional structure of the suspension system when the elastic load-bearing module is an air spring and a coil spring in this invention;

[0054] Figure 10 This is a schematic diagram of the overall three-dimensional structure of the suspension system when the elastic load-bearing module is a torsion bar spring in this invention;

[0055] Figure 11 This is a schematic diagram of the overall three-dimensional structure of the suspension system with a lateral stabilizer bar in this invention.

[0056] Figure 12 This is a block diagram of the drive controller module in this invention;

[0057] Among them, 001-Tire, 002-Hub motor rotor, 003-Magnetic levitation bearing, 0031-Magnetic levitation bearing permanent magnet, 0032-Magnetic levitation bearing coil, 004-Hub motor permanent magnet, 005-Hub motor winding, 006-Hub motor stator, 007-Magnetic levitation electric wheel connector, 008-Magnetic levitation electric wheel connection hole; 1-Air spring pump, 2-Active force control module, 201-Inlet and outlet ports, 202-Hydraulic vibration damping piston rod, 2 03-Piston rod oil passage, 204-Cylinder head, 205-Upper damping chamber, 206-Force control motor housing, 207-Lower damping chamber, 208-Mounting plate, 209-Air spring, 210-Working cylinder, 211-Force control motor permanent magnet, 212-Force control motor coil, 213-Hydraulic vibration damping piston, 214-Working cylinder oil passage, 215-Lifting lug, 216-Helical spring, 217-Torsion bar spring, 3-Oil reservoir, 4-Series-parallel switching adjustment device Position, 401-First valve, 402-Second valve, 403-Third valve, 404-P2 oil pipe, 405-P3 oil pipe, 406-P4 oil pipe, 407-P1 oil pipe, 408-P5 oil pipe, 5-Electromagnetic levitation module, 501-Electromagnetic levitation module housing, 502-First magnetic levitation piston, 503-First magnetic levitation coil, 504-Second magnetic levitation coil, 505-Second magnetic levitation piston, 506-Upper cavity of electromagnetic levitation module, 50 7-First fixed guide frame, 508-Magnetic levitation piston rod, 509-First magnetic levitation permanent magnet, 510-Second magnetic levitation permanent magnet, 511-Second fixed guide frame, 512-Lower cavity of electromagnetic levitation module, 6-Drive controller module, 7-First hydraulic oil pipe, 8-Second hydraulic oil pipe, 9-Third hydraulic oil pipe, 10-Fourth hydraulic oil pipe, 11-Sprung mass, 12-Unsprung mass, 13-Upper fork arm, 14-Lower fork arm, 15-Lateral stabilizer bar. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0059] In the description of the embodiments of this application, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0060] Example 1

[0061] like Figure 1-4 As shown in Figure 7, a series-parallel switching oil-gas integrated vehicle force control suspension system includes a magnetic levitation damping system. The magnetic levitation damping system includes an active force control module 2 and an electromagnetic levitation module 5. The active force control module 2 includes a force control motor module, a hydraulic vibration absorption module, and an elastic bearing module. The hydraulic vibration absorption module and the electromagnetic levitation module 5 are connected in series or in parallel through a series-parallel switching adjustment device 4. The active force control module 2, the electromagnetic levitation module 5, and the series-parallel switching adjustment device 4 are electrically connected to a drive controller module 6. The series-parallel switching adjustment device 4 is connected to an oil reservoir 3.

[0062] The force-controlled motor module includes a force-controlled motor housing 206, within which a force-controlled motor permanent magnet 211 and a force-controlled motor coil 212 are disposed. The force-controlled motor coil 212 is electrically connected to the drive controller module 6. Damping can be adjusted by controlling the current in the force-controlled motor coil 212. Compared with the hydraulic power generated by traditional hydraulic actuators, the electromagnetic power generated by the force-controlled motor has a faster response rate and better vibration reduction effect.

[0063] The hydraulic vibration damping module includes a working cylinder 210 slidably disposed within a force-controlled motor housing 206. One end of the working cylinder 210 extends from the force-controlled motor housing 206 and is connected to the unsprung mass 12. A hydraulic vibration damping piston mechanism is slidably connected within the working cylinder 210. One end of the hydraulic vibration damping piston mechanism is connected to the force-controlled motor housing 206, which is connected to the unsprung mass 11. The hydraulic vibration damping piston mechanism divides the working cylinder 210 into an upper damping chamber 205 and a lower damping chamber 207. Both the upper damping chamber 205 and the lower damping chamber 207 are connected to a series-parallel switching adjustment device 4. The force-controlled motor permanent magnet 211 and the force-controlled motor coil 212 are respectively disposed on the inner wall of the force-controlled motor housing 206 and the outer wall of the working cylinder 210.

