A calculation method for the damping force of an external ADS valve-type damping adjustable anti-snaking shock absorber

Abstract

The invention relates to the technical field of rail vehicle shock absorbers, and in particular to a method for calculating the damping force of an external ADS valve-type damping adjustable anti-snaking shock absorber, the method comprising the following steps: S1, collecting relative displacement data of anti-snaking shock absorbers on both sides of a vehicle body, and calculating the speed; S2, judging whether the shock absorber is in a compression stroke or a recovery stroke according to the positive or negative value of the speed signal in step S1; S3, judging the working state of a shock absorber valve plate in a compression stroke or a recovery stroke, and obtaining flow balance formulas of four gears under different working states; S4, selecting a flow balance formula according to the valve plate state, setting a pressure difference range and establishing an interpolation function; S5, calculating the pressure difference; S6, calculating the damping force of the compression stroke or the recovery stroke, so as to solve the technical problem that the damping force of the anti-snaking shock absorber cannot calculate real-time data, resulting in inaccurate setting of the shock absorber gear and failure to provide reliability auxiliary parameters for the design of the shock absorber.

Description

Technical Field

[0001] The invention relates to the technical field of rail vehicle shock absorbers, in particular to a method for calculating the damping force of an external ADS valve-type damping adjustable anti-snaking shock absorber. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0003] As the speed of high-speed trains increases, their running safety and stability are the most important aspects to be considered in vehicle design. The main factors affecting the running stability of high-speed trains include wheel tread, axle box positioning stiffness and anti-snaking dampers. Among them, anti-snaking dampers are key components for increasing the critical speed of trains and achieving high-speed operation. They play a decisive role in the running stability of trains and have an important impact on the safety of curve passing.

[0004] Anti-snaking dampers are conventionally arranged longitudinally between the left and right sides of the train body and bogie, generating a rotational resistance torque on both, thereby suppressing the snaking motion of the vehicle. The parameter selection of the anti-snaking damper needs to take into account both the vehicle's operational stability and the safety of passing curves. If the damping of the anti-snaking damper is insufficient, the critical speed of the train will be reduced, which may cause snaking instability when the train is running at high speed, seriously affecting operational safety; if the damping is too large, the rotational resistance torque between the car body and the bogie will be too large, which will cause excessive wheel-to-wheel angle and wheel-rail lateral force, reduce the train's curve passing performance, and increase the wear of wheels and rails. The damping of traditional anti-snaking dampers is basically fixed, but in order to improve the train's adaptability to different line environments and take into account operational stability and curve passing performance, the research and development of damping adjustable damper technology has received increasing attention.

[0005] Among them, the external ADS valve type adjustable damping shock absorber consists of two parts, one is the shock absorber main cylinder, whose structure is somewhat similar to the double-tube hydraulic shock absorber, and the other is the external ADS valve, which connects the upper and lower chambers of the shock absorber main cylinder. The valve system structural parameters on the piston assembly are fixed, and the damping force formed is also fixed, while the shock absorber damping force is adjusted by the external ADS valve. The core component is the solenoid valve, the current determines the position of the solenoid valve magnetic slider, the position of the magnetic slider determines the flow of oil, and thus determines the change in the size of the shock absorber damping.

[0006] On the one hand, the magnitude of the shock absorber damping force is used to evaluate whether the damping force is too large or too small, and then adjust the gear setting; on the other hand, the damping force is used as an input parameter to evaluate the fatigue life of the shock absorber. When the damping force is too large, the internal pressure of the shock absorber is greater, and fatigue damage to the internal structural parts of the shock absorber occurs. If the shock absorber damping force can be calculated, the fatigue life of the shock absorber and the vehicle dynamics can be better evaluated. However, the invention patent related to the "external ADS valve damping adjustable anti-snaking shock absorber" does not involve the relevant technical disclosure of the damping force calculation method. Summary of the invention

[0007] The purpose of the present invention is to provide a method for calculating the damping force of an external ADS valve-type damping adjustable anti-snaking shock absorber, which is used to solve the technical problems in the prior art that the damping force of the anti-snaking shock absorber cannot be calculated in real time, resulting in inaccurate shock absorber gear setting and the inability to provide reliability auxiliary parameters for the design of the shock absorber.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] A method for calculating the damping force of an external ADS valve-type damping adjustable anti-snaking shock absorber, the method comprising the following steps:

[0010] S1, collect the relative displacement data of the anti-snaking shock absorbers on both sides of the vehicle body and calculate the speed;

[0011] S2, judging whether the shock absorber is in the compression stroke or the recovery stroke according to the positive or negative value of the speed signal in step S1;

[0012] S3, judging the working state of the shock absorber valve plate in the compression stroke or the recovery stroke according to the speed in step S1, and obtaining the flow balance formula of four gears under different working states, the working states including before valve opening, after valve opening and maximum deformation of the valve plate;

[0013] S4. Select the flow balance formula according to the valve state, set the pressure difference range and establish the interpolation function;

[0014] S5, substituting the velocity collected in step S1 into the interpolation function in step S4 to calculate the pressure difference;

[0015] S6. Calculate the damping force of the compression stroke or the recovery stroke according to the pressure difference calculated in step S5.

[0016] Furthermore, in step S1, displacement sensors are installed between the two sides of the vehicle body and the bogie frame to collect the longitudinal displacement between the two ends of the vehicle body and the bogie frame. X s1L and X s1R ,rightX s1L and X s1R Take the first derivative and get the velocity v s1L and v s1R。

[0017] Further, in step S2, if v s1L ≥0, the left shock absorber is in the compression stroke. v s1R ≥0, the right shock absorber is in the compression stroke. v s1L <0, the left shock absorber is in the recovery stroke. v s1R <0, the right shock absorber is in the recovery stroke.

[0018] Further, in step S3, when the shock absorber is in the compression stroke, according to the speed v The size of v ≤ v cr1 , v cr1 < v < v cr2 , v ≥ v cr2 The calculation formula for compression stroke flow balance in three cases when the gear is in 4 gears respectively is: v for v s1L or v s1R The time corresponds to the speed of the left shock absorber or the right shock absorber respectively.

