Solenoid valve current control method, device, storage medium and electronic device

Abstract

The present invention discloses a solenoid valve current control method, device, storage medium and electronic device. The method comprises: calibrating the current of a controller based on a target current value at a preset temperature, and determining a first mapping table of the calibrated controller; in response to receiving a damping adjustment request, determining a target current value based on a target damping value carried in the damping adjustment request; determining a target duty cycle corresponding to the target current value based on the target current value and the first mapping table; and controlling the output current of at least one solenoid valve to stabilize to the target current value based on the target duty cycle and the initial duty cycle, so as to adjust the damping force of the shock absorber. The present invention solves the technical problem in the related art that the proportional-integral-differential controller requires a certain amount of time to adjust, and there is a lag in current recovery.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and more specifically, to a method, apparatus, storage medium, and electronic device for controlling the current of an electromagnetic valve. Background Art

[0002] Solenoid valves are widely used in automotive HVAC systems, fuel injection systems, automatic transmission systems, electronic automatic transmission systems, new energy vehicle motor control, and digital drive controllers. As the actuator, the current in the solenoid coil controls the valve's opening degree, which in turn determines the damping of the medium flowing through it, thus affecting the system's response characteristics. Especially in HVAC systems, the opening degree of the solenoid valve determines the refrigerant flow rate, consequently impacting the system's operating efficiency. Therefore, controlling the current in the solenoid valve coil is crucial for improving system response.

[0003] The main strategies for controlling the current of the solenoid valve coil are as follows: constant current control, constant voltage control, and proportional-integral-derivative (PID) feedback control. PID feedback control can improve response speed and suppress current fluctuations, but it suffers from computational complexity, requiring large digital signal processing and status detection equipment, resulting in high system costs. Constant current control, on the other hand, has a slow response speed and requires coil current to exist over a wide load range, while the current adjustment of the solenoid valve coil has a long cycle.

[0004] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0005] This invention provides a method, apparatus, storage medium, and electronic device for controlling the current of a solenoid valve, in order to at least solve the technical problems in the related art where the proportional-integral-derivative controller requires a certain amount of time to adjust and there is a lag in current sampling.

[0006] According to one aspect of the present invention, a method for controlling the current of an electromagnetic valve is provided, comprising: calibrating a controller based on a target current value at a preset temperature, and determining a first mapping table of the calibrated controller, wherein the first mapping table is used to represent the mapping relationship between the output current and duty cycle of the calibrated controller, and the controller is used to control the output current of at least one electromagnetic valve; in response to receiving a damping adjustment request, determining a target current value based on a target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust the damping force of a shock absorber in a vehicle suspension system; determining a target duty cycle corresponding to the target current value based on the target current value and the first mapping table; and controlling the output current of the at least one electromagnetic valve to stabilize to the target current value based on the target duty cycle and an initial duty cycle to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle of the controller in the current output state.

[0007] Further, calibrating the controller based on the target current value at a preset temperature and determining the first mapping table of the calibrated controller includes: obtaining at least one calibration current value, wherein the at least one calibration current value is the current value requested by the at least one solenoid valve within a preset time period; at the preset temperature, adjusting the output current of the controller to the at least one calibration current value using a first proportional-integral-derivative control strategy, and obtaining the duty cycle corresponding to the at least one calibration current value; and determining the first mapping table based on the at least one calibration current value and the duty cycle corresponding to the at least one calibration current value.

[0008] Furthermore, in response to receiving a damping adjustment request, determining a target current value based on a target damping value carried in the damping adjustment request includes: in response to receiving the damping adjustment request, determining the target current value based on the target damping value and a second mapping table, wherein the second mapping table is used to represent the mapping relationship between the controller's output current and damping force.

[0009] Further, determining the target duty cycle corresponding to the target current value based on the target current value and the first mapping table includes: determining whether the target current value is recorded in the first mapping table, and obtaining a determination result; in response to the determination result indicating that the target current value is recorded in the first mapping table, searching in the first mapping table to obtain the target duty cycle corresponding to the target current value; in response to the determination result indicating that the target current value is not recorded in the first mapping table, determining the target duty cycle based on a linear matching strategy and the target current value.