[0064] The electromagnetic levitation module 5 includes an electromagnetic levitation module housing 501. A magnetic levitation piston mechanism is provided inside the electromagnetic levitation module housing 501. A magnetic levitation mechanism is provided between the magnetic levitation piston mechanism and the electromagnetic levitation module housing 501. The magnetic levitation piston mechanism divides the electromagnetic levitation module housing 501 into an upper electromagnetic levitation module cavity 506 and a lower electromagnetic levitation module cavity 512. Both the upper electromagnetic levitation module cavity 506 and the lower electromagnetic levitation module cavity 512 are connected to the series-parallel switching adjustment device 4.

[0065] In this embodiment, as Figure 3 As shown, the magnetic levitation piston mechanism includes a first magnetic levitation piston 502 and a second magnetic levitation piston 505 disposed inside the electromagnetic levitation module housing 501. The first magnetic levitation piston 502 and the second magnetic levitation piston 505 are connected by a magnetic levitation piston rod 508. A mounting platform is provided in the middle of the magnetic levitation piston rod 508. A first fixed guide frame 507 is fixedly connected to the inner wall of the electromagnetic levitation module housing 501 between the first magnetic levitation piston 502 and the mounting platform. A second fixed guide frame 511 is fixedly connected to the inner wall of the electromagnetic levitation module housing 501 between the second magnetic levitation piston 505 and the mounting platform.

[0066] The magnetic levitation mechanism includes a first magnetic levitation permanent magnet 509 and a second magnetic levitation permanent magnet 510 respectively disposed on the side of the mounting platform near the first magnetic levitation piston 502 and the side near the second magnetic levitation piston 505. A first magnetic levitation coil 503 and a second magnetic levitation coil 504 are respectively disposed on the first fixed guide frame 507 and the second fixed guide frame 511. The first magnetic levitation coil 503 and the second magnetic levitation coil 504 are electrically connected to the drive controller module 6.

[0067] The mounting platform has annular grooves on both its upper and lower surfaces, and a first magnetic levitation permanent magnet 509 and a second magnetic levitation permanent magnet 510 are respectively disposed in the two annular grooves. The first magnetic levitation piston 502 and the second magnetic levitation piston 505 can move in the upper cavity 506 and the lower cavity 512 of the electromagnetic levitation module, respectively. Under the attraction of the first magnetic levitation coil 503 and the second magnetic levitation coil 504, the first magnetic levitation permanent magnet 509 and the second magnetic levitation permanent magnet 510 can move between the first magnetic levitation coil 503 and the second magnetic levitation coil 504.

[0068] In this embodiment, the magnetic levitation vibration reduction system also includes an elastic bearing module.

[0069] In this embodiment, the elastic bearing module includes an air spring 209 disposed in the upper vibration damping cavity 205. The upper part of the air spring 209 is connected to the inner wall of the force control motor housing 206, and the lower part of the air spring 209 is connected to the outer wall of the working cylinder 210. The force control motor housing 206 is provided with an air inlet and exhaust port 201 that is sealed and connected to the air spring 209. The air inlet and exhaust port 201 is connected to an air spring pump 1 disposed outside the force control motor housing 206.

[0070] In this embodiment, as Figure 4 As shown, the series-parallel switching regulating device 4 includes a first valve 401, a second valve 402, and a third valve 403. The first valve 401 is a two-position three-way valve, the second valve 402 is a two-position two-way valve, and the third valve 403 is a proportional regulating valve. The first valve 401 is connected to oil pipes P2 404, P3 405, and P4 406, which are respectively connected to ports A1, A2, and A3 of the first valve 401. The second valve 402 is connected to oil pipes P1 407 and P5 408, which are respectively connected to ports B1 and B2 of the second valve 402. The third valve 403 is mounted on oil pipe P5 408.

[0071] The upper vibration damping cavity 205 is connected to a first hydraulic oil pipe 7, which is connected to the P2 oil pipe 404.

