Self-adaptive control method, system and controller for electromagnetic valve of adjustable shock absorber

Abstract

The invention provides a self-adaptive control method and system for an adjustable shock absorber electromagnetic valve and a suspension controller, and the method comprises the steps: obtaining the movement speed of a shock absorber and the initial target current of the electromagnetic valve, and calculating the current flow according to an electromagnetic valve flow-shock absorber movement speed curve of the shock absorber at different current points; according to the current flow, the initial target current and a pre-stored standard electromagnetic valve pressure-electromagnetic valve flow curve of the shock absorber standard component at different current points, target pressure is obtained through calculation; according to the target pressure, the current flow and a pre-stored electromagnetic valve pressure-electromagnetic valve flow curve of the electromagnetic valve of the current shock absorber under different current points, target control current of the electromagnetic valve is obtained through calculation; and the shock absorber electromagnetic valve is controlled according to the target control current. Accurate control over the pressure of the electromagnetic valve is achieved, so that accurate damping force output is achieved, and the problem that the damping force output deviation of different shock absorbers is large due to the production error of the electromagnetic valve is solved.

Description

Technical Field

[0001] The invention belongs to the field of automobile shock absorbers, and in particular relates to an adaptive control method, system and controller of an adjustable shock absorber solenoid valve. Background Art

[0002] For vehicles equipped with hydraulic adjustable damping systems, the damping force provided by the vehicle shock absorber can be adjusted by controlling the solenoid valve current. The suspension controller obtains the current state of the vehicle through the CAN bus and sensor information, and adjusts the shock absorber solenoid valve current in real time according to the vehicle's driving state to adjust the shock absorber damping force to improve the vehicle's comfort and handling stability. If the driver performs intense operations such as acceleration and deceleration, and the steering condition causes the vehicle to pitch and roll, this condition increases the output of the damping force and suppresses the rapid change of the vehicle's posture. For example, when the vehicle passes through a bumpy road, the output of the damping force is reduced at this time, thereby weakening the road excitation transmitted to the vehicle body through the shock absorber, improving ride comfort.

[0003] However, there are dispersion differences between different shock absorbers. The damping force output by the shock absorber is related to the current speed of the shock absorber movement and the driving current of the solenoid valve. Due to the dispersion differences between individual shock absorbers, the damping force output by the shock absorber will be different at the same shock absorber movement speed and the same current, which will affect the accuracy of suspension control and the ride comfort and handling stability of the vehicle. Summary of the invention

[0004] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide an adjustable shock absorber solenoid valve adaptive control method, system and controller to solve the problem that due to the dispersion between different shock absorbers, the damping force output by the shock absorber is different under the same shock absorber movement speed and the same current, thereby affecting the accuracy of suspension control and affecting the ride comfort and handling stability of the vehicle.

[0005] To achieve the above-mentioned purpose and other related purposes, the present invention proposes an adaptive control method for an adjustable shock absorber solenoid valve, comprising:

[0006] Obtain the shock absorber movement speed and the initial target current of the current shock absorber solenoid valve;

[0007] The current flow rate of the electromagnetic valve of the current shock absorber is calculated according to the shock absorber movement speed of the current shock absorber, the initial target current, and the electromagnetic valve flow rate-shock absorber movement speed curve of the shock absorber at different current points stored in advance;

[0008] The target pressure of the current shock absorber solenoid valve is calculated according to the current flow rate of the current shock absorber solenoid valve, the initial target current, and the standard solenoid valve pressure-solenoid valve flow rate curve of the pre-stored shock absorber standard part at different current points;

[0009] Calculate the target control current of the solenoid valve according to the target pressure of the current shock absorber solenoid valve, the current flow rate and the pre-stored solenoid valve pressure-solenoid valve flow rate curve of the current shock absorber at different current points;

[0010] The shock absorber solenoid valve is controlled according to the target control current.

[0011] In one embodiment of the present invention, the step of obtaining the movement speed of the shock absorber includes:

[0012] Get the distance from the vehicle's wheel center to the wheel arch;

[0013] The moving speed from the wheel center to the wheel eyebrow is calculated by differentiating the distance;

[0014] The shock absorber movement speed is obtained by multiplying the movement speed by the lever ratio of the wheel center to the wheel eyebrow stroke and the shock absorber stroke.