[0019] Furthermore, when v ≤ v cr1 hour:

[0020] When the gear is 1, the flow balance calculation formula is:

[0021] ;

[0022] When the gear is 2, the flow balance calculation formula is:

[0023] ;

[0024] When the gear is 3, the flow balance calculation formula is:

[0025] ;

[0026] When the gear is 4, the flow balance calculation formula is:

[0027] ;

[0028] In the above formulas (1)-(4), A D is the cross-sectional area of ​​the cylinder; A r is the piston rod area; C q is the flow coefficient; N a It is a one-way valve a The number of regular through holes; N d It is a one-way valve d The number of regular through holes; A a It is a one-way valve a The opening area; A d It is a one-way valve d The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; r is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; m is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r aYf1 is the valve core radius of the solenoid valve a; r aYf2 is the valve body radius of the solenoid valve a; r dYf1 is the valve core radius of the solenoid valve d; r dYf2 is the valve body radius of the solenoid valve d; f aYf It is the clearance between the solenoid and the valve body of solenoid valve a; f dYf It is the clearance between the solenoid and the valve body of the solenoid valve d;

[0029] when v cr1 <v < v cr2 hour:

[0030] When the gear is 1, the flow balance calculation formula is:

[0031] ;

[0032] When the gear is 2, the flow balance calculation formula is:

[0033] ;

[0034] When the gear is 3, the flow balance calculation formula is:

[0035] ;

[0036] When the gear is 4, the flow balance calculation formula is:

[0037] ;

[0038] ;

[0039] ;

[0040] In the above formulas (5)-(10), A D is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N a It is a one-way valve a The number of regular through holes; N d It is a one-way valve d The number of regular through holes; A a It is a one-way valve a The opening area; A d It is a one-way valve d The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; r is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; m is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r aYf1 Solenoid valve a The valve core radius; r aYf2 Solenoid valve a The valve body radius; r dYf1 Solenoid valve d The valve core radius; r dYf2 Solenoid valve d The valve body radius; f aYf Solenoid valve a The clearance between the solenoid and the valve body; f dYf Solenoid valve d The clearance between the solenoid and the valve body; f a is the deformation of the annular valve disc of the one-way valve a; f d It is a one-way valve d The deformation of the annular valve plate; N afK It is a one-way valve a Number of valve holes; A afK It is a one-way valve a The area of ​​the valve hole; N dfK It is a one-way valve d Number of valve holes; A dfK It is a one-way valve d The area of ​​the valve hole; r a1 is the outer radius of the annular valve disc of the one-way valve a; r a2 is the inner radius of the annular valve disc of the one-way valve a; r d1 is the outer radius of the annular valve disc of the one-way valve; r d2 is the inner radius of the annular valve disc of the one-way valve; Q a1 、Q a2 、Q a3 They respectively represent the flow rate of the normal through hole of check valve a, the flow rate of the valve hole of check valve a, and the total flow rate of check valve a; Q d1 、Qd2 、Q d3 They respectively represent the flow rate of the normal through hole of the check valve d, the flow rate of the valve hole of the check valve d, and the total flow rate of the check valve d;

[0041] when v ≥ v cr2 hour:

[0042] When the gear is 1, the flow balance calculation formula is:

[0043] ;

[0044] When the gear is 2, the flow balance calculation formula is:

[0045] ;

[0046] When the gear is 3, the flow balance calculation formula is:

[0047] ;

[0048] When the gear is 4, the flow balance calculation formula is:

[0049] ;

[0050] ;

[0051] ;

[0052] In the above formulas (11)-(16), A D is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N a It is a one-way valve a The number of regular through holes; N d It is a one-way valve d The number of regular through holes; A a It is a one-way valve a The opening area; A d It is a one-way valve d The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; r is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; eis the eccentricity; m is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r aYf1 Solenoid valve a The valve core radius; r aYf2 Solenoid valve a The valve body radius; r dYf1 Solenoid valve d The valve core radius; r dYf2 Solenoid valve d The valve body radius; f aYf Solenoid valve a The clearance between the solenoid and the valve body; f dYf Solenoid valve d The clearance between the solenoid and the valve body; f a-max is the maximum deformation (limit clearance) of the annular valve disc of the one-way valve a; f d-amx It is a one-way valve d The maximum deformation of the annular valve plate (limit clearance); N afK It is a one-way valve a Number of valve holes; A afK It is a one-way valve a The area of ​​the valve hole; N dfK It is a one-way valve d Number of valve holes; A dfK It is a one-way valve d The area of ​​the valve hole; r a1 is the outer radius of the annular valve disc of the one-way valve a; r a2 is the inner radius of the annular valve disc of the one-way valve a; r d1 is the outer radius of the annular valve disc of the one-way valve; r d2 is the inner radius of the annular valve disc of the one-way valve; Q a1、Q a2 、Q a3 They respectively represent the flow rate of the normal through hole of check valve a, the flow rate of the valve hole of check valve a, and the total flow rate of check valve a; Q d1 、Q d2 、Q d3 They respectively represent the flow rate of the normally through hole of the one-way valve d, the flow rate of the valve hole of the one-way valve d, and the total flow rate of the one-way valve d.

[0053] Further, in step S3, when the shock absorber is in the recovery stroke, according to the speed v The size of v ≥- v rr1 、- v rr2 < v <- v rr1 , v ≤- v rr2 The calculation formula for the balance of flow in the recovery stroke when the gear is in 4 gears in three cases is: v for v s1L or v s1R The time corresponds to the speed of the left shock absorber or the right shock absorber respectively.

[0054] Furthermore, when v ≥- v rr1 hour:

[0055] When the gear is 1, the flow balance calculation formula is:

[0056] ;

[0057] When the gear is 2, the flow balance calculation formula is:

[0058] ;

[0059] When the gear is 3, the flow balance calculation formula is:

[0060] ;

[0061] When the gear is 4, the flow balance calculation formula is:

[0062] ;

[0063] In the above formulas (17)-(20), AD is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N b It is a one-way valve b The number of regular through holes; N c It is a one-way valve c The number of regular through holes; A b It is a one-way valve b The opening area; A c It is a one-way valve c The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; r is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; m is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r bYf1 is the valve core radius of the solenoid valve b; r cYf1 is the valve body radius of the solenoid valve c; r bYf2 is the valve core radius of the solenoid valve b; r cYf2 is the valve body radius of the solenoid valve c; f bYf It is the clearance between the solenoid and the valve body of solenoid valve b; f cYf It is the clearance between the solenoid and the valve body of the solenoid valve c;