[0072] The vibration damping lower cavity 207 is connected to a second hydraulic oil pipe 8, which is connected to the P1 oil pipe 407.

[0073] The upper cavity 506 of the electromagnetic levitation module is connected to a third hydraulic oil pipe 9, which is connected to the P4 oil pipe 406.

[0074] The lower cavity 512 of the electromagnetic levitation module is connected to a fourth hydraulic oil pipe 10, which is connected to the P5 oil pipe 408.

[0075] The P3 oil pipe 405 is connected to the oil storage tank 3;

[0076] like Figure 2As shown, the hydraulic vibration-absorbing piston mechanism includes a hydraulic vibration-absorbing piston 213, which is connected to a hydraulic vibration-absorbing piston rod 202. One end of the hydraulic vibration-absorbing piston rod 202 extends out of the working cylinder 210 and is fixedly connected to the force control motor housing 206. A piston rod oil passage 203 is provided inside the hydraulic vibration-absorbing piston rod 202. One end of the piston rod oil passage 203 is connected to the first hydraulic oil pipe 7, and the other end is connected to the upper vibration-damping chamber 205. The lower vibration-damping chamber 207 is provided with a working cylinder oil passage 214 that is connected to the second hydraulic oil pipe 8. A series-parallel switching adjustment device 4 is designed between the active force control module 2 and the electromagnetic levitation module 5. It is connected through a hydraulic circuit to realize the series or parallel operation of the hydraulic vibration absorption module and the electromagnetic levitation module 5. When connected in series, the hydraulic vibration absorption module is actively adjusted by adjusting the valve size and changing the actuation speed and direction of the electromagnetic levitation module 5, thereby enhancing its damping effect range. When connected in parallel, the electromagnetic levitation module 5 and the hydraulic vibration absorption module work independently. At this time, the electromagnetic levitation module 5 can directly actuate between the sprung mass and unsprung mass of the vehicle to achieve vertical limit and buffer limit, and can further reduce the output of the force control motor dynamic load, thereby improving the overall energy efficiency.

[0077] In this embodiment, a lifting lug 215 is provided at the lower part of the working cylinder 210, through which the working cylinder 210 is connected to the unsprung mass 12. A mounting plate 208 is provided on the outer top of the force control motor housing 206. The lower end of the mounting plate 208 is fixedly connected to the force control motor housing 206, and the upper end is connected to the body of the unsprung mass 11. A cylinder head 204 is provided at the upper end of the working cylinder 210; the force control piston rod 202 passes through the cylinder head 204, and the hydraulic vibration-absorbing piston 213 at the end of the hydraulic vibration-absorbing piston rod 202 can move up and down in the working cylinder 210.

[0078] In this embodiment, both the force-controlled motor permanent magnet 211 and the force-controlled motor coil 212 are ring structures.

[0079] In this embodiment, the upper end of the active force control module 2 is connected to the sprung mass 11, and the lower end is connected to the unsprung mass 12; the air spring pump 1 is arranged on the sprung mass 11, the series-parallel switching adjustment device 4 is arranged on the sprung mass 11, the liquid storage tank 3 is arranged on the sprung mass 11, the drive controller module 6 is arranged on the sprung mass 11, and the electromagnetic levitation module 5 is arranged on the sprung mass 11.

[0080] In this embodiment, the active force control module 2 has a cylindrical structure, which can reduce the edge effect compared to a flat force control motor.

[0081] In this embodiment, as Figure 12As shown, the drive controller module is divided into an upper-layer module and a lower-layer module. The upper-layer module is an integrated control module, specifically including an electromagnetic levitation control module, a force-controlled motor control module, a hydraulic valve control module, and a pneumatic valve control module. The lower-layer module is a power drive module, specifically including an electromagnetic levitation-power drive module, a force-controlled motor-power drive module, a hydraulic valve control module, and a pneumatic valve control module. The drive controller module enables coordinated drive control of all modules in the vehicle's force-controlled suspension system and intelligent updates of the electromagnet.

[0082] In this embodiment, the suspension system includes an upper wishbone 13 and a lower wishbone 14.

[0083] In this embodiment, the lateral stabilizer bar 15 in the traditional automobile chassis (such as...) is eliminated. Figure 11 (As shown); The force control motor module can generate active electromagnetic power. Through the combined action of the left and right force control motor modules, the function of the lateral stabilizer bar 15 can be achieved. It not only plays a role in adjusting the vehicle body posture, but also saves unsprung space by eliminating the lateral stabilizer bar 15.