[0015] In one embodiment of the present invention, the step of obtaining the distance from the wheel center to the wheel arch of the vehicle comprises:

[0016] The current angle value is obtained according to the height sensor, wherein the height sensor is installed on the vehicle frame and connected to one end of the connecting rod through a swing rod, and the other end of the connecting rod is connected to the suspension arm;

[0017] The distance from the wheel center to the wheel arch of the vehicle is obtained according to the current angle value and a pre-stored angle value-distance map.

[0018] In one embodiment of the present invention, the step of obtaining the initial target current of the current shock absorber solenoid valve includes:

[0019] Get vehicle status and road condition information;

[0020] The initial target current of the current shock absorber solenoid valve is calculated according to the road condition information and the vehicle state.

[0021] In one embodiment of the present invention, the step of calculating the target pressure of the current shock absorber solenoid valve according to the current flow rate of the current shock absorber solenoid valve, the initial target current, and the standard solenoid valve pressure-solenoid valve flow rate curve of the pre-stored shock absorber standard component at different current points includes:

[0022] According to the current position of the shock absorber at the front axle or rear axle of the vehicle, a front axle standard solenoid valve pressure-solenoid valve flow rate curve corresponding to the front axle or a rear axle standard solenoid valve pressure-solenoid valve flow rate curve corresponding to the rear axle is selected;

[0023] The target pressure is calculated by linear interpolation according to the current flow rate of the shock absorber solenoid valve and the initial target current.

[0024] In one embodiment of the present invention, the step of calculating the target control current of the solenoid valve according to the target pressure of the current shock absorber solenoid valve, the current flow rate and the pre-stored solenoid valve pressure-solenoid valve flow rate curve of the current shock absorber at different current points includes:

[0025] Obtaining the target pressure and the current flow rate of the current shock absorber solenoid valve;

[0026] The target control current is calculated by linear interpolation under the solenoid valve pressure-solenoid valve flow curve at different current points of the current shock absorber.

[0027] The present invention also provides an adaptive control system for an adjustable shock absorber solenoid valve, comprising:

[0028] An initial data acquisition module is used to acquire the movement speed of the shock absorber and the initial target current of the current shock absorber solenoid valve;

[0029] A flow calculation module, used for calculating the current flow of the electromagnetic valve of the current shock absorber according to the shock absorber movement speed of the current shock absorber, the initial target current, and according to the pre-stored electromagnetic valve flow-shock absorber movement speed curve of the shock absorber at different current points;

[0030] A target pressure calculation module, used to calculate the target pressure of the current shock absorber solenoid valve according to the current flow rate of the current shock absorber solenoid valve, the initial target current, and the standard solenoid valve pressure-solenoid valve flow rate curve of the pre-stored shock absorber standard parts at different current points;

[0031] The target current control module is used to calculate the target control current of the solenoid valve according to the target pressure of the current shock absorber solenoid valve, the current flow and the pre-stored solenoid valve pressure-solenoid valve flow curve of the current shock absorber at different current points, and control the shock absorber solenoid valve according to the target control current.

[0032] In one embodiment of the present invention, the initial data acquisition module includes:

[0033] Data acquisition unit, used to obtain the distance from the wheel center to the wheel arch, vehicle status and road condition information

[0034] a shock absorber speed calculation unit, configured to obtain a moving speed from the wheel center to the fender by differentiating the distance, and to obtain a shock absorber movement speed by multiplying the moving speed by a lever ratio of a wheel center to fender stroke to a shock absorber stroke;

[0035] The initial target current calculation unit is used to calculate the initial target current of the current shock absorber solenoid valve according to the road condition information and the vehicle state.

[0036] In one embodiment of the present invention, it also includes a storage module, which pre-stores the front axle standard solenoid valve pressure-solenoid valve flow curve corresponding to the front axle at different current points, the rear axle standard solenoid valve pressure-solenoid valve flow curve corresponding to the rear axle at different current points, and the solenoid valve pressure-solenoid valve flow curve corresponding to each shock absorber at different current points.

[0037] The present invention also provides a suspension controller, comprising:

[0038] A memory, wherein the memory is used to store a control program;

[0039] A processor, wherein when processing the control program, the processor executes the steps of the adaptive control method of the adjustable shock absorber solenoid valve as described in any one of the above embodiments.

