Shock absorber assemblies and their control methods, systems and vehicles

Abstract

This invention discloses a shock absorber assembly and its control method, system, and vehicle, belonging to the field of shock absorber technology. The shock absorber assembly includes a shock absorber; a base; a torque motor, which includes a magnetic element, a coil, and a housing. The housing is equipped with a permanent magnet. The magnetic element is connected to a drive rod extending out of the housing. When the coil is energized, opposite magnetic poles are formed at both ends of the magnetic element. The magnetic element interacts with the permanent magnet to cause the magnetic element to oscillate; a slide rod, one end of which is connected to a slide valve, and the other end is connected to the drive rod via a hinge structure; and a stress-resistant elastic element, mounted on the drive rod, which resists the oscillation of the drive rod. Because the current is continuously controlled and varied, the damping force of the shock absorber can be continuously adjusted, achieving precise damping force control. The adjustment of the damping force of the shock absorber has high accuracy and stability, and avoids the jamming problem commonly found in proportional valves.

Description

Technical Field

[0001] This invention relates to the field of shock absorber technology, and in particular to a shock absorber assembly and its control method, system and vehicle. Background Technology

[0002] The externally mounted solenoid valve type continuous damping control shock absorber assembly includes a shock absorber and a proportional solenoid valve. A valve plate is installed on the piston valve of the shock absorber, allowing oil to flow freely from bottom to top. However, oil flow from top to bottom is more difficult, requiring overcoming significant hydraulic resistance; therefore, the piston valve can be considered a one-way valve. The valve plate arrangement of the bottom valve is similar to that of the piston valve and can also be simply considered a one-way valve.

[0003] When the piston rod moves upward, the oil flows from the upper chamber of the piston through the proportional solenoid valve. At the same time, due to the upward movement of the piston, a negative pressure is generated in the lower chamber of the piston. At this time, the accumulator will push the oil from the lower chamber of the bottom valve into the lower chamber of the piston to ensure that the oil is full. This process is adjusted by adjusting the opening of the proportional solenoid valve to regulate the damping force.

[0004] When the piston rod moves downwards, the bottom valve has relatively high hydraulic resistance, making it approximately a one-way valve. Therefore, the oil in the lower chamber of the piston basically does not flow through the bottom valve. At this time, the oil in the lower chamber of the piston flows through the one-way valve to the upper chamber of the piston. As the piston rod moves downwards, its volume enters the damper, occupying the space for the oil. The excess oil flows through the proportional solenoid valve. This process adjusts the damping force by regulating the opening of the proportional solenoid valve. Therefore, regardless of whether the piston rod is compressing or recompressing, the oil will flow through the solenoid valve in the same direction. Hence, the proportional solenoid valve is designed as a one-way solenoid valve.

[0005] In summary, the damping force of the shock absorber can be changed by adjusting the opening degree of the proportional solenoid valve, so that the damping force meets the requirements. Therefore, the damping force adjustment performance of the shock absorber is closely related to the opening degree adjustment performance of the proportional solenoid valve. The existing proportional solenoid valve does not control the opening degree precisely enough, which makes it impossible to adjust the damping force of the shock absorber more accurately. Summary of the Invention

[0006] The purpose of this invention is to provide a shock absorber assembly and its control method, system and vehicle to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions.

[0007] The technical solution adopted to solve the above-mentioned technical problems is as follows:

[0008] A vibration damper assembly includes a vibration damper, wherein a piston of the vibration damper divides the interior of the vibration damper into an upper chamber and a lower chamber, and a slide valve is connected between the upper chamber and the lower chamber. The vibration damper assembly further includes: a base; a torque motor, the torque motor including a magnetic conductive element, a coil, and a housing mounted on the base, the housing being provided with a permanent magnet, the magnetic conductive element being connected to a drive rod extending out of the housing, the coil being configured to form opposite magnetic poles at both ends of the magnetic conductive element when energized; a slide rod, one end of the slide rod being connected to the slide valve, and the other end being connected to the drive rod via a hinge structure; and a stress-resistant elastic element, the stress-resistant elastic element being mounted on the drive rod, the magnetic conductive element being oscillating around the hinge structure under the magnetic force of the permanent magnet and the elastic force of the stress-resistant elastic element.

[0009] This technical solution has at least the following beneficial effects: By energizing the coil, the two ends of the magnetic element form N and S poles respectively. The larger the current, the stronger the magnetism, and the stronger the interaction between the magnetic element and the permanent magnet. The drive rod is constrained by the stress-resistant elastic element, allowing the magnetic element and the drive rod to simultaneously and stably oscillate. A hinge structure allows the slide rod to slide, thereby moving the slide valve and controlling its opening, thus regulating the damping of the shock absorber. Furthermore, since the current is continuously controlled and varied, the displacement of the slide valve is continuously adjustable, thus achieving continuous adjustment of the damping force of the shock absorber and ensuring precise damping force control. In addition, when the magnetic element oscillates using magnetic force, it is simultaneously constrained by the elastic deformation of the stress-resistant elastic element. Under the mutual resistance of magnetic force and elastic force, the oscillation of the magnetic element is more stable and reliable. The swing of the drive rod is converted into the displacement of the slide rod through the hinge structure. The slide rod pushes the slide valve to move, thereby adjusting the valve opening. This makes the movement of the slide valve more accurate and stable, ultimately resulting in more accurate and stable adjustment of the damping force of the shock absorber. In addition, the relative movement between the magnetic element, drive rod, hinge structure and slide rod is smooth and simple, avoiding the jamming that often occurs in proportional valves.