[0084] Example 2

[0085] Example 2 is basically the same as Example 1, except that: in this example, as Figure 5-6 As shown in Figure 7, the device also includes a magnetic levitation electric wheel. The magnetic levitation electric wheel includes a hub motor stator 006, a hub motor rotor 002 disposed outside the hub motor stator 006, a tire 001 connected to the outside of the hub motor rotor 002, a gap between the hub motor rotor 002 and the hub motor stator 006, a hub motor winding 005 and a hub motor permanent magnet 004 respectively connected to the hub motor rotor 002 and the hub motor stator 006, and a magnetic levitation bearing 003 disposed between the hub motor rotor 002 and the hub motor stator 006.

[0086] In this embodiment, the magnetic levitation bearing 003 includes a magnetic levitation bearing coil 0032 and a magnetic levitation bearing permanent magnet 0031 respectively disposed on the rotor 002 and stator 006 of the hub motor. When the vehicle starts, the hub motor winding 005 inside the hub generates an electromagnetic field, and the electromagnetic force creates a gap between the tire 001 and the hub. This hollow design ensures that there is no direct contact between the tire 001 and the hub, reducing the transmission of vibration. During driving, even if the road surface is uneven, only the tire 001 experiences bumps, while the internal hub is unaffected or minimally affected, thus ensuring the stability of the vehicle. The two-stage vibration reduction effectively improves the vibration damping effect.

[0087] Example 3

[0088] like Figure 8-9 As shown, this embodiment is basically the same as embodiment 1, except that the air spring 209 is replaced with a helical spring 216. The helical spring 216 is sleeved on the outside of the force control motor housing 206, with one end connected to the force control motor housing 206 and the other end connected to the working cylinder 210. The helical spring 216 bears the load of the sprung mass 11.

[0089] Example 4

[0090] This embodiment is basically the same as Embodiment 1, except that, as Figure 10 As shown, the air spring 209 is replaced with a torsion bar spring 217, which bears the load of the sprung mass 11.

[0091] Example 5

[0092] like Figure 1-8 As shown, a method for using a series-parallel switching oil-gas integrated vehicle force control suspension system is described. This system is the same as the one described in Example 1. If the requirement is to enhance the damping effect range, the system is set to a series mode; if the requirement is to enhance the load-bearing effect, it is set to a parallel mode. During vehicle operation, road surface excitation causes relative motion between the sprung mass 11 and the unsprung mass 12. The sprung mass 11 is supported by an air spring 209, indirectly saving energy and reducing the power requirement of the force control motor module. The active force control module 2 and the electromagnetic levitation module 5 work together to suppress and attenuate the movement trend of the hydraulic vibration-absorbing piston mechanism and the working cylinder 210. Specifically, the working process in the series mode is as follows:

[0093] When the suspension is compressed, the hydraulic vibration-absorbing piston rod 202 and the force control motor housing 206 move downward, the working cylinder 210 moves upward, and the force control motor coil 212 and the force control motor permanent magnet 211 move to both sides respectively. At this time, current is passed through the force control motor coil 212. The magnetic force between the force control motor coil 212 and the force control motor permanent magnet 211 causes the hydraulic vibration-absorbing piston mechanism and the force control motor housing 206 to have an upward tendency, and causes the working cylinder 210 to have a downward tendency, thereby suppressing and attenuating the movement tendency of the hydraulic vibration-absorbing piston mechanism and the working cylinder 210.

