A Virtual CDC Shock Absorber Performance Development Method and System Based on Adams / Car

Abstract

This invention discloses a method and system for developing the performance of virtual CDC shock absorbers based on Adams / Car. A control model is established in Matlab / Simulink and compiled into a controller DLL file, which is then loaded into the Adams / Car environment. A controlled Adams / Car vehicle dynamics model is constructed in the Adams / Car software. The controller parameters are obtained from the vehicle dynamics model. The controller DLL file is called in the Adams / Car software to read the controller parameters, and the damping force values ​​of each CDC shock absorber are generated. This invention allows for simulation execution by modifying the controller parameters within the Adams software after generating the DLL file in Matlab, thus improving suspension tuning efficiency.

Description

Technical Field

[0001] This invention belongs to the field of single-chip microcomputer technology, specifically relating to a method and system for developing the performance of a virtual CDC shock absorber based on Adams / Car. Background Technology

[0002] The development of CDC (Continuously Damped Control) shock absorber performance is typically divided into an early design optimization phase and a later calibration, tuning, and verification phase. In the early design optimization phase, design optimization mainly relies on Adams / Car (Automatic Dynamic Analysis of Mechanical Systems / Car) simulations. However, Adams / Car simulations currently only cover some simple control systems; many vehicle projects now employ more complex control algorithms, some even using neural networks. Due to the lack of simulation capabilities corresponding to these complex algorithms, the impact of the control algorithm on overall vehicle performance (handling, ride comfort) cannot be determined during the early design optimization phase. In the later suspension tuning process, because the impact of controller parameters on vehicle performance cannot be predicted, it is usually necessary to repeatedly set controller parameters in Matlab and verify them on real vehicles to achieve the desired performance targets, resulting in relatively low tuning efficiency. Summary of the Invention

[0003] To improve the efficiency of suspension tuning, this invention proposes a method and system for developing the performance of a virtual CDC shock absorber based on Adams / Car.

[0004] One of the objectives of this invention is a method for developing the performance of a virtual CDC shock absorber based on Adams / Car, comprising:

[0005] A control model is built in the Matlab / Simulink tool, which is used to output the damping force value of the shock absorber.

[0006] In the Matlab / Simulink tool, the control model is compiled into a controller DLL (Dynamic Link Library) file using the compilation tools provided by the Adams / Car software;

[0007] Enable the Adams / Control module in the Adams / Car software to mount the generated controller DLL file into the Adams / Car environment;

[0008] Construct a controlled Adams / Car vehicle dynamics model in Adams / Car software based on vehicle dynamics model and simulation requirements;

[0009] The controller parameters are monitored in the Adams / Car vehicle dynamics model with control; the controller DLL file is called in the Adams / Car software to read the controller parameters, and the controller DLL file obtains the damping force value of each CDC shock absorber according to the controller parameters.

[0010] The technical effects of the above method are:

[0011] In Adams / Car software, the generated controller DLL file is mounted into the environment and combined with the vehicle dynamics model to construct a controlled Adams / Car vehicle dynamics model. This model can comprehensively and accurately reflect the vehicle's dynamic characteristics under various operating conditions, providing a solid simulation foundation for the evaluation and optimization of shock absorber performance. In the controlled vehicle dynamics model, various parameters of the controller, such as gain and threshold values ​​in the control algorithm, can be easily set. The controller DLL file calculates and outputs the damping values ​​of each shock absorber in real time based on these parameters, achieving precise control and dynamic adjustment of shock absorber performance. This parametric control method not only improves the adaptability and stability of shock absorber performance but also makes customized optimization for different driving needs and road conditions possible. Through this method, the performance of shock absorbers under different operating conditions can be systematically evaluated, including aspects such as comfort, handling, and stability. Based on the simulation results, researchers can further optimize control strategies or adjust shock absorber parameters to achieve optimal overall performance. This simulation-based performance evaluation and optimization method not only reduces the cost and risk of actual testing but also accelerates product development cycles and time-to-market.