[0010] As a further improvement to the above technical solution, the stress-resistant elastic element is a rubber component or a diaphragm spring component. Rubber components and diaphragm springs ensure the long-term durability of the stress-resistant elastic element.

[0011] As a further improvement to the above technical solution, the drive rod is equipped with a first edge and a second edge, and the stress-resistant elastic element is sleeved on the drive rod. The first edge and the second edge clamp the stress-resistant elastic element, and the first edge and / or the second edge are detachably disposed on the drive rod. The first edge and the second edge limit the position of the stress-resistant elastic element. The detachable first edge and / or second edge allow for the assembly and replacement of the stress-resistant elastic element. By replacing stress-resistant elastic elements with different diameters, thicknesses, and materials, the stiffness of the stress-resistant elastic element can be changed, thereby achieving the purpose of modifying the sliding valve's driving characteristics.

[0012] As a further improvement to the above technical solution, a receiving space filled with lubricating oil is formed within the base. The hinge structure is located within this receiving space, and the slide rod is slidably connected to the base. The base has an opening communicating with the receiving space, and the opening is sealed with a flexible sealing sleeve for the drive rod to pass through. Placing the hinge structure in the oil provides a self-lubricating effect, ensuring smooth relative oscillation between the slide rod and the drive rod, reducing internal friction within the hinge structure, and preventing severe wear that could decrease transmission accuracy.

[0013] As a further improvement to the above technical solution, the flexible sealing sleeve is arranged around the drive rod, and the flexible sealing sleeve is folded along the radial center. The flexible sealing sleeve ensures the sealing of the accommodating space, and at the same time, the folded shape gives the flexible sealing sleeve good deformation capacity, which can ensure that the drive rod can swing smoothly.

[0014] A vibration damper assembly control method is provided, applicable to any of the aforementioned vibration damper assemblies. The control method includes: acquiring the required damping force of the vibration damper; determining the required current value of the coil based on the required damping force; controlling the current of the coil to be energized, and adjusting the current of the coil to the required current value. By controlling the current value flowing in the coil, the required damping force is provided to the vibration damper. Due to the continuity of the current, continuous adjustment of the vibration damper's damping force can be achieved.

[0015] Optionally, determining the required current value of the coil based on the required damping force includes: obtaining the transmission mapping relationship between the damper damping force and the coil current through experiments; and obtaining the required current value based on the transmission mapping relationship and the required damping force. The transmission mapping relationship obtained through experiments has high accuracy, avoids calculation errors, and also avoids interference from friction of other components on the transmission mapping relationship.

[0016] Optionally, the control method further includes: acquiring the slide valve displacement information; and correcting the transmission mapping relationship based on the temporal correspondence between the slide valve displacement information and the current flow information in the coil. Since the damping force is closely related to the slide valve displacement, and there is a certain mechanical transmission relationship between the slide valve displacement and the magnetically conductive element, correcting the transmission mapping relationship based on the relationship between the slide valve and the coil current can correct the mechanical transmission losses between the slide valve displacement and the magnetically conductive element, as well as the transmission losses between the magnetically conductive element and the coil current, thereby improving the accuracy of the transmission mapping relationship.

[0017] Optionally, controlling the current of the coil to be energized and adjusting the current of the coil to the required current value includes: when the current of the coil is zero, obtaining the sum of the changes in the forward and reverse currents of the coil in history, wherein the sum of the changes refers to the sum of the current differences between any two adjacent nodes in all nodes of continuous current change, from increasing to decreasing current and from decreasing to increasing current; when the sum of the changes in the forward current is greater than or equal to the sum of the changes in the reverse current, and the current of the coil needs to be adjusted to the required current value, the reverse current is used; when the sum of the changes in the forward current is less than the sum of the changes in the reverse current, and the current of the coil needs to be adjusted to the required current value, the forward current is used. When the coil carries forward and reverse current, the corresponding tilt angle of the magnetic element is forward and reverse tilt, respectively, allowing the hinge structure to swing to a larger value. The sum of the historical differences in the forward and reverse current flowing through the coil represents the sum of the historical differences in the tilt angle of the magnetic element. By identifying which direction the tilt angle is smaller in the historical sum of the differences, the direction in which the magnetic element tilts when the current is applied next can be adjusted. This balances the two directions of the magnetic element's tilt angle, improving the smoothness of the hinge when it is in a symmetrical middle position, while also balancing the wear of the hinge and improving its durability.

[0018] Optionally, controlling the current of the coil to be energized and adjusting the current of the coil to the required current value includes: when the current of the coil is zero, acquiring the sum of the differences between the forward and reverse swing angles of the historical tilt angle of the magnetic element, wherein the sum of the differences is the sum of the differences between the corresponding swing angles between all two adjacent nodes in all nodes of each reverse movement during the continuous change of the tilt angle of the magnetic element; when the forward swing angle is greater than or equal to the reverse swing angle, and the current of the coil needs to be adjusted to the required current value, adjusting the tilt angle of the magnetic element to the reverse swing angle; when the forward swing angle is less than the reverse swing angle, and the current of the coil needs to be adjusted to the required current value, adjusting the tilt angle of the magnetic element to the forward swing angle.

[0019] Since there is still a certain gap between the change in current of the coil and the change in tilt angle of the magnetic element, the rotation of the hinge can be balanced by directly using the sum of the differences in the tilt angle of the magnetic element, which can further improve the smoothness and durability of the hinge rotation.