[0094] Simultaneously, when the hydraulic vibration damping module is connected in series with the electromagnetic levitation module 5 (the first valve 401 opens, connecting the P2 oil pipe 404 and the P3 oil pipe 405; the second valve 402 and the third valve 404 open, connecting the P1 oil pipe 407 and the P5 oil pipe 408; at this time, the active force control module 2 and the electromagnetic levitation module 5 are in series; the flow rate of the oil between the lower damping chamber 207 and the lower chamber 512 of the electromagnetic levitation module can be adjusted through the third valve 404 to change the damping coefficient of the suspension system), due to the reduced space and increased pressure in the lower damping chamber 207, and the increased space and decreased pressure in the upper damping chamber 205, the oil in the oil tank 3 flows through the P3 oil pipe 405, the P2 oil pipe 404, and the first hydraulic oil pipe 7 to the upper damping chamber 205, thus damping... The oil in the lower chamber 207 flows through the second hydraulic oil pipe 8, P1 oil pipe 407, P5 oil pipe 408, third valve 403, and fourth hydraulic oil pipe 10 to the lower chamber 512 of the electromagnetic levitation module, causing the mounting platform to move between the first fixed guide frame 507 and the second fixed guide frame 511. The vertical movement of the mounting platform can be controlled by adjusting the difference between the attraction force between the first magnetic permanent magnet 509 and the first magnetic levitation coil 503 and the attraction force between the second magnetic permanent magnet 510 and the second magnetic levitation coil 504. This allows the oil to flow into or out of the lower chamber 512 of the magnetic levitation module or the upper chamber 506 of the electromagnetic levitation module, thereby further suppressing and attenuating the movement tendency of the hydraulic vibration-absorbing piston mechanism and the working cylinder 210. The stiffness of the suspension system can be adjusted by controlling the magnitude of the difference in attraction force between the two locations. By adjusting the actuation speed and direction of the magnetic levitation piston mechanism, the hydraulic vibration-absorbing module can be actively adjusted, enhancing the damping effect range of the hydraulic vibration-absorbing module. The movement process when the suspension extends is opposite to the movement process when the suspension compresses.

[0095] The working process of parallel mode is as follows:

[0096] When the suspension is compressed, the hydraulic vibration-absorbing piston rod 202 and the force control motor housing 206 move downward, the working cylinder 210 moves upward, and the force control motor coil 212 and the force control motor permanent magnet 211 move to both sides respectively. At this time, current is passed through the force control motor coil 212. The magnetic force between the force control motor coil 212 and the force control motor permanent magnet 211 causes the hydraulic vibration-absorbing piston mechanism and the force control motor housing 206 to have an upward tendency, and causes the working cylinder 210 to have a downward tendency, thereby suppressing and attenuating the movement tendency of the hydraulic vibration-absorbing piston mechanism and the working cylinder 210.

[0097] When the hydraulic vibration damping module and the electromagnetic levitation module 5 are connected in parallel (the first valve 401 is open, connecting oil pipes P2 404 and P4 406; the second valve 402 and the third valve 404 are open, connecting oil pipes P1 407 and P5 408; at this time, the active force control module 2 and the electromagnetic levitation module 5 are in series), due to the reduced space and increased pressure in the lower damping chamber 207, and the increased space and decreased pressure in the upper damping chamber 205, the oil in the upper chamber 506 of the electromagnetic levitation module flows to the upper damping chamber 205 via the third hydraulic oil pipe 9 and P4 oil pipe 406, while the oil in the lower damping chamber 207 flows to the upper damping chamber 205 via the second hydraulic oil pipe 8, P1 oil pipe 407, and P5 oil pipe 408. 08. The third valve 403 and the fourth hydraulic oil pipe 10 flow into the lower cavity 512 of the electromagnetic levitation module, causing the mounting platform to move between the first fixed guide frame 507 and the second fixed guide frame 511. The vertical movement of the mounting platform can be controlled by adjusting the difference between the attraction force between the first magnetic permanent magnet 509 and the first magnetic coil 503 and the attraction force between the second magnetic permanent magnet 510 and the second magnetic coil 504. This allows the oil to flow into or out of the lower cavity 512 of the magnetic levitation module or the upper cavity 506 of the electromagnetic levitation module, thereby further suppressing and attenuating the movement tendency of the hydraulic vibration-damping piston mechanism and the working cylinder 210. The stiffness of the suspension system can be adjusted by controlling the magnitude of the difference in attraction force between the two locations. In parallel operation, since the upper cavity 506 of the electromagnetic levitation module is connected to the upper damping cavity 205, the space in the upper cavity 506 of the electromagnetic levitation module becomes smaller and the pressure increases. Therefore, the oil flows to the upper damping cavity 205 at a faster speed, achieving higher frequency vibration suppression. The required stiffness of the suspension system can also be achieved by adjusting the magnitude of the attraction force. Furthermore, the electromagnetic levitation module 5 directly actuates between the sprung and unsprung mass of the vehicle, achieving vertical load-bearing and buffering limits, thus enhancing the load-bearing effect. The motion process during suspension extension is the opposite of the motion process during suspension compression.