[0040] The present invention proposes an adaptive control method, system and controller for an adjustable shock absorber solenoid valve, which obtains the solenoid valve pressure-solenoid valve flow curve characteristic data of each solenoid valve at different current points when the solenoid valve is produced off the production line, calculates the solenoid valve target current through software, and then calculates the movement speed of the shock absorber according to the height sensor, and then obtains the flow of the solenoid valve based on the shock absorber speed-solenoid valve flow relationship under different currents of the solenoid valve obtained by experiments in advance during the engineering stage, and obtains the target pressure based on the solenoid valve flow-shock absorber movement speed characteristic data of the standard parts, and finally calculates the final solenoid valve drive current based on the solenoid valve pressure-solenoid valve flow curve characteristic data of each solenoid valve read off the production line Through this method, the electromagnetic driving current of different solenoid valves is adaptively adjusted according to the characteristic data of the offline solenoid valve pressure-solenoid valve flow curve, which solves the technical problem that it is difficult to ensure the consistency of the final damping force output due to production errors of different solenoid valves. It has the advantages of improving the accuracy of damping force output in the control of electronic shock absorbers, compensating for the problem of control effect deviation caused by production errors of solenoid valve parts, and having more stable performance in different vehicles. Since the software will adaptively correct the deviations of different individual solenoid valves, the requirements for the dispersion of solenoid valves are reduced, the yield rate of solenoid valves can be improved, and the scrap rate of production can be reduced, thereby reducing the production cost of solenoid valves. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0042] Figure 1Shown is a flowchart of an adaptive control method for an adjustable shock absorber solenoid valve in one embodiment of the present application.

[0043] Figure 2 Shown is a flowchart of obtaining the movement speed of the shock absorber in one embodiment of the present application.

[0044] Figure 3 Shown is a structural block diagram of an adjustable shock absorber solenoid valve adaptive control system in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0046] It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0047] See also Figure 1 As shown, the present invention proposes an adaptive control method, system and controller for an adjustable shock absorber solenoid valve to solve the problem that the dispersion between different shock absorbers causes different damping forces output by the shock absorber at the same shock absorber movement speed and the same current, thereby affecting the accuracy of suspension control and affecting the ride comfort and handling stability of the vehicle. Figure 1 The flowchart of the adaptive control method of the adjustable shock absorber solenoid valve in one embodiment of the present application is shown. Specifically, the adaptive control method of the adjustable shock absorber solenoid valve includes:

[0048] S1, obtaining the movement speed of the shock absorber and the initial target current of the current shock absorber solenoid valve;

[0049] For details, please refer to Figure 2 As shown, Figure 2 The flowchart of obtaining the movement speed of the shock absorber in one embodiment of the present application is shown. The steps of obtaining the movement speed of the shock absorber include:

[0050] S11, obtaining the distance from the wheel center to the wheel eyebrow of the vehicle; wherein the step of obtaining the distance from the wheel center to the wheel eyebrow of the vehicle comprises:

[0051] S111, obtaining the current angle value according to the height sensor;

[0052] S112, obtaining the distance from the wheel center to the wheel arch of the vehicle according to the current angle value and a pre-stored angle value-distance map.

[0053] See also Figure 1 As shown, in this embodiment, the height sensor is installed on the frame and connected to one end of the connecting rod through a rocker arm, and the other end of the connecting rod is connected to the suspension arm. Specifically, the sensor body is fixedly mounted on the frame through a bracket and connected to one end of the connecting rod through a rocker arm, and the other end of the connecting rod is connected to the suspension arm. For example, the sensor is a rotary type and is equipped with a rocker arm.

[0054] S12, differentiating the distance to obtain a moving speed from the wheel center to the wheel eyebrow; that is, differentiating the distance from the wheel center to the wheel eyebrow, and the result is -movement speed.

[0055] S13, obtaining the shock absorber movement speed according to the moving speed and multiplying it by the lever ratio of the wheel center to the fender stroke to the shock absorber stroke. The lever ratio is a known value of the vehicle and can be directly read from the vehicle controller. It can be understood that the lever ratios of the wheel center to the fender stroke to the shock absorber stroke of the front axle and the rear axle of the vehicle are different, and the corresponding lever ratio is selected according to whether the shock absorber to be calculated is located on the front axle or the rear axle.

[0056] See also Figure 1 As shown, in this embodiment, the step of obtaining the initial target current of the current shock absorber solenoid valve includes:

[0057] Get vehicle status and road condition information;

[0058] The initial target current of the current shock absorber solenoid valve is calculated according to the road condition information and the vehicle state.