[0020] A vibration damper assembly control system includes: an acquisition module for acquiring the required damping force of the vibration damper; a calculation module for determining the required current value of the coil based on the required damping force; and a control module for controlling the current of the coil to be energized and adjusting the current of the coil to the required current value.

[0021] A vehicle includes a memory and a processor, the memory storing a computer program, the processor being configured to run the computer program to perform any of the above-described shock absorber assembly control methods.

[0022] A computer-readable storage medium, characterized in that the storage medium stores a computer program, wherein the computer program is configured to execute, when run on a computer or processor, any of the above-described shock absorber assembly control methods. Attached Figure Description

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0024] Figure 1 This is a schematic diagram of the vibration damper assembly in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the proportional valve in the shock absorber assembly in an embodiment of the present invention;

[0026] Figure 3This is a schematic diagram of the structure of the proportional valve housing in the shock absorber assembly according to an embodiment of the present invention;

[0027] Figure 4 'a' is a schematic diagram of one type of hinge structure in the shock absorber assembly in an embodiment of the present invention;

[0028] Figure 4 b is a schematic diagram of another hinge structure in the shock absorber assembly in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the specific flow of the vibration damper assembly control method according to an embodiment of the present invention;

[0030] Figure 6 This is a coordinate graph showing the change in coil current in an embodiment of the present invention;

[0031] Figure 7 This is a coordinate graph showing the change in the tilt angle of the magnetically conductive element in an embodiment of the present invention;

[0032] Figure 8 This is a structural block diagram of the vibration damper assembly control system according to an embodiment of the present invention.

[0033] 100, Shock absorber; 110, Piston; 120, Upper chamber; 130, Lower chamber; 200, Proportional valve; 210, Spool valve; 220, Base; 230, Torque motor; 231, Magnetic element; 232, Coil; 233, Permanent magnet; 235, Drive rod; 300, Slide rod; 310, Hinge structure; 320, Stress-resistant elastic element; 321, First edge; 322, Second edge; 400, Accommodation space; 410, Opening; 420, Flexible sealing sleeve. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0035] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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 limiting this invention.

[0036] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0037] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0038] According to an embodiment of the present invention, an embodiment of a shock absorber assembly control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system containing at least a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0039] This method embodiment can also be executed in an electronic system / device containing a memory and a processor, a similar control system, or in the cloud. Taking an electronic system / device as an example, the electronic system / device may include one or more processors and a memory for storing data. Optionally, the aforementioned electronic system / device may also include communication devices for communication functions and display devices. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the aforementioned electronic system / device. For example, the electronic system / device may also include more or fewer components than those described above, or have a different configuration than those described above.

[0040] A processor may include one or more processing units. For example, a processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processing unit (NPU), a tensor processing unit (TPU), or an artificial intelligence (AI) processor, etc. Different processing units may be independent components or integrated into one or more processors. In some instances, an electronic system may also include one or more processors.

[0041] The memory can be used to store computer programs, such as the computer program corresponding to the vehicle control method in this embodiment of the invention. The processor implements the vehicle control method by running the computer program stored in the memory. The memory may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, which can be connected to the electronic system via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0042] Reference Figure 1 A shock absorber assembly includes a shock absorber 100 and a proportional valve 200. The shock absorber 100 includes a piston 110 and a shock absorber body. The interior of the shock absorber body is divided by the piston 110 into an upper chamber 120 and a lower chamber 130. A base plate is also provided at the bottom of the lower chamber 130, which divides the lower chamber into a first chamber near the upper chamber and a second chamber away from the upper chamber. A piston valve is provided on the piston 110, and a bottom valve is provided on the base plate. A piston rod is connected to the top of the piston 110, and the piston rod seals through the top of the shock absorber body. Oil passages are formed in the upper chamber 120 and the second chamber outside the shock absorber body, and the proportional valve is installed on the oil passages. An accumulator is also installed in the oil passages, and the accumulator is located between the proportional valve 200 and the second chamber.

[0043] Reference Figure 2-3The proportional valve 200 includes a spool valve 210, which comprises a valve core and a spool valve body. The valve core is sealed and slides within the spool valve body. The spool valve body has flow channels communicating with oil passages on both sides of the valve core. A connecting channel is formed on the side wall of the valve core, connecting the flow channels on both sides to allow oil flow. When the valve core slides within the spool valve body, the overlap between the connecting channel and the flow channel can be adjusted to control the oil flow area, i.e., adjust the opening of the spool valve 210. The oil flow area affects the damping force of the shock absorber 100; therefore, controlling the opening of the spool valve 210 controls the damping force of the shock absorber 100.

[0044] The proportional valve 200 also includes a base 220, a torque motor 230, and a slide bar 300. The base 220 is connected to the slide valve body. The torque motor 230 is located on the side of the base 220 away from the slide valve 210. The torque motor 230 includes a housing, a magnetic conductive element 231, a coil 232, and a permanent magnet 233. The housing is located on the side of the base 220 away from the slide valve 210. The permanent magnet 233 is located inside the housing, and both the magnetic conductive element 231 and the coil 232 are located inside the permanent magnet 233. Opposite ends with opposite magnetic poles are formed on both sides inside the permanent magnet 233, and the opposite magnetic poles on both sides of the permanent magnet 233 are arranged in opposite positions. The two ends of the magnetic conductive element 231 are located at the middle of the two opposite ends on both sides. Coil 232 is disposed on both sides of magnetic element 231. When energized, coil 232 forms magnetic poles with opposite magnetic properties at both ends of magnetic element 231. The two ends of magnetic element 231 and permanent magnet 233 form magnetic forces in opposite directions, generating torque on magnetic element 231, which enables magnetic element 231 to deflect. A drive rod 235 is vertically mounted on one side of magnetic element 231, with the end of drive rod 235 extending out of permanent magnet 233 away from magnetic element 231.