[0098] When the force control motor module malfunctions, it connects the P2 oil pipe 404 and the P3 oil pipe 405, turning the suspension system into a series state. At this time, the active suspension system can be turned into a semi-active suspension system by adjusting the opening of the third valve 403, ensuring that the suspension system is still within the controllable range, thereby reducing the impact of the malfunction on the comfort of the suspension system.

[0099] Example 6

[0100] This embodiment is basically the same as embodiment 5, except that in this embodiment, before the vibration is reduced by the magnetic levitation vibration reduction system, the vibration is reduced by the magnetic levitation electric wheel. The magnetic levitation electric wheel is equipped with a magnetic levitation bearing 003. The magnetic levitation bearing 003 reduces the rigid connection between the tire 001 and the wheel hub, thereby reducing the feeling of bumps.

[0101] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this application.

Claims

1. A series-parallel switching oil-gas integrated force control suspension system for vehicles, characterized in that: The system includes a magnetic levitation vibration reduction system, which includes an active force control module (2) and an electromagnetic levitation module (5). The active force control module (2) includes a force control motor module, a hydraulic vibration absorption module, and an elastic bearing module. The hydraulic vibration absorption module and the electromagnetic levitation module (5) are connected in series or in parallel through a series-parallel switching adjustment device (4). The active force control module (2), the electromagnetic levitation module (5), and the series-parallel switching adjustment device (4) are electrically connected to a drive controller module (6). The series-parallel switching adjustment device (4) is connected to an oil storage tank (3). The force control motor module includes a force control motor housing (206), in which a force control motor permanent magnet (211) and a force control motor coil (212) are disposed, and the force control motor coil (212) is electrically connected to the drive controller module (6); The hydraulic vibration damping module includes a working cylinder (210) slidably disposed within the force control motor housing (206). One end of the working cylinder (210) extends from the force control motor housing (206) and is connected to the unsprung mass (12). A hydraulic vibration damping piston mechanism is slidably connected within the working cylinder (210). One end of the hydraulic vibration damping piston mechanism is connected to the force control motor housing (206), and the force control motor housing (206) is connected to the sprung mass (11). The hydraulic vibration damping piston mechanism divides the working cylinder (210) into an upper damping chamber (205) and a lower damping chamber (207). Both the upper damping chamber (205) and the lower damping chamber (207) are connected to a series-parallel switching adjustment device (4). The force control motor permanent magnet (211) and the force control motor coil (212) are respectively disposed on the inner wall of the force control motor housing (206) and the outer wall of the working cylinder (210). The electromagnetic levitation module (5) includes an electromagnetic levitation module housing (501), and a magnetic levitation piston mechanism is provided inside the electromagnetic levitation module housing (501). A magnetic levitation mechanism is provided between the magnetic levitation piston mechanism and the electromagnetic levitation module housing (501). The magnetic levitation piston mechanism divides the electromagnetic levitation module housing (501) into an upper electromagnetic levitation module cavity (506) and a lower electromagnetic levitation module cavity (512). Both the upper electromagnetic levitation module cavity (506) and the lower electromagnetic levitation module cavity (512) are connected to a series-parallel switching adjustment device (4).

2. The series-parallel switching oil-gas integrated force control suspension system for vehicles according to claim 1, characterized in that: It also includes a magnetic levitation electric wheel, which includes a hub motor stator (006), a hub motor rotor (002) disposed outside the hub motor stator (006), a tire (001) connected to the outside of the hub motor rotor (002), a gap being provided between the hub motor rotor (002) and the hub motor stator (006), a hub motor winding (005) and a hub motor permanent magnet (004) respectively connected to the hub motor rotor (002) and the hub motor stator (006) being disposed in the gap, and a magnetic levitation bearing (003) being disposed between the hub motor rotor (002) and the hub motor stator (006).

3. The series-parallel switching oil-gas integrated force control suspension system for vehicles according to claim 2, characterized in that: The magnetic levitation bearing (003) includes a magnetic levitation bearing coil (0032) and a magnetic levitation bearing permanent magnet (0031) respectively disposed on the rotor (002) and stator (006) of the hub motor.