[0010] Further, determining the target duty cycle based on the linear matching strategy and the target current value includes: determining the duty cycle interval to which the duty cycle corresponding to the target current value belongs in the first mapping table, wherein the maximum duty cycle within the duty cycle interval is the first duty cycle, and the minimum duty cycle within the duty cycle interval is the second duty cycle; determining the target duty cycle based on the first current value corresponding to the first duty cycle, the second current value corresponding to the second duty cycle, the target current value, and the first duty cycle.

[0011] Further, controlling the output current of the at least one solenoid valve to stabilize to the target current value based on the target duty cycle and the initial duty cycle includes: determining the difference between the target duty cycle and the initial duty cycle to obtain a difference duty cycle; responding to the absolute value of the difference duty cycle being greater than a preset difference, adjusting the duty cycle of the controller to a first preset value or a second preset value using a preset pass-through strategy to stabilize the output current of the at least one solenoid valve to the target current value; responding to the absolute value of the difference duty cycle being less than or equal to the preset difference, adjusting the duty cycle of the controller to the target duty cycle using a preset pulse width modulation strategy to stabilize the output current of the at least one solenoid valve to the target current value.

[0012] Furthermore, adjusting the duty cycle of the controller to a first preset value or a second preset value using a preset pass-through strategy includes: adjusting the duty cycle of the controller to the second preset value in response to the difference duty cycle being greater than zero; and adjusting the duty cycle of the controller to the first preset value in response to the difference duty cycle being less than or equal to zero.

[0013] Furthermore, the solenoid valve current control method also includes: using a second proportional-integral-derivative control strategy to control the output current of the at least one solenoid valve.

[0014] According to another aspect of the present invention, a solenoid valve current control device is also provided, comprising: a calibration module, configured to perform current calibration on a controller based on a target current value at a preset temperature, and determine a first mapping table of the calibrated controller, wherein the first mapping table is used to represent the mapping relationship between the output current and duty cycle of the calibrated controller, and the controller is used to control the output current of at least one solenoid valve; a first determination module, configured to determine a target current value based on a target damping value carried in a damping adjustment request in response to receiving a damping adjustment request, wherein the damping adjustment request is used to adjust the damping force of a shock absorber in a vehicle suspension system; a second determination module, configured to determine a target duty cycle corresponding to the target current value based on the target current value and the first mapping table; and a control module, configured to control the output current of at least one solenoid valve to stabilize to the target current value based on the target duty cycle and an initial duty cycle, so as to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle of the controller in the current output state.

[0015] Furthermore, the calibration module is also used to obtain at least one calibration current value, wherein the at least one calibration current value is the current value requested by at least one solenoid valve within a preset time period; at a preset temperature, the output current of the controller is adjusted to at least one calibration current value using a first proportional-integral-derivative control strategy, and the duty cycle corresponding to at least one calibration current value is obtained; and a first mapping table is determined based on at least one calibration current value and the duty cycle corresponding to at least one calibration current value.

[0016] Furthermore, the first determining module is also used to determine the target current value based on the target damping value and the second mapping table in response to receiving the damping adjustment request, wherein the second mapping table is used to represent the mapping relationship between the controller's output current and the damping force.

[0017] Furthermore, the second determining module is also used to determine whether the target current value is recorded in the first mapping table and obtain a determining result; in response to the determining result indicating that the target current value is recorded in the first mapping table, the target duty cycle corresponding to the target current value is found in the first mapping table; in response to the determining result indicating that the target current value is not recorded in the first mapping table, the target duty cycle is determined based on the linear matching strategy and the target current value.