[0059] It is understandable that the suspension controller will calculate the initial target current of each shock absorber solenoid valve in real time according to the vehicle state and road conditions. The target current of each shock absorber is calculated by software logic operation and pre-set data, wherein the pre-set data is obtained by calibration based on shock absorber debugging parts in different test road conditions in the early stage. For example, in some embodiments, the vehicle state includes at least vehicle speed, lateral acceleration and longitudinal acceleration, and the basic current value is obtained according to the preset calibration of the vehicle speed; the compensation current value is determined according to the vehicle speed, the lateral acceleration and the longitudinal acceleration; the current upper limit value is obtained, and the basic current value and the compensation current value are added to obtain the intermediate current value; the minimum of the intermediate current value and the current upper limit value is selected as the output current value, and the output current is the initial target current; wherein the current upper limit value is obtained according to road condition information, such as the road condition level preset calibration to obtain the road condition current upper limit value, and the road condition current upper limit value is obtained according to the vehicle mode set calibration to obtain the smaller value. Of course, the initial target current can also be calculated by other existing methods, which will not be elaborated in this application.

[0060] S2. The current flow of the solenoid valve of the current shock absorber is calculated according to the shock absorber movement speed of the current shock absorber, the initial target current, and the solenoid valve flow-shock absorber movement speed curve of the pre-stored shock absorber at different current points; specifically, the solenoid valve flow-shock absorber movement speed relationship comparison curve of the shock absorber speed and the solenoid valve flow at different current points can be obtained through experiments in the engineering stage, and the solenoid valve flow-shock absorber movement speed relationship comparison curve at different current points is stored in the software in advance in the form of calibration data Map. During the operation of the software, the real-time calculated shock absorber movement speed and the initial target current of the solenoid valve are used as input, and the corresponding flow is obtained by Map linear interpolation, which is the current flow.

[0061] S3, calculating the target pressure of the current shock absorber solenoid valve according to the current flow rate of the current shock absorber solenoid valve, the initial target current, and the standard solenoid valve pressure-solenoid valve flow rate curve of the pre-stored shock absorber standard parts at different current points;

[0062] It can be understood that the standard solenoid valve pressure-solenoid valve flow curve characteristics of the standard parts are determined by the actual vehicle debugging in the engineering stage, and the standard solenoid valve pressure-solenoid valve flow curve characteristics data of the standard parts are stored in the software in advance. During the software operation, the real-time solenoid valve flow and initial target current are used as input, and the solenoid valve target pressure is obtained by Map linear interpolation.

[0063] It can also be understood that the standard solenoid valve pressure-solenoid valve flow curves of the shock absorber standard parts of the front axle and the rear axle of the vehicle at different current points are different. Therefore, in this embodiment, the step of calculating the target pressure of the current shock absorber solenoid valve according to the shock absorber movement speed of the current shock absorber, the initial target current, and the standard solenoid valve pressure-solenoid valve flow curves of the shock absorber standard parts at different current points includes:

[0064] S21, selecting a front axle standard solenoid valve pressure-solenoid valve flow curve corresponding to the front axle or a rear axle standard solenoid valve pressure-solenoid valve flow curve corresponding to the rear axle according to the current position of the shock absorber at the front axle or rear axle of the vehicle;

[0065] S22. Calculate the target pressure by linear interpolation according to the current flow rate of the shock absorber solenoid valve and the initial target current.

[0066] It can be understood that, in the present embodiment, the shock absorber of the vehicle is divided into a front axle shock absorber located at the front axle and a rear axle shock absorber located at the rear axle, and the solenoid valves of the front axle shock absorber and the rear axle shock absorber respectively correspond to a standard solenoid valve pressure-solenoid valve flow curve. When calculating the target pressure of a certain shock absorber solenoid valve, it is determined whether the shock absorber is a front axle shock absorber or a rear axle shock absorber, and the corresponding standard solenoid valve pressure-solenoid valve flow curve is selected according to the judgment result, that is, the front axle standard solenoid valve pressure-solenoid valve flow curve or the rear axle standard solenoid valve pressure-solenoid valve flow curve is selected, and the target pressure of the shock absorber solenoid valve is calculated by linear interpolation according to the current flow of the current shock absorber solenoid valve and the initial target current, so that each shock absorber of the vehicle can independently calculate the target pressure of its solenoid valve, thereby improving the accuracy of the damping force output in the adaptive control of the adjustable shock absorber solenoid valve.