4. The series-parallel switching oil-gas integrated force control suspension system for vehicles according to claim 1, characterized in that: The magnetic levitation piston mechanism includes a first magnetic levitation piston (502) and a second magnetic levitation piston (505) disposed inside the electromagnetic levitation module housing (501). The first magnetic levitation piston (502) and the second magnetic levitation piston (505) are connected by a magnetic levitation piston rod (508). A mounting platform is provided in the middle of the magnetic levitation piston rod (508). A first fixed guide frame (507) is fixedly connected to the inner wall of the electromagnetic levitation module housing (501) between the first magnetic levitation piston (502) and the mounting platform. A second fixed guide frame (511) is fixedly connected to the inner wall of the electromagnetic levitation module housing (501) between the second magnetic levitation piston (505) and the mounting platform. The magnetic levitation mechanism includes a first magnetic levitation permanent magnet (509) and a second magnetic levitation permanent magnet (510) respectively disposed on the side of the mounting platform near the first magnetic levitation piston (502) and the side near the second magnetic levitation piston (505). A first magnetic levitation coil (503) and a second magnetic levitation coil (504) are respectively disposed on the first fixed guide frame (507) and the second fixed guide frame (511). The first magnetic levitation coil (503) and the second magnetic levitation coil (504) are electrically connected to the drive controller module (6).

5. The series-parallel switching oil-gas integrated force control suspension system for vehicles according to any one of claims 1-4, characterized in that: The elastic bearing module is one of a helical spring (216), a torsion bar spring (217), or an air spring (209).

6. The series-parallel switching oil-gas integrated force control suspension system for vehicles according to claim 5, characterized in that: The upper part of the air spring (209) is connected to the inner wall of the force control motor housing (206), and the lower part of the air spring (209) is connected to the outer wall of the working cylinder (210). The force control motor housing (206) is provided with an air inlet and exhaust port (201) that is sealed and connected to the air spring (209). The air inlet and exhaust port (201) is connected to an air spring pump (1) located outside the force control motor housing (206).

7. The series-parallel switching oil-gas integrated force control suspension system for vehicles according to claim 1, characterized in that: The series-parallel switching regulating device (4) includes a first valve (401), a second valve (402), and a third valve (403). The first valve (401) is a two-position three-way valve, the second valve (402) is a two-position two-way valve, and the third valve (403) is a proportional regulating valve. The first valve (401) is connected to a P2 oil pipe (404), a P3 oil pipe (405), and a P4 oil pipe (406). The P2 oil pipe (404)... P3 oil pipe (405) and P4 oil pipe (406) are respectively connected to the A1 oil port, A2 oil port and A3 oil port of the first valve (401). The second valve (402) is connected to P1 oil pipe (407) and P5 oil pipe (408). The P1 oil pipe (407) and P5 oil pipe (408) are respectively connected to the B1 oil port and B2 oil port of the second valve (402). The third valve (403) is installed on the P5 oil pipe (408). The upper vibration damping cavity (205) is connected to a first hydraulic oil pipe (7), which is connected to the P2 oil pipe (404); The lower vibration damping chamber (207) is connected to a second hydraulic oil pipe (8), which is connected to the P1 oil pipe (407). The upper cavity (506) of the electromagnetic levitation module is connected to a third hydraulic oil pipe (9), which is connected to the P4 oil pipe (406); The lower cavity (512) of the electromagnetic levitation module is connected to a fourth hydraulic oil pipe (10), which is connected to the P5 oil pipe (408); The P3 oil pipe (405) is connected to the oil storage tank (3); The hydraulic vibration-absorbing piston mechanism includes a hydraulic vibration-absorbing piston (213), which is connected to a hydraulic vibration-absorbing piston rod (202). One end of the hydraulic vibration-absorbing piston rod (202) extends out of the working cylinder (210) and is fixedly connected to the force control motor housing (206). A piston rod oil passage (203) is provided inside the hydraulic vibration-absorbing piston rod (202). One end of the piston rod oil passage (203) is connected to the first hydraulic oil pipe (7), and the other end is connected to the upper vibration-damping chamber (205). The lower vibration-damping chamber (207) is provided with a working cylinder oil passage (214) connected to the second hydraulic oil pipe (8).