[0018] Furthermore, the second determining module is also used to determine the duty cycle interval to which the duty cycle corresponding to the target current value belongs in the first mapping table, wherein the maximum duty cycle within the duty cycle interval is the first duty cycle, and the minimum duty cycle within the duty cycle interval is the second duty cycle; the target duty cycle is determined based on the first current value corresponding to the first duty cycle, the second current value corresponding to the second duty cycle, the target current value, and the first duty cycle.

[0019] Furthermore, the control module is also used to determine the difference between the target duty cycle and the initial duty cycle to obtain the difference duty cycle; in response to the absolute value of the difference duty cycle being greater than the preset difference, a preset pass-through strategy is used to adjust the duty cycle of the controller to a first preset value or a second preset value so that the output current of at least one solenoid valve is stabilized to the target current value; in response to the absolute value of the difference duty cycle being less than or equal to the preset difference, a preset pulse width modulation strategy is used to adjust the duty cycle of the controller to the target duty cycle so that the output current of at least one solenoid valve is stabilized to the target current value.

[0020] Furthermore, the control module is also used to adjust the duty cycle of the controller to a second preset value in response to a difference duty cycle greater than zero; and to adjust the duty cycle of the controller to a first preset value in response to a difference duty cycle less than or equal to zero.

[0021] Furthermore, the control module is also used to control the output current of at least one solenoid valve using a second proportional-integral-derivative control strategy.

[0022] Embodiments of this application also provide a vehicle, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0023] According to another aspect of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0024] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0025] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0026] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0027] According to another aspect of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0028] In this embodiment of the invention, a method for current calibration of the controller based on a target current value is adopted. A first mapping table for the controller is determined, and this first mapping table is used to represent the mapping relationship between the output current and the duty cycle. Upon receiving a damping adjustment request, the target current value is determined according to the target damping value in the request, and the target duty cycle corresponding to the target current value is further determined. By controlling the output current of the solenoid valve to stabilize to the target current value, the damping force of the shock absorber can be adjusted. This achieves the goal of focusing only on the current-type variable damping valve without involving how to determine the damping magnitude, thereby realizing the technical effect of quickly reaching the specified target current and achieving damping control. This solves the technical problem in related technologies where proportional-integral-derivative controllers require a certain amount of time to adjust and current feedback has a lag. Attached Figure Description

[0029] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0030] Figure 1 This is a flowchart of a solenoid valve current control method according to one embodiment of the present invention;

[0031] Figure 2 This is a flowchart of current calibration under constant temperature conditions according to one embodiment of the present invention;

[0032] Figure 3 This is a flowchart of calculating the target duty cycle according to one embodiment of the present invention;

[0033] Figure 4 This is a flowchart of entering constant current PID feedback control according to one embodiment of the present invention;

[0034] Figure 5 This is a structural block diagram of a solenoid valve current control device according to one embodiment of the present invention. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] According to an embodiment of the present invention, a method embodiment for controlling the current of a solenoid valve is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0038] This application provides a method for controlling the current of an electromagnetic valve. This method can be used to provide electromagnetic valve current control functionality for preset application scenarios. These preset application scenarios may include the following scenarios in the vehicle field: autonomous driving scenarios for commuting, AI-powered driver assistance scenarios for family cars, automatic parking assistance (APA) scenarios (such as memory parking for self-owned parking spaces in garages, intelligent parking for designated parking spaces in parking lots, etc.), and navigation-guided pilot (NGP) scenarios in urban or highway areas. Furthermore, these preset application scenarios may also include, but are not limited to: electromagnetic valve current control scenarios for intelligent driving trucks or unmanned trucks in the logistics and transportation field, and electromagnetic valve current control scenarios for autonomous agricultural vehicles in the agricultural machinery field.

[0039] When the aforementioned preset application scenario is a scenario in a field other than the vehicle field, those skilled in the art should understand that the vehicle in the above-mentioned solenoid valve current control method can be replaced with other objects (such as agricultural machinery). Based on this, this application embodiment takes the field of vehicle control technology as an example to illustrate the specific implementation of the above-mentioned solenoid valve current control method.