[0067] S4, calculating a target control current of the solenoid valve according to the target pressure of the current shock absorber solenoid valve, the current flow rate, and a pre-stored solenoid valve pressure-solenoid valve flow rate curve of the current shock absorber at different current points;

[0068] It is understandable that, due to the dispersion difference between different shock absorbers, in this embodiment, for each shock absorber, the solenoid valve pressure-solenoid valve flow curve at different current points matched by the shock absorber is pre-stored. For a certain shock absorber, the target control current of the shock absorber solenoid valve can be calculated according to the target pressure calculated in step S3, the current flow calculated in step S2, and the pre-stored solenoid valve pressure-solenoid valve flow curve at different current points. Specifically, the characteristic data of the solenoid valve pressure-solenoid valve flow curve of each solenoid valve is stored in the software in advance. During the operation of the software, the real-time solenoid valve flow and target pressure are used as inputs, and the final target working current of the solenoid valve is obtained by Map linear interpolation.

[0069] Specifically, the step of calculating the target control current of the solenoid valve according to the target pressure of the current shock absorber solenoid valve, the current flow rate and the pre-stored solenoid valve pressure-solenoid valve flow rate curve of the current shock absorber at different current points includes:

[0070] S31, obtaining the target pressure and the current flow rate of the current shock absorber solenoid valve;

[0071] S32. Under the electromagnetic valve pressure-solenoid valve flow curve at different current points of the current shock absorber, the target control current is calculated by linear interpolation.

[0072] S4. Control the shock absorber solenoid valve according to the target control current.

[0073] It is understandable that the shock absorber movement speed of the present application refers to the movement speed of the shock absorber piston rod relative to the cylinder. The present application can calculate the target control current of each shock absorber individual solenoid valve separately to independently control each shock absorber, so that it can bring more refined vehicle dynamic control. By independently controlling each shock absorber of the vehicle, the system can more accurately adjust the vehicle's suspension system to adapt to different driving conditions and road conditions, and improve the performance and ride comfort of the vehicle.

[0074] It can be understood that in this embodiment, the standard solenoid valve pressure-solenoid valve flow curve of the shock absorber solenoid valve standard part and the solenoid valve pressure-solenoid valve flow curve corresponding to each shock absorber solenoid valve can be obtained by testing under different current point conditions offline and pre-stored in the controller. Different current points are taken between the minimum drive current and the maximum drive current of the shock absorber solenoid valve, and the value points at least include a current test point close to the minimum drive current, a current test point close to the maximum drive current, and one or more current test points in the middle. Preferably, each current test point is evenly distributed between the minimum drive current and the maximum drive current.

[0075] For example, by testing the solenoid valve pressure-solenoid valve flow curve corresponding to the four current test points of 400mA, 800mA, 1200mA, and 1600mA of each shock absorber solenoid valve when it is offline, the curve can be uploaded to the cloud, or downloaded from the cloud to the host computer of the OEM; when assembling the suspension controller, the identifier of each shock absorber solenoid valve can be identified by scanning the code of the device to obtain the damping force-shock absorber movement speed curve data of the four current points of 400mA, 800mA, 1200mA, and 1600mA of the four shock absorber solenoid valves of the left front, right front, left rear, and right rear from the cloud or the host computer.

[0076] It is understandable that, in this embodiment, the above method can be used for an adjustable solenoid valve of an electronically controlled shock absorber, and can also be used for similar solenoid valve-type adjustable electronically controlled shock absorber solutions, such as a compression-tension dual-valve hydraulic adjustable shock absorber, etc.

[0077] See also Figure 3 As shown, Figure 3 The structure block diagram of the adjustable shock absorber solenoid valve adaptive control system in the embodiment of the present application is shown. In the present embodiment, an adjustable shock absorber solenoid valve adaptive control system is provided, and the adjustable shock absorber solenoid valve adaptive control system corresponds one-to-one to the adjustable shock absorber solenoid valve adaptive control method in the above embodiment. Specifically, the adjustable shock absorber solenoid valve adaptive control system 100 includes an initial data acquisition module 10, a flow calculation module 20, a target pressure calculation module 30 and a target current control module 40. The functional modules are described in detail as follows:

[0078] The initial data acquisition module 10 is used to acquire the movement speed of the shock absorber and the initial target current of the current shock absorber solenoid valve;