[0045] A hinge structure 310 connects the end of the drive rod 235 away from the magnetic element 231 to one end of the slide rod 300, allowing the drive rod 235 to swing relative to the slide rod 300. The slide rod 300 is slidably mounted on the base 220, and a sealing ring is provided on the outer side of the slide rod 300 to ensure a sealed sliding connection between the slide rod 300 and the base 220. The end of the slide rod 300 away from the magnetic element 231 is connected to the valve core of the slide valve 210, so that when the slide rod 300 slides relative to the base 220, it can drive the valve core of the slide valve 210 to move, thereby adjusting the opening degree of the slide valve 210. A stress-resistant elastic element 320 is provided on the outer side of the drive rod 235, and the stress-resistant elastic element 320 is clamped between the base 220 and the housing, thereby limiting the position of the drive rod 235.

[0046] When current flows through coil 232, the two ends of magnetic element 231 form magnetic ends with opposite magnetic poles. The two ends of magnetic element 231 interact with permanent magnet 233, causing magnetic element 231 and drive rod 235 to swing. When magnetic element 231 and drive rod 235 swing, drive rod 235 drives stress-resistant elastic element 320 to undergo elastic deformation, ensuring the swinging motion of drive rod 235. That is, the swinging motion of drive rod 235 is formed by the interaction of magnetic force and elastic force. After drive rod 235 swings, it can push slide rod 300 to slide, thereby driving valve core of slide valve 210 to move, realizing the adjustment of the opening of slide valve 210, and thus realizing the control of oil flow area to regulate the damping force of shock absorber 100.

[0047] It should be noted that the magnetically conductive element 231 can be suspended inside the housing, with its position restricted by the stress-resistant elastic element 320; alternatively, the middle part of the magnetically conductive element 231 can be rotatably positioned inside the housing to stabilize its rotational position. The stress-resistant elastic element 320 can be a disc-shaped rubber component with uniform elasticity distributed circumferentially. Rubber components have a long service life, low cost, and good insulation, thus ensuring high reliability of the stress-resistant elastic element 320. Alternatively, the stress-resistant elastic element 320 can be a diaphragm spring with uniform elasticity distributed circumferentially. The diaphragm spring includes a disc spring and axially distributed connecting fingers. The disc spring is located between the base 220 and the housing and is fixed to the base 220 or the housing. The end of the connecting fingers furthest from the disc spring is connected to the drive rod 235. Because the diaphragm spring is relatively thin, the overall structure is simple and compact. Furthermore, the diaphragm spring has uniform circumferential pressure distribution and good elastic stability, thus ensuring high stability of the stress-resistant elastic element 320.

[0048] In this embodiment, to facilitate the assembly and replacement of the stress-resistant elastic element 320, a first edge 321 and a second edge 322 are installed side-by-side on the outer periphery of the drive rod 235. Both the first edge 321 and the second edge 322 are detachably mounted on the outer periphery of the drive rod 235 via a snap-fit ​​mechanism. The stress-resistant elastic element 320 is nested onto the outer periphery of the drive rod 235, sandwiched between the first edge 321 and the second edge 322. This stabilizes the position of the stress-resistant elastic element 320 and allows for easy replacement with stress-resistant elastic elements 320 of different elastic properties by removing the first edge 321 and the second edge 322 to meet different requirements for the opening control characteristics of the proportional valve 200. Furthermore, one of the first edge 321 and the second edge 322 can be fixedly connected to the drive rod 235, while the other can be detachably connected. The detachable connection can also be a threaded connection. In other embodiments, the stress-resistant elastic element 320 and the drive rod 235 can be directly fixedly connected by means of bonding or welding.

[0049] The base 220 has an internal accommodating space 400. An opening 410 communicating with the accommodating space 400 is provided on the side of the base 220 near the shell. A flexible sealing sleeve 420 is installed to seal the opening 410. The drive rod 235 passes through the flexible sealing sleeve 420, thus forming a sealed space within the accommodating space 400. One end of the slide rod 300 passes through the side of the accommodating space 400 away from the opening 410, thus placing the hinge structure 310 within the accommodating space 400. The accommodating space 400 is filled with lubricating oil, thus immersing the hinge structure 310 in the lubricating oil. This results in lower friction between the slide rod 300 and the drive rod 235, improving the smoothness of the transmission movement.

[0050] The flexible sealing sleeve 420 is generally flat and circular. The outer edge of the flexible sealing sleeve 420 is sealed and fixedly connected to the inner side of the opening 410, and the inner edge of the flexible sealing sleeve 420 is sealed and fixedly connected to the drive rod 235. The flexible sealing sleeve 420 is folded at its midpoint along its radial direction. In this embodiment, when there is one fold, the cross-section of one side of the flexible sealing sleeve 420 is V-shaped, and the protruding side of the folding corner of the flexible sealing sleeve 420 forms the inner sidewall of the accommodating space 400. This ensures the airtightness of the accommodating space 400 while meeting the flexibility requirements for the swinging of the drive rod 235. In other embodiments, when there are two folds, the cross-section of one side of the flexible sealing sleeve 420 is N-shaped; when there are three folds, the cross-section of one side of the flexible sealing sleeve 420 is W-shaped.