[0040] Figure 1 This is a flowchart of a solenoid valve current control method according to one embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0041] Step S10: The controller is calibrated based on the target current value at a preset temperature, and the first mapping table of the calibrated controller is determined. The first mapping table is used to represent the mapping relationship between the output current and the duty cycle of the calibrated controller. The controller is used to control the output current of at least one solenoid valve.

[0042] In this embodiment of the invention, the preset temperature can be understood as a constant temperature condition set during controller calibration. For example, the performance of the solenoid valve and controller is affected by ambient temperature; therefore, calibration must be performed in a controlled temperature environment to ensure the accuracy and consistency of the calibration results. The preset temperature should typically be a temperature value that represents the operating range of the solenoid valve, such as 25°C (room temperature), or selected according to the actual application environment; no limitation is imposed here.

[0043] The target current value can be understood as the specific current value that the controller attempts to achieve with the solenoid valve during the current calibration process. For example, the magnitude of the current value directly affects the damping effect of the solenoid valve, and thus its control performance. During calibration, a series of target current values ​​(I1 to In) are set, and the actual output current of the solenoid valve is made to approach these target values ​​through controller adjustments (such as PID control).

[0044] Current calibration can be understood as a systematic testing and adjustment process aimed at determining the pulse width modulation (PWM) duty cycle that the controller should output under different target current values, so that the current output by the solenoid valve reaches the expected accurate value.

[0045] The first mapping table can be understood as a data table generated based on the current calibration results, representing the relationship between the PWM duty cycle output by the controller and the solenoid valve output current. For example, the establishment of the mapping table allows the controller to directly look up the corresponding duty cycle value in the mapping table based on the damping requirements (converted into target current) issued by the system layer in practical applications, without needing to perform PID adjustment again, thereby speeding up the response. This is not a limitation here.

[0046] A solenoid valve can be understood as a valve that uses electromagnetic force to control fluids. It is widely used in intelligent chassis control systems of automobiles (such as CDC - Constantly Damping Control) to adjust the damping effect of shock absorbers.

[0047] Current calibration of the controller based on the target current value at a preset temperature can be understood as accurately measuring and adjusting the output characteristics of the controller under specific temperature conditions to ensure that the controller can accurately drive the solenoid valve to achieve the current value required by the system.

[0048] The first mapping table of the calibrated controller can be understood as, after completing the current calibration process, establishing and solidifying a correspondence table between the duty cycle of the controller's output PWM signal and the actual output current of the solenoid valve based on the collected experimental data.

[0049] In this embodiment of the invention, by calibrating the controller based on the target current value at a preset temperature and determining the first mapping table of the calibrated controller, the response speed, control accuracy and overall reliability of the solenoid valve control system can be significantly improved, while reducing the complexity and cost of production and debugging. This plays an important role in improving the intelligent chassis control performance of vehicles.

[0050] Step S11: In response to receiving a damping adjustment request, determine a target current value based on the target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust the damping force of the shock absorber in the vehicle suspension system.

[0051] In this embodiment of the invention, a damping adjustment request can be understood as an instruction or signal issued by the vehicle's central control system or a specific vehicle control unit (such as a CDC control unit) to adjust the damping force of the shock absorbers in the vehicle's suspension system to adapt to different driving conditions or provide the best driving experience.

[0052] The target damping value can be understood as a quantified value representing the desired damping force of the shock absorbers in the vehicle's suspension system. For example, the target damping value is calculated by the vehicle control system based on real-time vehicle status and road conditions, and is core information in damping adjustment requests; however, this is not limited to specific cases.

[0053] The target current value can be understood as being derived from the target damping value through a damping-current mapping table, and is the current magnitude that the controller needs to achieve when controlling the solenoid valve.