[0064] when- v rr2 < v <- v rr1 hour:

[0065] When the gear is 1, the flow balance calculation formula is:

[0066] ;

[0067] When the gear is 2, the flow balance calculation formula is:

[0068] ;

[0069] When the gear is 3, the flow balance calculation formula is:

[0070] ;

[0071] When the gear is 4, the flow balance calculation formula is:

[0072] ;

[0073] ;

[0074] ;

[0075] In the above formulas (21)-(26), A D is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N b It is a one-way valve b The number of regular through holes; N c It is a one-way valve c The number of regular through holes; A b It is a one-way valve b The opening area; A c It is a one-way valve c The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; r is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; m is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , rbYf1 is the valve core radius of the solenoid valve b; r cYf1 is the valve body radius of the solenoid valve c; r bYf2 is the valve core radius of the solenoid valve b; r cYf2 is the valve body radius of the solenoid valve c; f bYf It is the clearance between the solenoid and the valve body of solenoid valve b; f cYf It is the clearance between the solenoid and the valve body of the solenoid valve c; f b It is a one-way valve b The deformation of the annular valve plate; f c It is a one-way valve c The deformation of the annular valve plate; N bfK It is a one-way valve b Number of valve holes; A bsfK It is a one-way valve b The area of ​​the valve hole; N cfK It is a one-way valve c Number of valve holes; A cfK It is a one-way valve c The area of ​​the valve hole; r b1 It is a one-way valve b The outer radius of the annular valve plate; r b2 It is a one-way valve b Inner radius of the annular valve plate; r c1 It is a one-way valve c The outer radius of the annular valve plate; r c2 It is a one-way valve c Inner radius of the annular valve plate; Q b1 、Q b2 、Q b3 They represent the flow rate of the normally open hole of check valve b, the flow rate of the valve hole of check valve b, and the total flow rate of check valve b respectively; Q c1 、Q c2 、Q c3 They respectively represent the flow rate of the normally open hole of the check valve c, the flow rate of the valve hole of the check valve c, and the total flow rate of the check valve c;

[0076] when v ≤-v rr2 hour:

[0077] When the gear is 1, the flow balance calculation formula is:

[0078] ;

[0079] When the gear is 2, the flow balance calculation formula is:

[0080] ;

[0081] When the gear is 3, the flow balance calculation formula is:

[0082] ;

[0083] When the gear is 4, the flow balance calculation formula is:

[0084] ;

[0085] ;

[0086] ;

[0087] In the above formulas (27)-(32), A D is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N b It is a one-way valve b The number of regular through holes; N c It is a one-way valve c The number of regular through holes; A b It is a one-way valve b The opening area; A c It is a one-way valve c The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; r is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; m is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc;r y2 It is the inner radius of the flow valve disc; , , , , r bYf1 is the valve core radius of the solenoid valve b; r cYf1 is the valve body radius of the solenoid valve c; r bYf2 is the valve core radius of the solenoid valve b; r cYf2 is the valve body radius of the solenoid valve c; f bYf It is the clearance between the solenoid and the valve body of solenoid valve b; f cYf It is the clearance between the solenoid and the valve body of the solenoid valve c; f b-max It is a one-way valve b The maximum deformation of the annular valve plate (limit clearance); f c-max It is a one-way valve c The maximum deformation of the annular valve plate (limit clearance); N bfK It is a one-way valve b Number of valve holes; A bsfK It is a one-way valve b The area of ​​the valve hole; N cfK It is a one-way valve c Number of valve holes; A cfK It is a one-way valve c The area of ​​the valve hole; r b1 It is a one-way valve b The outer radius of the annular valve plate; r b2 It is a one-way valve b Inner radius of the annular valve plate; r c1 It is a one-way valve c The outer radius of the annular valve plate; r c2 It is a one-way valve c Inner radius of the annular valve plate; Q b1 、Q b2 、Q b3 They represent the flow rate of the normally open hole of check valve b, the flow rate of the valve hole of check valve b, and the total flow rate of check valve b respectively; Q c1 、Q c2 、Q c3 They respectively represent the flow rate of the normally through hole of the one-way valve c, the flow rate of the valve hole of the one-way valve c, and the total flow rate of the one-way valve c.

[0088] Furthermore, in step S4, the pressure difference between the recovery cylinder and the compression cylinder is set to P 21 The range is 0-10Mp, and the definition is △ P 21 is a pressure difference array generated by dividing the array into equal intervals of 0.01Mp. P 21 Substitute the compression stroke flow balance formula or the recovery stroke flow balance formula corresponding to each gear to obtain the corresponding speed array v 0 , use the cubic spline interpolation method to interpolate the array (△ P 21 , v 0 ) to establish an interpolation function.

[0089] Further, in step S5, the measured speed v Substitute the interpolation function to get the pressure difference △ of the corresponding gear P 21-k .

[0090] Furthermore, in step S6, the damping force of the shock absorber in the compression stroke is calculated:

[0091] ;

[0092] In the above formula (33), A D is the cylinder area, A r Piston rod area, , , P 0 is the initial cylinder pressure, V 0 is the initial volume of the cylinder, △ P 21-k is the pressure difference calculated in step S5, x refers to the displacement of the piston, the displacement of the piston in the middle position is zero, the compression stroke is positive, and the recovery stroke is negative;

[0093] Damping force of the shock absorber in the recovery stroke:

[0094] ;

[0095] In the above formula, A D is the cylinder area,A r Piston rod area, , , P 0 is the initial cylinder pressure, V 0 is the initial volume of the cylinder, △ P 21-k is the pressure difference calculated in step S5.

[0096] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0097] A method for calculating the damping force of a shock absorber disclosed in the present invention avoids the problem that the damping force of a traditional shock absorber cannot be calculated, and overcomes the defect in the related art that the damping force cannot be calculated and output in real time during vehicle operation. The damping force of the shock absorber is calculated and output in real time, providing more reliable data for the real-time gear setting of the shock absorber, and can also evaluate the fatigue life of the shock absorber and the vehicle dynamics, thereby ensuring the stability of vehicle operation and extending the life of the shock absorber as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] Figure 1 It is the principle diagram of the sensor installation position of the present invention;

[0099] Figure 2 It is a schematic structural diagram of the shock absorber of the present invention;

[0100] Figure 3 It is a flowchart of the method steps of the present invention;

[0101] Figure 4 The figure is a curve diagram of calculation results of the damping forces of four gears obtained according to the calculation method of the present invention.