[0012] Furthermore, the control model includes a CDC controller module for obtaining a current value from the controller parameters obtained from the controlled Adams / Car vehicle dynamics model, the current value being used to obtain the damping force value of the CDC shock absorber.

[0013] Furthermore, the CDC controller module includes a CDC "canopy" control module, a sill detection module, and a tilt and pitch control module.

[0014] Furthermore, the method for calculating the current value includes: each module in the CDC controller module outputs its own current value, and the current value output by each module is weighted and summed according to the road conditions to obtain the current value output by the CDC module.

[0015] Furthermore, the current value is calculated based on vehicle driving information, which includes: vehicle body acceleration and angular velocity in the X, Y, and Z directions, and vehicle body velocity in the X direction. The acquisition method includes:

[0016] In the suspension template of the vehicle dynamics model, a second monitoring function is set to monitor the acceleration in the XYZ directions and the angular velocity in the XY direction at the center of gravity of the vehicle body, thereby obtaining the acceleration and angular velocity signals in the X, Y, and Z directions of the vehicle body for the controller DLL file to read; the "longitudinal_velocit-y" system state variable in Adams / Car is taken as the vehicle body X direction velocity signal for the controller DLL file to read.

[0017] Furthermore, the control model also includes multiple shock absorber execution modules, which are used to output the shock absorber damping force value based on the suspension height change rate signal and the current signal output by the CDC controller module.

[0018] Furthermore, the damping force value of the shock absorber is obtained by looking up a table based on the input total current signal and the suspension height change rate signal.

[0019] Furthermore, the method for monitoring the controller parameters in the controlled Adams / Car vehicle dynamics model includes:

[0020] In the vehicle dynamics model, sub-assemblies are created from the suspension template and body template; the sub-assemblies are assembled into a final assembly to obtain the Adams / Car vehicle dynamics model; parameters acquisition functions for the controller are added to the suspension template and body template and stored in the system state variables; the system state variables are declared as external variables in the controller DLL file to obtain the parameters of the controller.

[0021] The technical effects of the above method for setting the various parameters of the controller are:

[0022] The parameter referencing method simplifies the data exchange process between the controller and the vehicle dynamics model, improving the efficiency and accuracy of data transmission. Through the above steps, the controller's parameters can be obtained from the vehicle dynamics model in real time and used for control strategy calculation and decision-making. This integration method ensures that the control strategy accurately reflects the actual state of the vehicle, improving the real-time performance and accuracy of control. Simultaneously, due to the seamless integration of the controller DLL file with the Adams / Car environment, the adjustment and optimization of the control strategy becomes more convenient and efficient; it also promotes collaborative optimization between the vehicle dynamics model and the controller. During simulation, the parameters of the vehicle dynamics model or the control logic of the controller can be adjusted in real time based on the execution effect of the control strategy to achieve optimal control performance and vehicle performance.

[0023] Furthermore, the methods for obtaining the suspension height change rate signal include:

[0024] In the suspension template of the vehicle dynamics model, a first system state variable is added, and a first monitoring function is set to monitor the distance between the upper and lower struts of the shock absorber. Based on the distance between the upper and lower struts of the shock absorber, the suspension height change rate signal required by the CDC shock absorber controller is obtained and stored in the first system state variable for the controller DLL file to read.

[0025] Furthermore, it also includes: creating a new excitation model in the suspension template of the vehicle dynamics model, reading the damping signal force value of the CDC shock absorber and applying it between the upper and lower sliding columns of the shock absorber to replace the original shock absorber in the vehicle dynamics model that comes with Adams / Car.

[0026] Furthermore, the vehicle driving information includes the vehicle's acceleration and angular velocity in the X, Y, and Z directions, as well as its velocity in the X direction, and the acquisition method includes:

[0027] In the suspension template of the vehicle dynamics model, a second monitoring function is set to monitor the acceleration in the XYZ directions and the angular velocity in the XY direction at the center of gravity of the vehicle body, thereby obtaining the acceleration and angular velocity signals in the X, Y, and Z directions of the vehicle body for the controller DLL file to read; the "longitudinal_velocit-y" system state variable in Adams / Car is taken as the vehicle body X direction velocity signal for the controller DLL file to read.