[0054] The vehicle suspension system can be understood as the component that connects the wheels and the vehicle body to absorb road impacts and maintain vehicle stability and ride comfort. The vehicle suspension system mainly consists of springs, shock absorbers, linkages, and stabilizer bars. Among them, the shock absorbers (also known as dampers) adjust the vehicle's vibration absorption and control performance by controlling the damping force of the relative motion between the wheels and the vehicle body; this is not a limitation here.

[0055] Shock absorbers can be understood as an important component of a vehicle's suspension system, used to suppress the oscillations when the springs absorb shocks and the impacts from the road surface.

[0056] In response to receiving a damping adjustment request, determining the target current value based on the target damping value carried in the damping adjustment request can be understood as the controller looking up and determining the current magnitude that the solenoid valve should reach based on the damping adjustment request issued by the vehicle control system (which includes the target damping value) and the damping-current mapping table.

[0057] In this embodiment of the invention, the target current value is directly determined based on the target damping value in the damping adjustment request, and the output of the solenoid valve is quickly controlled. This can significantly improve the control accuracy and response speed of the vehicle suspension system, simplify the control system design, and improve energy efficiency.

[0058] Step S12: Determine the target duty cycle corresponding to the target current value based on the target current value and the first mapping table;

[0059] In this embodiment of the invention, the target duty cycle can be understood as the duty cycle value of the PWM (Pulse Width Modulation) signal that the controller needs to set in order for the solenoid valve output to reach the target current value.

[0060] Determining the target duty cycle corresponding to the target current value based on the target current value and the first mapping table can be understood as follows: based on the target current value and the first mapping table, the controller determines the duty cycle of the PWM signal that can generate this current by looking up the position of the target current value in the mapping table, i.e., the target duty cycle.

[0061] In this embodiment of the invention, the target duty cycle corresponding to the target current value is determined based on the target current value and the first mapping table, which can significantly improve the control accuracy, response speed and system stability of the intelligent chassis control system. At the same time, it simplifies the control algorithm, optimizes energy utilization, and ultimately improves the driving experience and enhances driving safety.

[0062] Step S13: Based on the target duty cycle and the initial duty cycle, control the output current of at least one solenoid valve to stabilize to the target current value in order to adjust the damping force of the shock absorber. The initial duty cycle is used to represent the duty cycle of the controller in the current output state.

[0063] In this embodiment of the invention, the initial duty cycle can be understood as the duty cycle of the PWM signal currently being output by the controller before receiving a damping adjustment request (i.e., the need to adjust the solenoid valve current to change the damping force of the shock absorber).

[0064] Controlling the output current of at least one solenoid valve to stabilize to the target current value based on the target duty cycle and the initial duty cycle in order to adjust the damping force of the shock absorber can be understood as combining the target duty cycle and the initial duty cycle, and controlling the current of the solenoid valve quickly and accurately by directly or gradually adjusting the duty cycle of the PWM signal, so as to achieve instantaneous adjustment of the damping force of the shock absorber.

[0065] In this embodiment of the invention, by directly adjusting the PWM duty cycle to the target value and combining it with the current initial duty cycle state, the current of the solenoid valve is quickly and accurately controlled, thereby efficiently adjusting the damping force of the shock absorber, enhancing the dynamic response capability and overall performance of the vehicle's intelligent chassis, and also improving energy efficiency and system robustness.

[0066] By calibrating the controller based on a target current value at a preset temperature and determining the first mapping table of the calibrated controller, the response speed, control accuracy, and overall reliability of the solenoid valve control system can be significantly improved, while reducing the complexity and cost of production and debugging. This plays a crucial role in enhancing the intelligent chassis control performance of vehicles. Directly determining the target current value based on the target damping value in the damping adjustment request and rapidly controlling the solenoid valve output can significantly improve the control accuracy and response speed of the vehicle suspension system, simplify control system design, and improve energy efficiency. Determining the target duty cycle corresponding to the target current value based on the target current value and the first mapping table can significantly improve the control accuracy, response speed, and system stability of the intelligent chassis control system, while simplifying the control algorithm, optimizing energy utilization, and ultimately improving the driving experience and enhancing driving safety. By directly adjusting the PWM duty cycle to the target value, combined with the current initial duty cycle state, rapid and precise control of the solenoid valve current is achieved, thereby efficiently adjusting the damping force of the shock absorber, enhancing the dynamic response capability and overall performance of the vehicle's intelligent chassis, while also improving energy efficiency and system robustness.