[0102] In the figure, 1 is the car body; 2 is the bogie; 3 is the piston rod; 4 is the cylinder body; 5 is the recovery chamber; 6 is the moving piston; 7 is the bottom valve; 8 is the floating piston; 9 is the air chamber; 10 is the compression chamber; 11 is the circulation valve; 12 is the oil storage chamber; 13 is the ADS valve. DETAILED DESCRIPTION

[0103] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0104] The drawings are for illustrative purposes only and should not be construed as limiting the present patent;

[0105] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present application. The singular forms "a", "the" and "the" used in the embodiments of the present application and the appended claims are not intended to limit the embodiments of the present application.

[0106] "The" is also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

[0107] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0108] In the description of this application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0109] In addition, in the description of the present application, unless otherwise specified, "plurality" means two or more. "and / or",

[0110] Describing the association relationship of associated objects, it means that there can be three kinds of relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0111] In order to solve the limitations of the prior art, this embodiment provides a technical solution, and the technical solution of the present invention is further described below in conjunction with the drawings and embodiments.

[0112] See also Figure 1 and Figure 2 The present invention aims to improve the problem that the damping force calculation of the snake damper in the prior art cannot calculate real-time data. The present invention is suitable for urban rail trains, urban trains, and high-speed EMUs that use external ADS valve-type damping adjustable anti-snaking dampers. The basic structure of the external ADS valve-type damping adjustable anti-snaking damper is shown in the attached Figure 2The shock absorber is mainly composed of a piston rod 3, a cylinder body 4, a restoring chamber 5, a movable piston 6, a bottom valve 7, a floating piston 8, an air chamber 9, an oil storage chamber 12, a compression chamber 10 and an external ADS valve 13. Since two solenoid valves are installed inside the ADS valve 13, there are four combinations of switch states of the two solenoid valves, so four different switch states can be generated, that is, four different working gears can be generated, thereby outputting four different dampings. In the project, the working gear of the ADS valve 13 needs to be reasonably set according to the actual situation, so as to improve the running stability and curve passing performance of the train.

[0113] See attached Figure 3 , the present invention provides the following technical solutions:

[0114] A method for calculating the damping force of an external ADS valve-type damping adjustable anti-snaking shock absorber, the method comprising the following steps:

[0115] S1. Collect the relative displacement data of the anti-snaking shock absorbers on both sides of the car body and calculate the speed. Specifically, displacement sensors are installed between the two sides of the car body and the bogie frame. Displacement sensors are installed on both sides of the car body. The displacement sensors are installed between the car body and the bogie frame. The displacement detection direction of the displacement sensor is the travel direction of the car body. The longitudinal displacement between the two ends of the car body and the bogie frame is collected. X s1L and X s1R ,right X s1L and X s1R Take the first-order derivative to get the speed of the left and right shock absorbers v s1L and v s1R ;

[0116] S2. Determine whether the shock absorber is in the compression stroke or the recovery stroke according to the positive or negative value of the speed signal in step S1. Specifically, if v s1L ≥0, the left shock absorber is in the compression stroke. v s1R ≥0, the right shock absorber is in the compression stroke. v s1L <0, the left shock absorber is in the recovery stroke. v s1R <0, the right shock absorber is in the recovery stroke;

[0117] S3, judging the working state of the shock absorber valve plate in the compression stroke or the recovery stroke according to the speed in step S1, and obtaining the flow balance formula of four gears under different working states, the working states include before valve opening, after valve opening and maximum deformation of the valve plate. Specifically, when the shock absorber is in the compression stroke, according to the speed v The size of v ≤ v cr1 , v cr1 < v < v cr2 , v ≥ v cr2 The calculation formula for compression stroke flow balance in three cases when the gear is in 4 gears respectively is: v for v s1L or v s1R When the shock absorber is in the recovery stroke, the speed of the left shock absorber or the right shock absorber is respectively corresponding to the speed of the left shock absorber or the right shock absorber; when the shock absorber is in the recovery stroke, the speed of the v The size of v ≥- v rr1 、- v rr2 < v <- v rr1 , v ≤- v rr2 The calculation formula for the recovery stroke flow balance when the gear position is in 4 gears in three cases is: v for v s1L or v s1R When corresponds to the speed of the left shock absorber or the right shock absorber, v cr1 is the initial valve opening speed during the compression stroke, v cr2 is the secondary valve opening speed during the compression stroke, v rr2 To restore the secondary valve opening speed, v rr1 It is the initial valve opening speed of the recovery stroke; the specific flow balance calculation formula is as follows:

[0118] When the shock absorber is in the compression stroke, v ≤ v cr1 At this time, the shock absorber is in the state before the valve is opened:

[0119] When the gear is 1, the flow balance calculation formula is:

[0120] ;

[0121] When the gear is 2, the flow balance calculation formula is:

[0122] ;

[0123] When the gear is 3, the flow balance calculation formula is:

[0124] ;

[0125] When the gear is 4, the flow balance calculation formula is:

[0126] ;

[0127] In the above formulas (1)-(4), A D is the cross-sectional area of ​​the cylinder; A r is the piston rod area; C q is the flow coefficient; N a It is a one-way valve a The number of regular through holes; N d It is a one-way valve d The number of regular through holes; A a It is a one-way valve a The opening area; A d It is a one-way valve d The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; r is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; m is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r aYf1 is the valve core radius of the solenoid valve a;r aYf2 is the valve body radius of the solenoid valve a; r dYf1 is the valve core radius of the solenoid valve d; r dYf2 is the valve body radius of the solenoid valve d; f aYf It is the clearance between the solenoid and the valve body of solenoid valve a; f dYf It is the clearance between the solenoid and the valve body of the solenoid valve d;

[0128] when v cr1 < v < v cr2 At this time, the shock absorber is in the valve-opening state:

[0129] When the gear is 1, the flow balance calculation formula is:

[0130] ;

[0131] When the gear is 2, the flow balance calculation formula is:

[0132] ;

[0133] When the gear is 3, the flow balance calculation formula is:

[0134] ;

[0135] When the gear is 4, the flow balance calculation formula is:

[0136] ;

[0137] ;

[0138] ;