[0079] The flow calculation module 20 is used to calculate the current flow of the electromagnetic valve of the current shock absorber according to the shock absorber movement speed of the current shock absorber, the initial target current, and the electromagnetic valve flow-shock absorber movement speed curve of the shock absorber at different current points stored in advance;

[0080] The target pressure calculation module 30 is used to calculate the target pressure of the current shock absorber solenoid valve according to the current flow rate of the current shock absorber solenoid valve, the initial target current, and the standard solenoid valve pressure-solenoid valve flow rate curve of the pre-stored shock absorber standard parts at different current points;

[0081] The target current control module 40 is used to calculate the target control current of the solenoid valve according to the target pressure of the current shock absorber solenoid valve, the current flow and the pre-stored solenoid valve pressure-solenoid valve flow curve of the current shock absorber at different current points, and control the shock absorber solenoid valve according to the target control current.

[0082] See also Figure 3 As shown, in this embodiment, the initial data acquisition module 10 includes: a data acquisition unit 11, a shock absorber speed calculation unit 12 and an initial target current calculation unit 13. The functional modules are described in detail as follows:

[0083] The data acquisition unit 11 is used to obtain the distance from the wheel center to the wheel arch, the vehicle status and the road condition information.

[0084] The shock absorber speed calculation unit 12 is used to calculate the moving speed from the wheel center to the wheel eyebrow by differentiating the distance, and obtain the shock absorber movement speed by multiplying the moving speed by the lever ratio of the wheel center to the wheel eyebrow stroke and the shock absorber stroke;

[0085] The initial target current calculation unit 13 is used to calculate the initial target current of the current shock absorber solenoid valve according to the road condition information and the vehicle state.

[0086] See also Figure 2 As shown, the adjustable shock absorber solenoid valve adaptive control system 100 also includes a storage module 50, which pre-stores the front axle standard solenoid valve pressure-solenoid valve flow curve corresponding to the front axle at different current points, the rear axle standard solenoid valve pressure-solenoid valve flow curve corresponding to the rear axle at different current points, and the solenoid valve pressure-solenoid valve flow curve corresponding to each shock absorber at different current points.

[0087] For the specific definition of the adaptive control system of the adjustable shock absorber solenoid valve, please refer to the definition of the adaptive control method of the adjustable shock absorber solenoid valve above, which will not be repeated here. Each module in the above-mentioned adaptive control system of the adjustable shock absorber solenoid valve can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0088] See also Figure 1 As shown, the present invention also proposes a suspension controller, comprising: a memory, the memory is used to store a control program; a processor, the processor executes the steps of the adjustable shock absorber solenoid valve adaptive control method described in the above embodiment when processing the control program. Specifically, the following steps are executed:

[0089] Obtain the shock absorber movement speed and the initial target current of the current shock absorber solenoid valve;

[0090] The current flow rate of the electromagnetic valve of the current shock absorber is calculated according to the shock absorber movement speed of the current shock absorber, the initial target current, and the electromagnetic valve flow rate-shock absorber movement speed curve of the shock absorber at different current points stored in advance;

[0091] The target pressure of the current shock absorber solenoid valve is calculated according to the current flow rate of the current shock absorber solenoid valve, the initial target current, and the standard solenoid valve pressure-solenoid valve flow rate curve of the pre-stored shock absorber standard part at different current points;

[0092] Calculate the target control current of the solenoid valve according to the target pressure of the current shock absorber solenoid valve, the current flow rate and the pre-stored solenoid valve pressure-solenoid valve flow rate curve of the current shock absorber at different current points;

[0093] The shock absorber is controlled according to the target control current.