[0051] Reference Figure 4For a and b, the hinge structure 310 can be formed by connecting a sphere and a spherical cover that encloses the sphere. Multiple intersecting through-scratches are provided on the inner surface of the spherical cover where the sphere contacts, so that lubricating oil can penetrate between the sphere and the spherical cover to maintain lubrication. The hinge structure 310 can also be formed by connecting a pivot and a collar. Multiple intersecting through-scratches are provided on the inner surface of the collar where the pivot contacts the rotation, so that lubricating oil can penetrate between the pivot and the collar to maintain lubrication.

[0052] like Figure 5 As shown, a method for controlling a shock absorber assembly includes the following steps:

[0053] Step S100: Obtain the required damping force of the shock absorber.

[0054] Specifically, the aforementioned shock absorber assembly is installed between the vehicle frame and chassis to buffer the relative movement between them. The shock absorber controller calculates the required damping force based on road condition information, relative movement information between the vehicle frame and chassis, and the shock absorber's performance. When the shock absorber provides the required damping force, it can achieve a better and more suitable damping effect between the vehicle frame and chassis, thereby meeting the comfort requirements of the occupants.

[0055] Step S200: Determine the required current value of the coil based on the required damping force.

[0056] Specifically, after the shock absorber controller calculates the required damping force, since the damping force is inversely related to the spool valve displacement (i.e., the larger the spool valve displacement, the larger the oil flow area, making it easier for the oil to flow from the upper chamber to the second chamber, thus reducing the damping force), the required sliding position of the spool valve can be determined based on the required damping force. The relationship between the damping force of the shock absorber and the position of the spool valve can be obtained through calculation or experimentation based on the characteristics of the shock absorber and the structural characteristics of the spool valve. Furthermore, the displacement of the spool valve and the tilt angle of the magnetic conductive element have a definite mechanical transmission relationship; that is, the displacement of the spool valve and the tilt angle of the magnetic conductive element are positively correlated. Therefore, the required tilt position of the magnetic conductive element can be determined based on the required sliding position of the spool valve. The relationship between the position of the spool valve and the tilt position of the magnetic conductive element can be obtained through calculation or experimentation based on the overall transmission relationship of the spool valve, slide rod, hinge structure, drive rod, and magnetic conductive element. Because a larger current flowing through the coil results in a greater magnetic force between the magnetically conductive element and the permanent magnet, the magnetically conductive element can tilt at a greater angle to overcome the stress-resistant elastic element. In other words, the current flowing through the coil is positively correlated with the tilt angle of the magnetically conductive element. Therefore, the required current value of the coil can be determined based on the required tilt position of the magnetically conductive element. The relationship between the tilt position of the magnetically conductive element and the current flowing through the coil can be obtained through calculation or experimentation based on the characteristics of the torque motor and the stress-resistant elastic element. In summary, the required current value of the coil can be determined based on the required damping force of the shock absorber.

[0057] In this embodiment, after determining the mechanical structure and material characteristics of the shock absorber assembly, the transmission mapping relationship between the damping force of the shock absorber and the current flowing through the coil is obtained through multiple experiments. Based on this transmission mapping relationship and the required damping force, the required current value can be obtained. This reduces the error of segmented calculations or segmented tests and improves the accuracy of determining the required current value.

[0058] Step S300: Control the current coil to be energized and adjust the coil current to the required current value.

[0059] Specifically, by controlling the coil to continuously change from the current value to the required current value, the shock absorber can provide the required damping force, which can realize continuous control of the damping force of the shock absorber. At the same time, it can also avoid the jamming situation that often occurs with general proportional valves.

[0060] Optionally, a vibration damper assembly control method further includes step S400: acquiring slide valve displacement information; and correcting the transmission mapping relationship based on the temporal correspondence between the slide valve displacement information and the current flow information in the coil.

[0061] Specifically, the spool displacement information refers to the position information of the valve core within the spool valve. This position information can be obtained through sensor detection, or by first detecting the tilt angle of the slide rod, drive rod, or magnetic element, and then calculating the valve core position using mechanical transmission relationships. By obtaining the spool valve displacement information at the corresponding time when the current flows through the coil, and correcting the transmission mapping relationship using the corresponding relationship obtained from the detection results, not only can the problem of decreased accuracy due to wear be solved, but also potential hysteresis issues can be addressed, ensuring the accuracy of the transmission mapping relationship.

[0062] Optionally, in step S300, in this embodiment, it further includes a step S310 of determining the direction of the required current value: when the current flowing current of the current coil is zero, the sum of the changes in the forward current and reverse current flowing through the coil in history is obtained respectively. The sum of the changes refers to the sum of the differences between the corresponding currents of all two adjacent nodes in all nodes of each time when the current increases and decreases and each time when the current decreases and increases during the continuous change of the current. When the sum of the changes in the forward current is greater than or equal to the sum of the changes in the reverse current, and the current of the coil needs to be adjusted to the required current value, the reverse current is used; when the sum of the changes in the forward current is less than the sum of the changes in the reverse current, and the current of the coil needs to be adjusted to the required current value, the forward current is used.