[0139] In the above formulas (5)-(10), A D is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N a It is a one-way valve a The number of regular through holes; N d It is a one-way valve d The number of regular through holes; A a It is a one-way valve a The opening area;A d It is a one-way valve d The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; r is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; m is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r aYf1 Solenoid valve a The valve core radius; r aYf2 Solenoid valve a The valve body radius; r dYf1 Solenoid valve d The valve core radius; r dYf2 Solenoid valve d The valve body radius; f aYf Solenoid valve a The clearance between the solenoid and the valve body; f dYf Solenoid valve d The clearance between the solenoid and the valve body; f a is the deformation of the annular valve disc of the one-way valve a; f d It is a one-way valve d The deformation of the annular valve plate; N afK It is a one-way valve a Number of valve holes; A afK It is a one-way valve a The area of ​​the valve hole; N dfK It is a one-way valve d Number of valve holes; A dfK It is a one-way valve d The area of ​​the valve hole; r a1 is the outer radius of the annular valve disc of the one-way valve a; ra2 is the inner radius of the annular valve disc of the one-way valve a; r d1 is the outer radius of the annular valve disc of the one-way valve; r d2 is the inner radius of the annular valve disc of the one-way valve; Q a1 、Q a2 、Q a3 They respectively represent the flow rate of the normal through hole of check valve a, the flow rate of the valve hole of check valve a, and the total flow rate of check valve a; Q d1 、Q d2 、Q d3 They respectively represent the flow rate of the normal through hole of the check valve d, the flow rate of the valve hole of the check valve d, and the total flow rate of the check valve d;

[0140] when v ≥ v cr2 When , the shock absorber is in the state of maximum valve plate deformation:

[0141] When the gear is 1, the flow balance calculation formula is:

[0142] ;

[0143] When the gear is 2, the flow balance calculation formula is:

[0144] ;

[0145] When the gear is 3, the flow balance calculation formula is:

[0146] ;

[0147] When the gear is 4, the flow balance calculation formula is:

[0148] ;

[0149] ;

[0150] ;

[0151] In the above formulas (11)-(16), A D is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N a It is a one-way valvea The number of regular through holes; N d It is a one-way valve d The number of regular through holes; A a It is a one-way valve a The opening area; A d It is a one-way valve d The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; r is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; m is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r aYf1 Solenoid valve a The valve core radius; r aYf2 Solenoid valve a The valve body radius; r dYf1 Solenoid valve d The valve core radius; r dYf2 Solenoid valve d The valve body radius; f aYf Solenoid valve a The clearance between the solenoid and the valve body; f dYf Solenoid valve d The clearance between the solenoid and the valve body; f a-max is the maximum deformation (limit clearance) of the annular valve disc of the one-way valve a; f d-amx It is a one-way valve d The maximum deformation of the annular valve plate (limit clearance); N afK It is a one-way valve a Number of valve holes; A afK It is a one-way valve a The area of ​​the valve hole;N dfK It is a one-way valve d Number of valve holes; A dfK It is a one-way valve d The area of ​​the valve hole; r a1 is the outer radius of the annular valve disc of the one-way valve a; r a2 is the inner radius of the annular valve disc of the one-way valve a; r d1 is the outer radius of the annular valve disc of the one-way valve; r d2 is the inner radius of the annular valve disc of the one-way valve; Q a1 、Q a2 、Q a3 They respectively represent the flow rate of the normal through hole of check valve a, the flow rate of the valve hole of check valve a, and the total flow rate of check valve a; Q d1 、Q d2 、Q d3 They respectively represent the flow rate of the normally through hole of the one-way valve d, the flow rate of the valve hole of the one-way valve d, and the total flow rate of the one-way valve d.

[0152] When the shock absorber is in the recovery stroke, v ≥- v rr1 At this time, the shock absorber is in the state before the valve is opened:

[0153] When the gear is 1, the flow balance calculation formula is:

[0154] ;

[0155] When the gear is 2, the flow balance calculation formula is:

[0156] ;

[0157] When the gear is 3, the flow balance calculation formula is:

[0158] ;

[0159] When the gear is 4, the flow balance calculation formula is:

[0160] ;

[0161] In the above formulas (17)-(20), A D is the cylinder area; A ris the piston rod area; C q is the flow coefficient; N b It is a one-way valve b The number of regular through holes; N c It is a one-way valve c The number of regular through holes; A b It is a one-way valve b The opening area; A c It is a one-way valve c The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; r is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; m is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r bYf1 is the valve core radius of the solenoid valve b; r cYf1 is the valve body radius of the solenoid valve c; r bYf2 is the valve core radius of the solenoid valve b; r cYf2 is the valve body radius of the solenoid valve c; f bYf It is the clearance between the solenoid and the valve body of solenoid valve b; f cYf It is the clearance between the solenoid and the valve body of the solenoid valve c;

[0162] when- v rr2 < v <- v rr1 At this time, the shock absorber is in the valve-opening state:

[0163] When the gear is 1, the flow balance calculation formula is:

[0164] ;

[0165] When the gear is 2, the flow balance calculation formula is:

[0166] ;

[0167] When the gear is 3, the flow balance calculation formula is:

[0168] ;

[0169] When the gear is 4, the flow balance calculation formula is:

[0170] ;

[0171] ;

[0172] ;

[0173] In the above formulas (21)-(26), A D is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N b It is a one-way valve b The number of regular through holes; N c It is a one-way valve c The number of regular through holes; A b It is a one-way valve b The opening area; A c It is a one-way valve c The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; r is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; m is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r bYf1 is the valve core radius of the solenoid valve b; rcYf1 is the valve body radius of the solenoid valve c; r bYf2 is the valve core radius of the solenoid valve b; r cYf2 is the valve body radius of the solenoid valve c; f bYf It is the clearance between the solenoid and the valve body of solenoid valve b; f cYf It is the clearance between the solenoid and the valve body of the solenoid valve c; f b It is a one-way valve b The deformation of the annular valve plate; f c It is a one-way valve c The deformation of the annular valve plate; N bfK It is a one-way valve b Number of valve holes; A bsfK It is a one-way valve b The area of ​​the valve hole; N cfK It is a one-way valve c Number of valve holes; A cfK It is a one-way valve c The area of ​​the valve hole; r b1 It is a one-way valve b The outer radius of the annular valve plate; r b2 It is a one-way valve b Inner radius of the annular valve plate; r c1 It is a one-way valve c The outer radius of the annular valve plate; r c2 It is a one-way valve c Inner radius of the annular valve plate; Q a1 、Q a2 、Q a3 They respectively represent the flow rate of the normal through hole of check valve a, the flow rate of the valve hole of check valve a, and the total flow rate of check valve a; Q d1 、Q d2 、Q d3 They respectively represent the flow rate of the normal through hole of the check valve d, the flow rate of the valve hole of the check valve d, and the total flow rate of the check valve d;