[0094] In summary, the present invention proposes an adjustable shock absorber solenoid valve adaptive control method, system and suspension controller. The present invention proposes an adjustable shock absorber solenoid valve adaptive control method, system and suspension controller. The solenoid valve pressure-solenoid valve flow curve characteristic data of each solenoid valve at different current points is obtained when the solenoid valve is produced off the line, the solenoid valve target current is calculated by software, and the movement speed of the shock absorber is calculated according to the height sensor. The flow of the solenoid valve is obtained by the shock absorber speed-solenoid valve flow relationship under different currents of the solenoid valve obtained by experiments in advance in the engineering stage. The target pressure is obtained according to the solenoid valve flow-shock absorber movement speed characteristic data of the standard part, and finally the solenoid valve pressure-solenoid valve flow of each solenoid valve read off the line is used. Curve characteristic data is used to calculate the final solenoid valve driving current. Through this method, adaptive adjustment of the electromagnetic driving current of different solenoid valves is achieved according to the offline solenoid valve pressure-solenoid valve flow curve characteristic data, which solves the technical problem that it is difficult to ensure the consistency of the final damping force output due to production errors of different solenoid valves. It has the advantages of improving the accuracy of damping force output in electronically controlled shock absorber control, compensating for the problem of control effect deviation caused by production errors of solenoid valve parts, having the advantage of more stable performance in different vehicles, and because the software will perform adaptive correction according to the deviations of different individual solenoid valves, thereby reducing the requirements for solenoid valve dispersion, it can improve the yield rate of solenoid valves, reduce the scrap rate of production, and thus reduce the production cost of solenoid valves.

[0095] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory.

[0096] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD ROM, optical storage, etc.) containing computer-usable program code.

[0097] The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Any person familiar with the technology can modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the relevant technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention. In the description herein, many specific details, such as examples of components and / or methods, are provided to provide a complete understanding of the embodiments of the present invention. However, those skilled in the art will recognize that the embodiments of the present invention can be practiced without one or more specific details or by other devices, systems, components, methods, components, materials, parts, etc. In other cases, well-known structures, materials or operations are not specifically shown or described in detail to avoid blurring the aspects of the embodiments of the present invention.

[0098] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0099] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0100] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

[0101] As used in the description herein and throughout the claims that follow, "a", "an", and "the" include plural references unless otherwise indicated. Likewise, as used in the description herein and throughout the claims that follow, the meaning of "in" includes "in" and "on" unless otherwise indicated.

[0102] The above description of the illustrated embodiments of the present invention (including the contents described in the Abstract) is not intended to be an exhaustive list or to limit the present invention to the precise form disclosed herein. Although specific embodiments of the present invention and examples of the present invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention as will be recognized and appreciated by those skilled in the art. As noted, these modifications may be made to the present invention in accordance with the above description of the embodiments described in the present invention, and these modifications will be within the spirit and scope of the present invention.

[0103] Systems and methods have been generally described herein as details that aid in understanding the present invention. In addition, various specific details have been given to provide an overall understanding of embodiments of the present invention. However, those skilled in the relevant art will recognize that embodiments of the present invention may be practiced without one or more of the specific details, or may be practiced using other devices, systems, accessories, methods, components, materials, parts, etc. In other cases, well-known structures, materials, and / or operations are not specifically shown or described in detail to avoid confusion with various aspects of embodiments of the present invention.

[0104] Thus, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the foregoing disclosure, and it should be understood that in some cases, some features of the invention will be employed without the corresponding use of other features without departing from the scope and spirit of the proposed invention. Thus, many modifications may be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terms used in the claims below and / or the specific embodiments disclosed as the best mode contemplated for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Thus, the scope of the invention will be determined solely by the appended claims.

Claims

1. An adaptive control method for an adjustable shock absorber solenoid valve, characterized in that: include: Obtain the shock absorber movement speed and the initial target current of the current shock absorber solenoid valve; The current flow rate of the electromagnetic valve of the current shock absorber is calculated according to the shock absorber movement speed of the current shock absorber, the initial target current, and the electromagnetic valve flow rate-shock absorber movement speed curve of the shock absorber at different current points stored in advance; The target pressure of the current shock absorber solenoid valve is calculated according to the current flow rate of the current shock absorber solenoid valve, the initial target current, and the standard solenoid valve pressure-solenoid valve flow rate curve of the pre-stored shock absorber standard part at different current points; Calculate the target control current of the solenoid valve according to the target pressure of the current shock absorber solenoid valve, the current flow rate and the pre-stored solenoid valve pressure-solenoid valve flow rate curve of the current shock absorber at different current points; The shock absorber solenoid valve is controlled according to the target control current.

2. The adaptive control method of adjustable shock absorber solenoid valve according to claim 1, characterized in that: The step of obtaining the movement speed of the shock absorber comprises: Get the distance from the vehicle's wheel center to the wheel arch; The moving speed from the wheel center to the wheel eyebrow is calculated by differentiating the distance; The shock absorber movement speed is obtained by multiplying the movement speed by the lever ratio of the wheel center to the wheel eyebrow stroke and the shock absorber stroke.