[0028] The second objective of this invention, a virtual CDC shock absorber performance development system based on Adams / Car, includes:

[0029] Control model building unit: used to build a control model in Matlab / Simulink tools. The control model is used to output the damping force value of the shock absorber based on the current value and the suspension height change rate signal.

[0030] File building unit: used to compile the control model into a controller DLL file in the Matlab / Simulink tool;

[0031] File mounting unit: used to enable the Adams / Control module in the Adams / Car software to mount the controller DLL file into the Adams / Car environment;

[0032] Vehicle Dynamics Model Building Unit: Used to build controlled Adams / Car vehicle dynamics models in Adams / Car software based on vehicle dynamics models and simulation requirements;

[0033] Damping value calculation unit: used to monitor the controller parameters in the Adams / Car vehicle dynamics model with control; in the Adams / Car software, it calls the controller DLL file to read the controller parameters, the controller DLL file reads the controller parameters and generates current value and suspension height change rate signal, and finally outputs the damping force value of each CDC shock absorber.

[0034] The beneficial effects of this invention include:

[0035] 1. Compared with the traditional mode of electronic control co-simulation, which requires Adams and MATLAB to be opened and used together, this invention generates a DLL file in MATLAB, so MATLAB is no longer needed. All remaining operations are performed in Adams software. CDC control parameters can be modified and simulations can be performed in Adams software. It is completely independent of MATLAB software when used, which improves the efficiency of calibration.

[0036] 2. In the early stages of CDC design, without significantly altering the suspension structure or suspension control development model, joint performance verification of the structure and control can be performed to avoid risks; introducing controllers into traditional simulation better meets project requirements.

[0037] 3. During the later stages of CDC calibration, users can quickly verify controller parameters directly within a single software, reducing learning and usage costs. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the architecture of the present invention. Detailed Implementation

[0039] The following detailed embodiments are provided to explain the technical solutions of the claims of this invention, so that those skilled in the art can understand the claims. The scope of protection of this invention is not limited to the following specific embodiments. Any modifications made by those skilled in the art that incorporate the technical solutions of the claims but differ from the following detailed embodiments are also within the scope of protection of this invention.

[0040] Example 1

[0041] like Figure 1 In the virtual simulation verification platform shown:

[0042] 1. First, enable the Adams / Control module in the Adams / Car software. This is the foundation for integrating the vehicle dynamics model with the controller.

[0043] 2. A control model is established in Matlab / Simulink. This control model is used to generate a controller DLL file based on the input controller parameters. The controller DLL file is called by the Adams / Car software to output the damper damping force value based on the controller parameters. The controller parameters contain algorithms for vehicle dynamics control.

[0044] 3. In Adams / Car software, set the various parameters of the controller into the control model and compile it into a controller DLL file adapted to the specific vehicle dynamics model and simulation requirements;

[0045] 4. Mount the controller DLL file generated in the previous step to the Adams / Car environment;

[0046] 5. After completing the above settings, execute the simulation to obtain behavioral data of the controlled Adams / Car vehicle dynamics model.

[0047] Because the simulation process is highly efficient, it can acquire multiple sets of "parameter-result" data in a short time, which has significant advantages for scenarios such as CDC shock absorber performance development and parameter sensitivity analysis verification.

[0048] The compilation of the aforementioned controller DLL file requires compilation tools provided by software such as Adams, and Matlab / Simulink tools to compile the control model into a controller DLL file.

[0049] The control model includes a CDC controller module and multiple shock absorber execution modules. The CDC controller module reads the vehicle body's acceleration and angular velocity in the X, Y, and Z directions, as well as the vehicle body's velocity in the X direction and / or suspension height signal, and then outputs a current signal to the multiple shock absorber execution modules. The current signal is inferred from the shock absorber damping value, and the goal of the shock absorber damping value is to optimize and minimize the vehicle body vibration. The shock absorber execution modules directly output the shock absorber damping force.