[0174] when v ≤- v rr2When , the shock absorber is in the state of maximum valve plate deformation:

[0175] When the gear is 1, the flow balance calculation formula is:

[0176] ;

[0177] When the gear is 2, the flow balance calculation formula is:

[0178] ;

[0179] When the gear is 3, the flow balance calculation formula is:

[0180] ;

[0181] When the gear is 4, the flow balance calculation formula is:

[0182] ;

[0183] ;

[0184] ;

[0185] In the above formulas (27)-(32), A D is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N b It is a one-way valve b The number of regular through holes; N c It is a one-way valve c The number of regular through holes; A b It is a one-way valve b The opening area; A c It is a one-way valve c The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; r is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; m is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; ry2 It is the inner radius of the flow valve disc; , , , , r bYf1 is the valve core radius of the solenoid valve b; r cYf1 is the valve body radius of the solenoid valve c; r bYf2 is the valve core radius of the solenoid valve b; r cYf2 is the valve body radius of the solenoid valve c; f bYf It is the clearance between the solenoid and the valve body of solenoid valve b; f cYf It is the clearance between the solenoid and the valve body of the solenoid valve c; f b-max It is a one-way valve b The maximum deformation of the annular valve plate (limit clearance); f c-max It is a one-way valve c The maximum deformation of the annular valve plate (limit clearance); N bfK It is a one-way valve b Number of valve holes; A bsfK It is a one-way valve b The area of ​​the valve hole; N cfK It is a one-way valve c Number of valve holes; A cfK It is a one-way valve c The area of ​​the valve hole; r b1 It is a one-way valve b The outer radius of the annular valve plate; r b2 It is a one-way valve b Inner radius of the annular valve plate; r c1 It is a one-way valve c The outer radius of the annular valve plate; r c2 It is a one-way valve c Inner radius of the annular valve plate; Q a1 、Q a2 、Q a3 They respectively represent the flow rate of the normal through hole of check valve a, the flow rate of the valve hole of check valve a, and the total flow rate of check valve a; Q d1 、 Qd2 、Q d3 They respectively represent the flow rate of the normally through hole of the one-way valve d, the flow rate of the valve hole of the one-way valve d, and the total flow rate of the one-way valve d.

[0186] S4. Select the flow balance formula according to the valve state, set the pressure difference range and establish the interpolation function. Specifically, set the pressure difference between the recovery cylinder and the compression cylinder. P 21 The range is 0-10Mp, and the definition is △ P 21 is a pressure difference array generated by dividing the array into equal intervals of 0.01Mp. P 21 Substitute the compression stroke flow balance formula or the recovery stroke flow balance formula corresponding to each gear to obtain the corresponding speed array v 0 , use the cubic spline interpolation method to interpolate the array (△ P 21 , v 0 ) Establish interpolation function;

[0187] S5, substituting the velocity collected in step S1 into the interpolation function in step S4 to calculate the pressure difference, specifically, substituting the measured velocity v Substitute the interpolation function to get the pressure difference △ of the corresponding gear P 21-k ;

[0188] S6. Calculate the damping force of the compression stroke or the recovery stroke according to the pressure difference calculated in step S5. Specifically, calculate the damping force of the shock absorber in the compression stroke:

[0189] ;

[0190] In the above formula (33), A D is the cylinder area, A r Piston rod area, , , P 0 is the initial cylinder pressure, V 0 is the initial volume of the cylinder, △ P 21-k is the pressure difference calculated in step S5, x refers to the displacement of the piston, the displacement of the piston in the middle position is zero, the compression stroke is positive, and the recovery stroke is negative;

[0191] Damping force of the shock absorber in the recovery stroke:

[0192] ;

[0193] In the above formula, A D is the cylinder area, A r Piston rod area, , , P 0 is the initial cylinder pressure, V 0 is the initial volume of the cylinder, △ P 21-k is the pressure difference calculated in step S5.

[0194] Prepare the test bench, install sensors on the shock absorber to measure and output the damping force in real time, and start the test according to the calculation method provided by the present invention. Figure 4 The typical calculation results of the damping force of the four gears of the external ADS valve damping adjustable anti-snaking shock absorber are given. It can be seen from the figure that the damping force provided by the first gear is the smallest, and the damping force increases step by step as the gear increases. When the piston displacement is 0, that is, at the center of the symmetrical position, the damping force is also the largest because the speed is the largest at this time. By comparison, the data obtained by the calculation method of the present invention is completely consistent with the data actually detected by the sensor.

[0195] The above method can calculate the damping force of the external ADS valve damping adjustable anti-snaking shock absorber and output it in real time, thereby providing evaluation data for the gear setting and fatigue life of the shock absorber, solving the technical problems existing in the related technology that the damping force calculation is difficult and the damping force data cannot be calculated and output in real time, which affects the performance evaluation of the shock absorber.