3. The adaptive control method of adjustable shock absorber solenoid valve according to claim 2, characterized in that: The step of obtaining the distance from the wheel center to the wheel arch of the vehicle comprises: The current angle value is obtained according to the height sensor, wherein the height sensor is installed on the vehicle frame and connected to one end of the connecting rod through a swing rod, and the other end of the connecting rod is connected to the suspension arm; The distance from the wheel center to the wheel arch of the vehicle is obtained according to the current angle value and a pre-stored angle value-distance map.

4. The adaptive control method of adjustable shock absorber solenoid valve according to claim 1, characterized in that: The steps of obtaining the initial target current of the current shock absorber solenoid valve include: Get vehicle status and road condition information; The initial target current of the current shock absorber solenoid valve is calculated according to the road condition information and the vehicle state.

5. The adaptive control method of adjustable shock absorber solenoid valve according to claim 1, characterized in that: The step of calculating the target pressure of the current shock absorber solenoid valve according to the current flow rate of the current shock absorber solenoid valve, the initial target current, and the standard solenoid valve pressure-solenoid valve flow rate curve of the pre-stored shock absorber standard part at different current points comprises: According to the current position of the shock absorber at the front axle or rear axle of the vehicle, a front axle standard solenoid valve pressure-solenoid valve flow rate curve corresponding to the front axle or a rear axle standard solenoid valve pressure-solenoid valve flow rate curve corresponding to the rear axle is selected; The target pressure is calculated by linear interpolation according to the current flow rate of the shock absorber solenoid valve and the initial target current.

6. The adaptive control method of adjustable shock absorber solenoid valve according to claim 1, characterized in that: The step of calculating the target control current of the solenoid valve according to the target pressure of the current shock absorber solenoid valve, the current flow rate and the pre-stored solenoid valve pressure-solenoid valve flow rate curve of the current shock absorber at different current points comprises: Obtaining the target pressure and the current flow rate of the current shock absorber solenoid valve; The target control current is calculated by linear interpolation under the solenoid valve pressure-solenoid valve flow curve at different current points of the current shock absorber.

7. An adaptive control system for an adjustable shock absorber solenoid valve, characterized in that: include: An initial data acquisition module is used to acquire the movement speed of the shock absorber and the initial target current of the current shock absorber solenoid valve; A flow calculation module, used for calculating the current flow of the electromagnetic valve of the current shock absorber according to the shock absorber movement speed of the current shock absorber, the initial target current, and according to the pre-stored electromagnetic valve flow-shock absorber movement speed curve of the shock absorber at different current points; A target pressure calculation module, used to calculate the target pressure of the current shock absorber solenoid valve according to the current flow rate of the current shock absorber solenoid valve, the initial target current, and the standard solenoid valve pressure-solenoid valve flow rate curve of the pre-stored shock absorber standard parts at different current points; The target current control module is used to calculate the target control current of the solenoid valve according to the target pressure of the current shock absorber solenoid valve, the current flow and the pre-stored solenoid valve pressure-solenoid valve flow curve of the current shock absorber at different current points, and control the shock absorber solenoid valve according to the target control current.

8. The adjustable shock absorber solenoid valve adaptive control system according to claim 7, characterized in that: The initial data acquisition module comprises: Data acquisition unit, used to obtain the distance from the wheel center to the wheel arch, vehicle status and road condition information a shock absorber speed calculation unit, configured to obtain a moving speed from the wheel center to the fender by differentiating the distance, and to obtain a shock absorber movement speed by multiplying the moving speed by a lever ratio of a wheel center to fender stroke to a shock absorber stroke; The initial target current calculation unit is used to calculate the initial target current of the current shock absorber solenoid valve according to the road condition information and the vehicle state.

9. The adjustable shock absorber solenoid valve adaptive control system according to claim 7, characterized in that: It also includes a storage module, which pre-stores the front axle standard solenoid valve pressure-solenoid valve flow curve corresponding to the front axle at different current points, the rear axle standard solenoid valve pressure-solenoid valve flow curve corresponding to the rear axle at different current points, and the solenoid valve pressure-solenoid valve flow curve corresponding to each shock absorber at different current points.

10. A suspension controller, characterized in that: include: A memory, wherein the memory is used to store a control program; A processor, wherein when processing the control program, the processor executes the steps of the adaptive control method of the adjustable shock absorber solenoid valve according to any one of claims 1 to 6.

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