[0063] Specifically, refer to Figure 6 The graph shows the change in coil current, with time on the horizontal axis and the current flowing through the coil on the vertical axis. The coil current increases from i0 = 0 to i1 at time t1, decreases to i2 at time t2, increases to i3 at time t3, decreases to i4 = 0 at time t4, increases in the opposite direction to i5 at time t5, decreases in the opposite direction to i6 at time t6, increases in the opposite direction to i7 at time t7, and decreases in the opposite direction to i8 = 0 at time t8. At this time, the coil current is detected to be 0, and step S310 is executed. The sum of the changes in the forward current of the coil is calculated as X1 = (|i1-i0|+|i2-i1|+|i3-i2|+|i4-i3|), and the sum of the changes in the reverse current of the coil is calculated as X2 = (|i5-i4|+|i6-i5|+|i7-i6|+|i8-i7|). When X1 is greater than or equal to X2, the coil is controlled to flow with reverse current when the required current value needs to be controlled. When X1 is less than X2, the coil current is controlled to flow with forward current and reach the required current value when the current of the coil needs to be adjusted.

[0064] It should be noted that the current change characteristics in this coil current change coordinate graph do not limit the way the coil current is controlled; that is, the current change line can be a curve, a straight line, or an irregular line combining straight lines and curves. Furthermore, the direction of the first current flowing through the coil can be taken as the forward current. In other embodiments, the difference between the sum of the forward current changes and the sum of the reverse current changes can be set to K = (|X1-X2|). When K is less than or equal to a preset value, the direction of subsequent coil current flow is not determined by judging the magnitudes of X1 and X2, but rather the direction of the subsequent coil current flow is made opposite to the direction before the zero value, thereby improving the continuity and smoothness of the drive rod's swing.

[0065] Optionally, in step S300, in another embodiment, determining the direction of the required current value can also be done using step S320 instead of step S310. Step S320: When the current current of the current coil is zero, the sum of the differences between the forward and reverse swing angles of the historical magnetic element tilt angle is obtained. The sum of the differences is the sum of the differences between the corresponding swing angles of two adjacent nodes in all nodes of each reverse movement during the continuous change of the tilt angle of the magnetic element. When the forward swing angle is greater than or equal to the reverse swing angle, and the current of the coil needs to be adjusted to the required current value, the tilt angle of the magnetic element is adjusted to the reverse swing angle. When the forward swing angle is less than the reverse swing angle, and the current of the coil needs to be adjusted to the required current value, the tilt angle of the magnetic element is adjusted to the forward swing angle.

[0066] Specifically, refer to Figure 7The graph shows the change in the tilt angle of the magnetically conductive element. The horizontal axis represents time, and the vertical axis represents the tilt angle of the magnetically conductive element. The tilt angle of the magnetically conductive element swings from α0 = 0 to α1 at time t1, to α2 at time t2, to α3 at time t3, to α4 = 0 at time t4, reverses direction to α5 at time t5, reverses direction to α6 at time t6, reverses direction to α7 at time t7, and reverses direction to α8 = 0 at time t8. At this time, the tilt angle of the magnetic element is detected to be 0. Step S310 is executed to calculate the total difference of the forward tilt angle of the magnetic element M1 = (|α1-α0|+|α2-α1|+|α3-α2|+|α4-α3|) and the total difference of the reverse tilt angle of the magnetic element M2 = (|α5-α4|+|α6-α5|+|α7-α6|+|α8-α7|). When M1 is greater than or equal to M2, the direction of the current in the coil is controlled to make the magnetic element swing in the reverse direction when the current required to flow through the coil needs to be controlled. When M1 is less than M2, the direction of the current in the coil is controlled to make the magnetic element swing in the forward direction when the current required to flow through the coil needs to be controlled. In other embodiments, the difference between the sum of the changes in the forward tilt angle of the magnetic element and the sum of the changes in the reverse tilt angle can be set to H = (|M1-M2|). When H is less than or equal to a preset value, the direction of the subsequent coil current flow is not determined by judging the magnitude of the values ​​of M1 and M2, but the direction of the current flowing through the subsequent coil is opposite to the direction before the zero value. This makes the swing direction of the drive rod opposite to the direction before the zero value, thereby improving the continuity and smoothness of the swing of the drive rod.

[0067] It should be noted that the position where the tilt angle of the magnetic element is 0 can be set to the position corresponding to the coil current being 0 and the magnetic element stabilizing. The tilt angle change characteristics in this magnetic element tilt angle change coordinate graph do not limit the way the magnetic element is controlled; that is, the tilt angle change line can be a curve, a straight line, or an irregular line combining straight lines and curves, etc.

[0068] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, 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 is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0069] This embodiment also provides a shock absorber assembly control system for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" refers to a combination of software and / or hardware capable of performing a predetermined function. Although the systems described in the following embodiments are preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0070] like Figure 8 As shown, a shock absorber assembly control system includes:

[0071] The acquisition module is used to perform step S100: acquire the required damping force of the shock absorber;

[0072] The calculation module is used to perform step S200: determine the required current value of the coil based on the required damping force;

[0073] The control module is used to execute step S300: control the current coil to be energized and adjust the current of the coil to the required current value.

[0074] Optionally, the calculation module is also used to perform step S400: obtain the slide valve displacement information; and correct the transmission mapping relationship based on the time correspondence between the slide valve displacement information and the current flow information in the coil.

[0075] Optionally, the calculation module is also used to execute step S310: when the current flowing through the current coil is zero, obtain the sum of the changes in the forward and reverse current flowing through the coil in history, where the sum of the changes in the changes in the changes in the current refers to the sum of the differences in the current between any two adjacent nodes in all nodes from increasing to decreasing current and from decreasing to increasing current during the continuous change of current. The control module is also used to execute step S310: when the sum of the changes in the forward current is greater than or equal to the sum of the changes in the reverse current, and the current of the coil needs to be adjusted to the required current value, the reverse current is used; when the sum of the changes in the forward current is less than the sum of the changes in the reverse current, and the current of the coil needs to be adjusted to the required current value, the forward current is used.