[0196] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0197] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for calculating the damping force of an external ADS valve-type damping adjustable anti-snaking shock absorber, characterized in that: The method comprises the following steps: S1, collect the relative displacement data of the anti-snaking shock absorbers on both sides of the vehicle body and calculate the speed; S2, judging whether the shock absorber is in the compression stroke or the recovery stroke according to the positive or negative value of the speed signal in step S1; S3, judging the working state of the shock absorber valve plate in the compression stroke or the recovery stroke according to the speed in step S1, and obtaining the flow balance formula of four gears under different working states, the working states including before valve opening, after valve opening and maximum deformation of the valve plate; S4. Select the flow balance formula according to the valve state, set the pressure difference range and establish the interpolation function; S5, substituting the velocity collected in step S1 into the interpolation function in step S4 to calculate the pressure difference; S6, calculating the damping force of the compression stroke or the recovery stroke according to the pressure difference calculated in step S5; In step S1, displacement sensors are installed on both sides of the vehicle body and between the bogie frame to collect the longitudinal displacement between the two ends of the vehicle body and the bogie frame. X s1L and X s1R ,right X s1L and X s1R Take the first derivative and get the velocity v s1L and v s1R ; In step S2, if v s1L ≥0, the left shock absorber is in the compression stroke. v s1R ≥0, the right shock absorber is in the compression stroke. v s1L <0, the left shock absorber is in the recovery stroke. v s1R <0, the right shock absorber is in the recovery stroke; In step S3, when the shock absorber is in the compression stroke, according to the speed v The size of v ≤ v cr1 , v cr1 < v < v cr2 , v ≥ v cr2 The calculation formula for compression stroke flow balance in three cases when the gear position is in 4 gears respectively, where v for v s1L or v s1R When corresponds to the speed of the left shock absorber or the right shock absorber, v cr1 is the initial valve opening speed during the compression stroke, v cr2 The secondary valve opening speed during the compression stroke; when v ≤ v cr1 hour: When the gear is 1, the flow balance calculation formula is: ; When the gear is 2, the flow balance calculation formula is: ; When the gear is 3, the flow balance calculation formula is: ; When the gear is 4, the flow balance calculation formula is: ; In the above formulas (1)-(4), A D is the cross-sectional area of ​​the cylinder; A r is the piston rod area; C q is the flow coefficient; N a It is a one-way valve a The number of regular through holes; N d It is a one-way valve d The number of regular through holes; A a It is a one-way valve a The opening area; A d It is a one-way valve d The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; ρ is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; μ is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r aYf1 is the valve core radius of the solenoid valve a; r aYf2 is the valve body radius of the solenoid valve a; r dYf1 is the valve core radius of the solenoid valve d; r dYf2 is the valve body radius of the solenoid valve d; f aYf It is the clearance between the solenoid and the valve body of solenoid valve a; f dYf It is the clearance between the solenoid and the valve body of the solenoid valve d; when v cr1 < v < v cr2 hour: When the gear is 1, the flow balance calculation formula is: ; When the gear is 2, the flow balance calculation formula is: ; When the gear is 3, the flow balance calculation formula is: ; When the gear is 4, the flow balance calculation formula is: ; ; ; In the above formulas (5)-(10), A D is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N a It is a one-way valve a The number of regular through holes; N d It is a one-way valve d The number of regular through holes; A a It is a one-way valve a The opening area; A d It is a one-way valve d The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; ρ is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; μ is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r aYf1 Solenoid valve a The valve core radius; r aYf2 Solenoid valve a The valve body radius; r dYf1 Solenoid valve d The valve core radius; r dYf2 Solenoid valve d The valve body radius; f aYf Solenoid valve a The clearance between the solenoid and the valve body; f dYf Solenoid valve d The clearance between the solenoid and the valve body; f a is the deformation of the annular valve disc of the one-way valve a; f d It is a one-way valve d The deformation of the annular valve plate; N afK It is a one-way valve a Number of valve holes; A afK It is a one-way valve a The area of ​​the valve hole; N dfK It is a one-way valve d Number of valve holes; A dfK It is a one-way valve d The area of ​​the valve hole; r a1 is the outer radius of the annular valve disc of the one-way valve a; r a2 is the inner radius of the annular valve disc of the one-way valve a; r d1 is the outer radius of the annular valve disc of the one-way valve; r d2 is the inner radius of the annular valve disc of the one-way valve; Q a1 、Q a2 、Q a3 They respectively represent the flow rate of the normal through hole of check valve a, the flow rate of the valve hole of check valve a, and the total flow rate of check valve a; Q d1 、Q d2 、Q d3 They respectively represent the flow rate of the normal through hole of the check valve d, the flow rate of the valve hole of the check valve d, and the total flow rate of the check valve d; when v ≥ v cr2 hour: When the gear is 1, the flow balance calculation formula is: ; When the gear is 2, the flow balance calculation formula is: ; When the gear is 3, the flow balance calculation formula is: ; When the gear is 4, the flow balance calculation formula is: ; ; ; In the above formulas (11)-(16), A D is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N a It is a one-way valve a The number of regular through holes; N d It is a one-way valve d The number of regular through holes; A a It is a one-way valve a The opening area; A d It is a one-way valve d The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; ρ is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; μ is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r aYf1 Solenoid valve a The valve core radius; r aYf2 Solenoid valve a The valve body radius; r dYf1 Solenoid valve d The valve core radius; r dYf2 Solenoid valve d The valve body radius; f aYf Solenoid valve a The clearance between the solenoid and the valve body; f dYf Solenoid valve d The clearance between the solenoid and the valve body; f a-max is the maximum deformation of the annular valve disc of the one-way valve a; f d-max It is a one-way valve d The maximum deformation of the annular valve plate; N afK It is a one-way valve a Number of valve holes; A afK It is a one-way valve a The area of ​​the valve hole; N dfK It is a one-way valve d Number of valve holes; A dfK It is a one-way valve d The area of ​​the valve hole; r a1 is the outer radius of the annular valve disc of the one-way valve a; r a2 is the inner radius of the annular valve disc of the one-way valve a; r d1 is the outer radius of the annular valve disc of the one-way valve; r d2 is the inner radius of the annular valve disc of the one-way valve; Q a1 、Q a2 、Q a3 They respectively represent the flow rate of the normal through hole of check valve a, the flow rate of the valve hole of check valve a, and the total flow rate of check valve a; Q d1 、Q d2 、Q d3 They respectively represent the flow rate of the normal through hole of the check valve d, the flow rate of the valve hole of the check valve d, and the total flow rate of the check valve d; In step S3, when the shock absorber is in the recovery stroke, according to the speed v The size of v ≥- v rr1 、- v