8. A method of using a series-parallel switching oil-gas integrated force control suspension system for vehicles as described in any one of claims 1-7, characterized in that: If the requirement is to enhance the damping effect range, the series-parallel switching oil-gas integrated vehicle force control suspension system should be set to series mode; if the requirement is to enhance the load-bearing effect, the series-parallel switching oil-gas integrated vehicle force control suspension system should be set to parallel mode. The working process of the serial mode is as follows: When the suspension is compressed, the hydraulic vibration-absorbing piston mechanism and the force control motor housing (206) move downwards, the working cylinder (210) moves upwards, and the force control motor coil (212) and the force control motor permanent magnet (211) move to the sides respectively. At this time, current is passed into the force control motor coil (212), and the magnetic force between the force control motor coil (212) and the force control motor permanent magnet (211) causes the hydraulic vibration-absorbing piston mechanism and the force control motor housing (206) to have an upward tendency, and causes the working cylinder (210) to have a downward tendency, thereby suppressing and attenuating the movement tendency of the hydraulic vibration-absorbing piston mechanism and the working cylinder (210); Furthermore, due to the reduced space and increased pressure in the lower damping chamber (207), the oil in the reservoir (3) flows to the upper damping chamber (205) via the series-parallel switching adjustment device (4), and the oil in the lower damping chamber (207) flows to the lower electromagnetic levitation module (512) via the series-parallel switching adjustment device (4), causing the magnetic levitation piston mechanism to move upward within the outer shell (501) of the electromagnetic levitation module. At this time, the magnetic levitation mechanism generates a suction force to control the movement of the magnetic levitation piston mechanism, causing the oil in the lower electromagnetic levitation module (512) to flow to the lower damping chamber (207), and the oil in the upper damping chamber (205) to flow to the reservoir (3). By adjusting the actuation speed and direction of the magnetic levitation piston mechanism, the active adjustment of the hydraulic vibration absorption module is achieved, enhancing the damping effect range of the hydraulic vibration absorption module. The motion process when the suspension extends is opposite to the motion process when the suspension compresses. The working process of parallel mode is as follows: When the suspension is compressed, the hydraulic vibration-absorbing piston mechanism and the force control motor housing (206) move downwards, the working cylinder (210) moves upwards, and the force control motor coil (212) and the force control motor permanent magnet (211) move to the sides respectively. At this time, current is passed into the force control motor coil (212), and the magnetic force between the force control motor coil (212) and the force control motor permanent magnet (211) causes the hydraulic vibration-absorbing piston mechanism and the force control motor housing (206) to have an upward tendency, and causes the working cylinder (210) to have a downward tendency, thereby suppressing and attenuating the movement tendency of the hydraulic vibration-absorbing piston mechanism and the working cylinder (210); Furthermore, due to the reduced space and increased pressure in the lower damping chamber (207), the oil in the upper chamber of the electromagnetic levitation module (5) flows to the upper damping chamber (205) via the series-parallel switching adjustment device (4), and the oil in the lower damping chamber (207) flows to the lower chamber (512) of the electromagnetic levitation module via the series-parallel switching adjustment device (4), causing the magnetic levitation piston mechanism to move upward within the outer shell (501) of the electromagnetic levitation module. At this time, the magnetic levitation mechanism generates a suction force to control the movement of the magnetic levitation piston mechanism, causing the electromagnetic levitation module to move upward. The oil in the lower cavity (512) flows to the lower cavity (207) of the damping module, and the oil in the upper cavity (506) of the electromagnetic suspension module flows to the upper cavity (205) of the damping module. As the space in the upper cavity (506) of the electromagnetic suspension module becomes smaller, the pressure increases, so the oil flows to the upper cavity (205) at a faster speed, achieving higher frequency vibration suppression. Moreover, the electromagnetic suspension module (5) directly acts between the sprung mass and the unsprung mass of the vehicle, realizing vertical bearing and buffer limit, enhancing the bearing effect. The motion process when the suspension extends is opposite to the motion process when the suspension compresses.

9. The method of using the series-parallel switching oil-gas integrated force control suspension system for vehicles according to claim 8, characterized in that: Before the vibration reduction is achieved through the magnetic levitation vibration reduction system, the vibration reduction is also achieved through the magnetic levitation electric wheel. The magnetic levitation electric wheel is equipped with a magnetic levitation bearing (003). The magnetic levitation bearing (003) reduces the rigid connection between the tire (001) and the wheel hub, thereby reducing the feeling of bumps.

10. The method of using the series-parallel switching oil-gas integrated force control suspension system for vehicles according to claim 8 or 9, characterized in that: It also includes adjusting the flow rate of the oil when it flows between the damping chamber (207) and the electromagnetic levitation module chamber (512) so that the suspension system has the required damping coefficient.

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