[0067] Through the above steps, a method for current calibration of the controller based on the target current value can be achieved. A first mapping table for the controller is established and used to represent the mapping relationship between the output current and the duty cycle. Upon receiving a damping adjustment request, the target current value is determined based on the target damping value in the request, and the target duty cycle corresponding to the target current value is further determined. By controlling the output current of the solenoid valve to stabilize to the target current value, the damping force of the shock absorber can be adjusted. This achieves the goal of focusing only on the current-type variable damping valve without considering how to determine the damping magnitude, thus realizing the technical effect of quickly reaching the specified target current and achieving damping control. This solves the technical problems in related technologies where proportional-integral-derivative controllers require a certain amount of time to adjust and current feedback has a lag.

[0068] Optionally, in step S10, calibrating the controller based on the target current value at a preset temperature and determining the first mapping table of the calibrated controller may include the following steps:

[0069] Step S101: Obtain at least one calibration current value, wherein the at least one calibration current value is the current value requested by at least one solenoid valve within a preset time period.

[0070] Step S102: At a preset temperature, the first proportional-integral-derivative control strategy is used to adjust the output current of the controller to at least one calibrated current value, and the duty cycle corresponding to at least one calibrated current value is obtained.

[0071] Step S103: Determine the first mapping table based on at least one calibration current value and the duty cycle corresponding to at least one calibration current value.

[0072] In this embodiment of the invention, the calibration current value can be understood as the current value that the solenoid valve needs to reach, which is preset in the controller calibration process.

[0073] The preset time period can be understood as a time window used to monitor and confirm whether the solenoid valve stably reaches the calibrated current value during the calibration process.

[0074] The first proportional-integral-derivative (PID) control strategy can be understood as a closed-loop control strategy. It adjusts the controller output by calculating the control actions of the proportional (P), integral (I), and derivative (D) components to reduce the error between the measured value and the desired value. Specifically, the proportional component is responsible for rapid error response, the integral component eliminates steady-state error, and the derivative component predicts the trend of error change, thereby achieving precise and stable current control.

[0075] Obtain at least one calibrated current value, wherein at least one calibrated current value is the current value requested by at least one solenoid valve within a preset time period. This can be understood as finding typical or frequent current values ​​requested by the solenoid valve within a preset time period by analyzing the vehicle's operating data in different preset time periods.

[0076] At a preset temperature, the first proportional-integral-derivative (PI-DE) control strategy is used to adjust the controller's output current to at least one calibrated current value, and the duty cycle corresponding to at least one calibrated current value is obtained. This can be understood as placing the solenoid valve in an environment that can maintain a preset temperature before calibrating the controller. The parameters of the PID control strategy are preset in the controller. For each calibrated current value, the controller dynamically adjusts the output signal, usually the duty cycle of the PWM signal, through the PID algorithm, so that the current of the solenoid valve reaches and stabilizes at the target calibrated current value. All calibrated current values ​​and their corresponding duty cycles are recorded to form a current-duty cycle mapping table, which is not limited here.

[0077] Determining the first mapping table based on at least one calibration current value and the corresponding duty cycle of at least one calibration current value can be understood as creating a precise mapping relationship between the associated solenoid valve current and the PWM signal duty cycle during the controller calibration phase.

[0078] In this embodiment of the invention, obtaining the calibration current value, adjusting the current using a PID control strategy at a preset temperature to obtain the duty cycle, and establishing a first mapping table based on the above data significantly improves the performance of the intelligent chassis control system, including response speed, control accuracy, and system robustness, while also simplifying production debugging and subsequent maintenance work.