rr2 < v <- v rr1 , v ≤- v rr2 The calculation formula for the recovery stroke flow balance when the gear position is in 4 gears in three cases is: v for v s1L or v s1R When corresponds to the speed of the left shock absorber or the right shock absorber, v rr2 To restore the stroke secondary valve opening speed, v rr1 The initial valve opening speed for the recovery stroke; when v ≥- v rr1 hour: When the gear is 1, the flow balance calculation formula is: ; When the gear is 2, the flow balance calculation formula is: ; When the gear is 3, the flow balance calculation formula is: ; When the gear is 4, the flow balance calculation formula is: ; In the above formulas (17)-(20), A D is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N b It is a one-way valve b The number of regular through holes; N c It is a one-way valve c The number of regular through holes; A b It is a one-way valve b The opening area; A c It is a one-way valve c The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; ρ is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; μ is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r bYf1 is the valve core radius of the solenoid valve b; r cYf1 is the valve body radius of the solenoid valve c; r bYf2 is the valve core radius of the solenoid valve b; r cYf2 is the valve body radius of the solenoid valve c; f bYf It is the clearance between the solenoid and the valve body of solenoid valve b; f cYf It is the clearance between the solenoid and the valve body of the solenoid valve c; when- v rr2 < v <- v rr1 hour: When the gear is 1, the flow balance calculation formula is: ; When the gear is 2, the flow balance calculation formula is: ; When the gear is 3, the flow balance calculation formula is: ; When the gear is 4, the flow balance calculation formula is: ; ; ; In the above formulas (21)-(26), A D is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N b It is a one-way valve b The number of regular through holes; N c It is a one-way valve c The number of regular through holes; A b It is a one-way valve b The opening area; A c It is a one-way valve c The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; ρ is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; μ is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r bYf1 is the valve core radius of the solenoid valve b; r cYf1 is the valve body radius of the solenoid valve c; r bYf2 is the valve core radius of the solenoid valve b; r cYf2 is the valve body radius of the solenoid valve c; f bYf It is the clearance between the solenoid and the valve body of solenoid valve b; f cYf It is the clearance between the solenoid and the valve body of the solenoid valve c; f b It is a one-way valve b The deformation of the annular valve plate; f c It is a one-way valve c The deformation of the annular valve plate; N bfK It is a one-way valve b Number of valve holes; A bsfK It is a one-way valve b The area of ​​the valve hole; N cfK It is a one-way valve c Number of valve holes; A cfK It is a one-way valve c The area of ​​the valve hole; r b1 It is a one-way valve b The outer radius of the annular valve plate; r b2 It is a one-way valve b Inner radius of the annular valve plate; r c1 It is a one-way valve c The outer radius of the annular valve plate; r c2 It is a one-way valve c Inner radius of the annular valve plate; Q b1 、Q b2 、Q b3 They represent the flow rate of the normal through hole of check valve b, the flow rate of the valve hole of check valve b, and the total flow rate of check valve b respectively; Q c1 、Q c2 、Q c3 They respectively represent the flow rate of the normally open hole of the check valve c, the flow rate of the valve hole of the check valve c, and the total flow rate of the check valve c; when v ≤- v rr2 hour: When the gear is 1, the flow balance calculation formula is: ; When the gear is 2, the flow balance calculation formula is: ; When the gear is 3, the flow balance calculation formula is: ; When the gear is 4, the flow balance calculation formula is: ; ; ; In the above formulas (27)-(32), A D is the cylinder area; A r is the piston rod area; C q is the flow coefficient; N b It is a one-way valve b The number of regular through holes; N c It is a one-way valve c The number of regular through holes; A b It is a one-way valve b The opening area; A c It is a one-way valve c The opening area; P 21 is the pressure difference between the compression chamber and the recovery chamber; ρ is the oil density; d is the inner diameter of the cylinder; h is the oil film thickness; e is the eccentricity; μ is the dynamic viscosity of the oil; l is the piston gap length; δ y1 is the flow valve opening amount; r y1 is the outer radius of the flow valve disc; r y2 It is the inner radius of the flow valve disc; , , , , r bYf1 is the valve core radius of the solenoid valve b; r cYf1 is the valve body radius of the solenoid valve c; r bYf2 is the valve core radius of the solenoid valve b; r cYf2 is the valve body radius of the solenoid valve c; f bYf It is the clearance between the solenoid and the valve body of solenoid valve b; f cYf It is the clearance between the solenoid and the valve body of the solenoid valve c; f b-max It is a one-way valve b The maximum deformation of the annular valve plate; f c-max It is a one-way valve c The maximum deformation of the annular valve plate; N bfK It is a one-way valve b Number of valve holes; A bsfK It is a one-way valve b The area of ​​the valve hole; N cfK It is a one-way valve c Number of valve holes; A cfK It is a one-way valve c The area of ​​the valve hole; r b1 It is a one-way valve b The outer radius of the annular valve plate; r b2 It is a one-way valve b Inner radius of the annular valve plate; r c1 It is a one-way valve c The outer radius of the annular valve plate; r c2 It is a one-way valve c Inner radius of the annular valve plate; Q b1 、Q b2 、Q b3 They represent the flow rate of the normal through hole of check valve b, the flow rate of the valve hole of check valve b, and the total flow rate of check valve b respectively; Q c1 、Q c2 、Q c3 They respectively represent the flow rate of the normally open hole of the check valve c, the flow rate of the valve hole of the check valve c, and the total flow rate of the check valve c; In step S6, the damping force of the shock absorber in the compression stroke is calculated: ; In the above formula (33), A D is the cylinder area, A r Piston rod area, , , P 0 is the initial cylinder pressure, V 0 is the initial volume of the cylinder, △ P 21-k is the pressure difference calculated in step S5, x refers to the displacement of the piston, the displacement of the piston in the middle position is zero, the compression stroke is positive, and the recovery stroke is negative; Damping force of the shock absorber in the recovery stroke: ; In the above formula, A D is the cylinder area, A r Piston rod area, , , P 0 is the initial cylinder pressure, V 0 is the initial volume of the cylinder, △ P 21-k is the pressure difference calculated in step S5.

2. The method for calculating the damping force of an external ADS valve-type adjustable damping anti-snaking shock absorber according to claim 1 is characterized in that: In step S4, the pressure difference between the recovery cylinder and the compression cylinder is set P 21 The range is 0-10Mp, and the definition is △ P 21 is a pressure difference array generated by dividing the array into equal intervals of 0.01Mp. P 21 Substitute the compression stroke flow balance formula or the recovery stroke flow balance formula corresponding to each gear to obtain the corresponding speed array v 0 , use the cubic spline interpolation method to interpolate the array (△ P 21 , v 0 ) to establish an interpolation function.

3. The method for calculating the damping force of an external ADS valve-type damping adjustable anti-snaking shock absorber according to claim 2 is characterized in that: In step S5, the measured speed v Substitute the interpolation function to get the pressure difference △ of the corresponding gear P 21-k .

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