[0076] In another embodiment, the calculation module is used to execute step S320 instead of step S310. Step S320: When the current current flowing through the current coil is zero, the sum of the differences in the forward and reverse swing angles of the historical magnetic element tilt angle is obtained. The sum of these differences is the sum of the differences in the corresponding swing angles between all two adjacent nodes in all nodes of each reverse movement during the continuous change of the tilt angle of the magnetic element. The control module is also used to execute step S310: When the forward swing angle is greater than or equal to the reverse swing angle, and the current in the coil needs to be adjusted to the required current value, the tilt angle of the magnetic element is adjusted to the reverse swing angle; when the forward swing angle is less than the reverse swing angle, and the current in the coil needs to be adjusted to the required current value, the tilt angle of the magnetic element is adjusted to the forward swing angle.

[0077] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0078] Embodiments of the present invention also provide a vehicle including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform a shock absorber assembly control method as described in any of the above embodiments.

[0079] Optionally, in this embodiment, the processor in the vehicle can be configured to run a computer program to execute the steps of the control method in the foregoing embodiments:

[0080] Step S100: Obtain the required damping force of the shock absorber;

[0081] Step S200: Determine the required current value of the coil based on the required damping force;

[0082] Step S300: Control the current coil to be energized and adjust the coil current to the required current value;

[0083] Step S400: Obtain the slide valve displacement information; correct the transmission mapping relationship based on the time correspondence between the slide valve displacement information and the current flow information in the coil.

[0084] Step S310: When the current flowing through the current coil is zero, obtain the sum of the changes in the forward and reverse current flowing through the coil in the past. The sum of the changes refers to the sum of the current differences between any two adjacent nodes during the continuous change of current, in all nodes from increasing to decreasing current and from decreasing to increasing current. The control module is also used to execute step S310: when the sum of the changes in the forward current is greater than or equal to the sum of the changes in the reverse current, and the current of the coil needs to be adjusted to the required current value, reverse current is used; when the sum of the changes in the forward current is less than the sum of the changes in the reverse current, and the current of the coil needs to be adjusted to the required current value, forward current is used.

[0085] In another embodiment, step S320 is performed instead of step S310. Step S320: When the current current flowing through the current coil is zero, the sum of the differences in the forward and reverse swing angles of the historical magnetic element tilt angle is obtained. The sum of these differences is the sum of the differences in the corresponding swing angles between all two adjacent nodes in all nodes of each reverse movement during the continuous change of the tilt angle of the magnetic element. The control module is also used to perform step S310: When the forward swing angle is greater than or equal to the reverse swing angle, and the current of the coil needs to be adjusted to the required current value, the tilt angle of the magnetic element is adjusted to the reverse swing angle; when the forward swing angle is less than the reverse swing angle, and the current of the coil needs to be adjusted to the required current value, the tilt angle of the magnetic element is adjusted to the forward swing angle.

[0086] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0087] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute a shock absorber assembly control method described in any of the above embodiments when run on a computer or processor.

[0088] Optionally, in this embodiment, the computer program described above may be configured to store a computer program for performing the control method steps in the foregoing embodiments:

[0089] Step S100: Obtain the required damping force of the shock absorber;

[0090] Step S200: Determine the required current value of the coil based on the required damping force;

[0091] Step S300: Control the current coil to be energized and adjust the current of the coil to the required current value;

[0092] Step S400: Obtain the slide valve displacement information; correct the transmission mapping relationship based on the time correspondence between the slide valve displacement information and the current flow information in the coil.

[0093] Step S310: When the current flowing through the current coil is zero, obtain the sum of the changes in the forward and reverse current flowing through the coil in the past. The sum of the changes refers to the sum of the current differences between any two adjacent nodes during the continuous change of current, in all nodes from increasing to decreasing current and from decreasing to increasing current. The control module is also used to execute step S310: when the sum of the changes in the forward current is greater than or equal to the sum of the changes in the reverse current, and the current of the coil needs to be adjusted to the required current value, reverse current is used; when the sum of the changes in the forward current is less than the sum of the changes in the reverse current, and the current of the coil needs to be adjusted to the required current value, forward current is used.

[0094] In another embodiment, step S320 is performed instead of step S310. Step S320: When the current current flowing through the coil is zero, the sum of the differences in the forward and reverse swing angles of the historical magnetic element tilt angle is obtained. The sum of these differences is the sum of the differences in the corresponding swing angles between all two adjacent nodes in all nodes of each reverse movement during the continuous change of the tilt angle of the magnetic element. The control module is also used to perform step S310: When the forward swing angle is greater than or equal to the reverse swing angle, and the current of the coil needs to be adjusted to the required current value, the tilt angle of the magnetic element is set to a reverse swing angle; when the forward swing angle is less than the reverse swing angle, and the current of the coil needs to be adjusted to the required current value, the tilt angle of the magnetic element is set to a forward swing angle.

[0095] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0096] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0097] In some embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The system embodiments described above are merely illustrative; for example, the division of modules can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between modules may be electrical or other forms.