[0050] The CDC controller module comprises multiple control modules, specifically: the CDC "skylight" control module, the bump detection module, and the tilt and pitch control module. After these modules output current signals, they are "fused" by the combination module to output the final current value. During fusion, the current values ​​output by different modules are weighted according to different road conditions, and a total current is finally output; details will not be elaborated here.

[0051] The shock absorber execution module corresponds to the four CDC shock absorbers in the vehicle. Based on the input total current signal and the suspension height and / or suspension height change rate signal, it looks up the CDC shock absorber damping force in a table and outputs it as a signal. Parameter interfaces are reserved in each of these modules. After compilation into a controller DLL file, the signal inputs are the vehicle's X, Y, and Z direction acceleration, angular velocity, and suspension height signals. The parameter inputs are the same as the reserved parameters in each module, and the signal outputs are the damping force values ​​of the four CDC shock absorbers.

[0052] This invention relates to a vehicle dynamics model with a controller built on Adams / Car, comprising a sensor component and an execution component. The Adams / Car vehicle dynamics model includes components such as the body, suspension, and steering system. The suspension component includes suspension links, shock absorbers, springs, and other parts.

[0053] When establishing an Adams / Car vehicle dynamics model, sub-assemblies are typically created from corresponding suspension and body templates. These sub-assemblies inherit characteristics from the original templates, such as linkage connections, design variables, and state variables. Assembling these sub-assemblies into a final assembly yields the Adams / Car vehicle dynamics model. In this embodiment of the invention, to add a controller to the Adams / Car vehicle dynamics model, the original template needs to be modified, specifically by resetting the damping force actuator and signal input / output settings.

[0054] Based on the controller's required signal input, add the system state variables "damperLenthR / damperLenthR" to the suspension template and set the first monitoring function to monitor the distance between the upper and lower struts of the shock absorber, outputting the suspension height and / or suspension height change rate signal required by the CDC shock absorber controller. Add excitation ("Actuators") to read the damping signal force value of the CDC shock absorber and apply it between the upper and lower struts to replace the original shock absorber. Set the system state variables "AX / AY / AZ / WX / WY" and set the second monitoring function for each, to monitor the acceleration in the XYZ directions and the angular velocity in the XY direction at the vehicle's center of gravity, thereby outputting the vehicle's X, Y, and Z direction acceleration and X and Y direction angular velocity signals required by the CDC controller module. Take the system state variable "longitudinal_velocit-y" as the vehicle's X direction velocity signal and output it.

[0055] After assembling the vehicle model in Adams / Car, import the CDC controller library file into the vehicle model. Simultaneously, the parameter input interfaces reserved in the CDC controller library file are also set into the vehicle model. The built-in design variable modification tool allows for parameter tuning of the shock absorbers. After running the simulation, the simulation results can be directly viewed in the post-processing results.

[0056] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0057] Example 2

[0058] A performance development methodology for virtual CDC shock absorbers based on Adams / Car includes:

[0059] A control model is built in the Matlab / Simulink tool. The control model is used to output the damping force value of the shock absorber based on the vehicle driving information.

[0060] In the Matlab / Simulink tool, the control model is compiled into a controller DLL file using the compilation tools provided by the Adams / Car software.

[0061] Enable the Adams / Control module in the Adams / Car software to mount the generated controller DLL file into the Adams / Car environment;

[0062] Construct a controlled Adams / Car vehicle dynamics model in Adams / Car software based on vehicle dynamics model and simulation requirements;

[0063] The controller parameters are monitored in the Adams / Car vehicle dynamics model with control; the controller DLL file is called in the Adams / Car software to read the controller parameters, the controller DLL file reads the controller parameters and generates current value and suspension height change rate signal, and finally outputs the damping force value of each CDC shock absorber.

[0064] In some embodiments, a method for monitoring the parameters of the controller in the controlled Adams / Car vehicle dynamics model includes:

[0065] Create sub-assemblies from the suspension and body templates corresponding to the vehicle dynamics model included in Adams / Car; assemble the sub-assemblies into a final assembly to obtain the Adams / Car vehicle dynamics model; add parameter acquisition functions for the controller to the suspension and body templates and store them in the system state variables; declare the system state variables as external variables in the controller DLL file to obtain the controller parameters.

[0066] In some embodiments, the method for obtaining the suspension height change rate signal includes:

[0067] Add a first system state variable to the suspension template and set a first monitoring function to monitor the distance between the upper and lower sliding columns of the shock absorber. Obtain the suspension height change rate signal required by the CDC shock absorber controller based on the distance between the upper and lower sliding columns of the shock absorber and store it in the first system state variable.

[0068] In some embodiments, the shock absorber is incorporated into the control model, and the control model directly outputs the force value of the shock absorber, which is then applied to the suspension to function as the original shock absorber. Based on this, the model further includes: creating a new excitation model in the suspension template, reading the damping signal force value of the CDC shock absorber, and applying it between the upper and lower struts of the shock absorber to replace the original shock absorber in the vehicle dynamics model built into Adams / Car.

[0069] In some embodiments, the current value is calculated based on vehicle driving information, which includes the vehicle's acceleration and angular velocity in the X, Y, and Z directions, as well as its velocity in the X direction. The method for obtaining this information includes:

[0070] In the suspension template of the vehicle dynamics model, a second monitoring function is set to monitor the acceleration in the XYZ directions and the angular velocity in the XY direction at the center of gravity of the vehicle body, thereby obtaining the acceleration and angular velocity signals in the X, Y, and Z directions of the vehicle body for the controller DLL file to read; the "longitudinal_velocit-y" system state variable in Adams / Car is taken as the vehicle body X direction velocity signal for the controller DLL file to read.

[0071] In some embodiments, the control model includes a CDC controller module for obtaining current values ​​from controller parameters derived from the controlled Adams / Car vehicle dynamics model.

[0072] In some embodiments, the control model further includes multiple damper execution modules for outputting damper damping force values ​​based on the suspension height change rate signal and the current value output by the CDC controller module.

[0073] Example 3

[0074] A virtual CDC shock absorber performance development system based on Adams / Car includes:

[0075] Control model building unit: used to build a control model in Matlab / Simulink tools, which is used to output the damping force value of the shock absorber;

[0076] File building unit: used to compile the control model into a controller DLL file using the compilation tools provided by the Adams / Car software in the Matlab / Simulink tool;

[0077] File Mounting Unit: Used to enable the Adams / Control module in the Adams / Car software, thereby mounting the generated controller DLL file into the Adams / Car environment;

[0078] Vehicle Dynamics Model Building Unit: Used to build controlled Adams / Car vehicle dynamics models in Adams / Car software based on vehicle dynamics models and simulation requirements;

[0079] Damping value calculation unit: used to monitor the controller parameters in the controlled Adams / Car vehicle dynamics model; in the Adams / Car software, it calls the controller DLL file to read the controller parameters, and the controller DLL file obtains the damping force value of each CDC shock absorber based on the controller parameters.

[0080] Example 4

[0081] A computer program product comprising a computer program / instructions that, when executed by a processor, implement any step of the Adams / Car-based virtual CDC shock absorber performance development method.

[0082] Example 5

[0083] This invention also provides a computer-readable storage medium storing a computer program, which includes program instructions that, when executed by a processor, implement the various steps of the method described in this invention, which will not be elaborated further here.

[0084] The computer-readable storage medium can be the data transmission apparatus or the internal storage unit of a computer device provided in any of the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium can also be an external storage device of the computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the computer device.

[0085] Furthermore, the computer-readable storage medium may include both internal storage units and external storage devices of the computer device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium may also be used to temporarily store data that is to be output or has already been output.