[0098] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0099] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0100] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or 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, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0101] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A shock absorber assembly, characterized in that, The assembly includes a shock absorber, wherein a piston divides the interior of the shock absorber into an upper chamber and a lower chamber, and an oil passage connects the upper chamber and the lower chamber. A slide valve is installed in the oil passage. The shock absorber assembly also includes: Matrix; A torque motor includes a magnetic conductive element, a coil, and a housing mounted on the base. The housing is provided with a permanent magnet. The magnetic conductive element is connected to a drive rod extending out of the housing. The coil is configured to form opposite magnetic poles at both ends of the magnetic conductive element when energized. A sliding rod, one end of which is connected to the sliding valve, and the other end of which is connected to the drive rod by a hinge structure; A stress-resistant elastic element is mounted on the drive rod, and the magnetically conductive element swings around the hinge structure due to the magnetic force of the permanent magnet and the elastic force of the stress-resistant elastic element. The spool valve includes a valve core and a spool valve body. The valve core is sealed and slidably disposed within the spool valve body. The spool valve body has flow channels that communicate with the oil passage on both sides of the valve core. A connecting channel is formed on the side wall of the valve core, which connects the flow channels on both sides to allow the oil passage to flow. The base is connected to the slide valve body. The torque motor is located on the side of the base away from the slide valve, and the housing is located on the side of the base away from the slide valve. The magnetic conductive element and the coil are both located inside the permanent magnet. Opposite ends with opposite magnetic poles are formed on both sides of the permanent magnet. The opposite magnetic poles on both sides of the permanent magnet are arranged in opposite positions. The two ends of the magnetic conductive element are located in the middle of the two opposite ends on both sides. The coil is located on both sides of the magnetic conductive element. The end of the slide rod away from the magnetic conductive element is connected to the valve core. When the slide rod slides relative to the base, it drives the valve core to move, thereby adjusting the opening degree of the slide valve.

2. The shock absorber assembly according to claim 1, characterized in that: The stress-resistant elastic element is a rubber component or a diaphragm spring component.

3. The shock absorber assembly according to claim 1, characterized in that: The drive rod is equipped with a first edge and a second edge, and the stress-resistant elastic element is sleeved on the drive rod. The first edge and the second edge clamp the stress-resistant elastic element, and the first edge and / or the second edge are detachably disposed on the drive rod.

4. The shock absorber assembly according to claim 1, characterized in that: The base has a space for receiving lubricating oil, the hinge structure is located in the space, the slide rod is slidably connected to the base, the base has an opening that communicates with the space, and the opening is sealed with a flexible sealing sleeve for the drive rod to pass through.

5. The shock absorber assembly according to claim 4, characterized in that: The flexible sealing sleeve is disposed around the drive rod, and the flexible sealing sleeve is folded along the center of the radial direction.

6. A method for controlling a vibration damper assembly, applied to a vibration damper assembly as described in any one of claims 1-5, characterized in that, The control method includes: Obtain the required damping force of the vibration damper; The required current value of the coil is determined based on the required damping force. Control the current of the coil to be energized, and adjust the current of the coil to the required current value.

7. The vibration damper assembly control method according to claim 6, characterized in that: Determining the required current value of the coil based on the required damping force includes: The transmission mapping relationship between the damping force of the vibration damper and the current flowing through the coil was obtained through experiments. The required current value is obtained based on the transmission mapping relationship and the required damping force.

8. The vibration damper assembly control method according to claim 7, characterized in that: The control method further includes: Obtain the displacement information of the slide valve; The transmission mapping relationship is corrected based on the temporal correspondence between the valve displacement information and the current flow information in the coil.

9. The vibration damper assembly control method according to claim 6, characterized in that: The step of controlling the current of the coil to be energized and adjusting the current of the coil to the required current value includes: When the current flowing through the coil is zero, the sum of the changes in the forward and reverse current flowing through the coil in history is obtained respectively. The sum of the changes refers to the sum of the current differences between any two adjacent nodes in all nodes of the continuous change of current, in each node from increasing to decreasing current and each node from decreasing to increasing current. When the sum of the differences in the forward current is greater than or equal to the sum of the differences in the reverse current, and the current in the coil needs to be adjusted to the required current value, the reverse current is used. When the sum of the changes in the forward current is less than the sum of the changes in the reverse current, and the current in the coil needs to be adjusted to the required current value, the forward current is used.

10. The vibration damper assembly control method according to claim 6, characterized in that: The step of controlling the current of the coil to be energized and adjusting the current of the coil to the required current value includes: When the current flowing through the coil is zero, the sum of the differences between the positive and negative swing angles of the historical tilt angle of the magnetic element is obtained. The sum of the differences is the sum of the differences between the corresponding swing angles between two adjacent nodes in all nodes of each reverse movement during the continuous change of the tilt angle of the magnetic element. When the forward swing angle is greater than or equal to the reverse swing angle, and the current of the coil needs to be adjusted to the required current value, the tilt angle of the magnetic element is adjusted to the reverse swing angle. When the forward swing angle is less than the reverse swing angle, and the current of the coil needs to be adjusted to the required current value, the tilt angle of the magnetic element is adjusted to the forward swing angle.

11. A shock absorber assembly control system, used to execute any one of the shock absorber assembly control methods according to claims 6-10, characterized in that: The shock absorber assembly control system includes: The acquisition module is used to acquire the required damping force of the shock absorber; The calculation module is used to determine the required current value of the coil based on the required damping force. The control module is used to control the current of the coil and adjust the current of the coil to the required current value.

12. A vehicle comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to execute the shock absorber assembly control method of claim 6.

13. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the shock absorber assembly control method of claim 6 when run on a computer or processor.

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