[0086] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, 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 magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0087] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0088] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0090] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A method for developing the performance of a virtual CDC shock absorber based on Adams / Car, characterized in that, include: A control model is built in the Matlab / Simulink tool, which is used to output the damping force value of the shock absorber. Compile the control model into a controller DLL file using the Matlab / Simulink tool; In the Adams / Car software, enable the Adams / Control module to mount the controller DLL file into the Adams / Car environment; Construct a controlled Adams / Car vehicle dynamics model in Adams / Car software based on vehicle dynamics model and simulation requirements; The controller parameters are monitored in the Adams / Car vehicle dynamics model with control; the controller DLL file is called in the Adams / Car software to read the controller parameters, and the controller DLL file obtains the damping force value of each CDC shock absorber according to the controller parameters; The control model includes a CDC controller module for obtaining current values ​​from the controller parameters obtained from the controlled Adams / Car vehicle dynamics model; The control model also includes multiple shock absorber execution modules, which are used to output shock absorber damping force values ​​based on the suspension height change rate signal and the current value output by the CDC controller module. Methods for obtaining suspension height change rate signals include: In the suspension template of the vehicle dynamics model, a first system state variable is added, and a first monitoring function is set to monitor the distance between the upper and lower struts of the shock absorber. The required suspension height change rate signal is obtained based on the distance between the upper and lower struts of the shock absorber and stored in the first system state variable for the controller DLL file to read.

2. The method for developing the performance of a virtual CDC shock absorber based on Adams / Car as described in claim 1, characterized in that, Also includes: Create a new excitation model in the suspension template of the vehicle dynamics model, read the damping force signal of the CDC shock absorber and apply it between the upper and lower struts of the shock absorber to replace the original shock absorber in the vehicle dynamics model that comes with Adams / Car.

3. The method for developing the performance of a virtual CDC shock absorber based on Adams / Car as described in claim 1, characterized in that, Methods for monitoring controller parameters in the controlled Adams / Car vehicle dynamics model include: In the vehicle dynamics model, sub-assemblies are created from the suspension template and body template; the sub-assemblies are assembled into a final assembly to obtain the Adams / Car vehicle dynamics model; parameters acquisition functions for the controller are added to the suspension template and body template and stored in the system state variables; the system state variables are declared as external variables in the controller DLL file to obtain the parameters of the controller.

4. The method for developing the performance of a virtual CDC shock absorber based on Adams / Car as described in claim 1, characterized in that, The current value is calculated based on vehicle driving information, which includes the vehicle's acceleration and angular velocity in the X, Y, and Z directions, as well as its velocity in the X direction. The method for obtaining this information includes: In the suspension template of the vehicle dynamics model, a second monitoring function is set to monitor the acceleration in the XYZ directions and the angular velocity in the XY direction at the center of gravity of the vehicle body, thereby obtaining the acceleration signals in the X, Y, and Z directions and the angular velocity signals in the X and Y directions of the vehicle body for the controller DLL file to read; the "longitudinal_velocit-y" system state variable in Adams / Car is taken as the vehicle body X direction velocity signal for the controller DLL file to read.

5. A virtual CDC shock absorber performance development system based on Adams / Car using the method described in claim 1, characterized in that, include: Control model building unit: used to build a control model in Matlab / Simulink tools. The control model is used to output the damping force value of the shock absorber based on the current value and the suspension height change rate signal. File building unit: used to compile the control model into a controller DLL file in the Matlab / Simulink tool; File mounting unit: used to enable the Adams / Control module in the Adams / Car software to mount the controller DLL file into the Adams / Car environment; Vehicle Dynamics Model Building Unit: Used to build controlled Adams / Car vehicle dynamics models in Adams / Car software based on vehicle dynamics models and simulation requirements; Damping value calculation unit: used to monitor the controller parameters in the Adams / Car vehicle dynamics model with control; in the Adams / Car software, it calls the controller DLL file to read the controller parameters, the controller DLL file reads the controller parameters and generates current value and suspension height change rate signal, and finally outputs the damping force value of each CDC shock absorber.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the Adams / Car-based virtual CDC shock absorber performance development method as described in any one of claims 1 to 4.

7. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the Adams / Car-based virtual CDC shock absorber performance development method as described in any one of claims 1 to 4.

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