[0079] Optionally, in step S11, in response to receiving a damping adjustment request, determining the target current value based on the target damping value carried in the damping adjustment request may include the following execution steps:

[0080] Step S111: In response to receiving a damping adjustment request, determine a target current value based on the target damping value and a second mapping table, wherein the second mapping table is used to represent the mapping relationship between the controller's output current and the damping force.

[0081] In this embodiment of the invention, the second mapping table can be understood as a data mapping relationship pre-established based on experimental data or theoretical calculations, which is based on the complex relationship between the solenoid valve, the controller and the vehicle shock absorption system.

[0082] In response to a received damping adjustment request, the system determines the target current value based on the target damping value and the second mapping table. This can be understood as follows: when the system detects a need to adjust the damping force of the shock absorber to optimize vehicle handling or ride comfort, it generates a damping adjustment request. When the control system receives this request, it queries the second mapping table based on the target damping value in the request. By finding the record corresponding to the target damping value, the control system can determine the target current value that the solenoid valve needs to achieve.

[0083] In this embodiment of the invention, the target current value is determined by using the target damping value and the second mapping table, which not only improves the response speed and control accuracy of damping adjustment, but also simplifies the design and maintenance of the control system and enhances its adaptability and robustness under complex driving conditions.

[0084] Optionally, in step S12, determining the target duty cycle corresponding to the target current value based on the target current value and the first mapping table may include the following steps:

[0085] Step S121: Determine whether the target current value is recorded in the first mapping table, and obtain the determination result;

[0086] Step S122: In response to the determination result indicating that the target current value is recorded in the first mapping table, the target duty cycle corresponding to the target current value is found in the first mapping table;

[0087] Step S123: In response to the determination result indicating that the target current value is not recorded in the first mapping table, the target duty cycle is determined based on the linear matching strategy and the target current value.

[0088] In this embodiment of the invention, the determination result can be understood as the control system's judgment on whether the target current value exists in the first mapping table.

[0089] The linear matching strategy can be understood as a calculation method for estimating the duty cycle of the PWM signal corresponding to the target current value when the target current value is not directly recorded in the first mapping table.

[0090] Determining whether the target current value is recorded in the first mapping table can be interpreted as follows: if the target current value has an exact match in the first mapping table, meaning the control system can directly find the PWM duty cycle corresponding to this current value, then the "determination result" is positive, indicating that the target value is directly usable without additional calculation, and precise control can be executed immediately. Conversely, if the target current value does not find a match in the first mapping table, the "determination result" is negative, meaning that an alternative strategy needs to be adopted to determine the target duty cycle.

[0091] In response to the determination result, the target current value is recorded in the first mapping table. Finding the target duty cycle corresponding to the target current value in the first mapping table can be understood as the control system quickly searching for the target duty cycle corresponding to this current value in the mapping table once it determines that the target current value exists in the first mapping table.

[0092] In response to the determination result indicating that the target current value is not recorded in the first mapping table, the determination of the target duty cycle based on the linear matching strategy and the target current value can be understood as follows: if the control system determines that the target current value is not recorded in the first mapping table, the control system will determine the target duty cycle based on the linear matching strategy and the target current value.

[0093] In this embodiment of the invention, when the control system processes a damping adjustment request, it determines the target duty cycle by using a direct lookup or linear matching strategy based on the lookup result of the target current value in the first mapping table. This enables efficient and precise control of the solenoid valve current, thereby achieving rapid adjustment of the damping force, optimizing the vehicle's dynamic performance and ride experience, while also simplifying the control process and maintenance work, and improving the overall robustness and efficiency of the system.

[0094] Optionally, in step S123, determining the target duty cycle based on the linear matching strategy and the target current value may include the following execution steps:

[0095] Step S1231: Determine the duty cycle interval to which the duty cycle corresponding to the target current value belongs in the first mapping table, wherein the maximum duty cycle within the duty cycle interval is the first duty cycle, and the minimum duty cycle within the duty cycle interval is the second duty cycle.

[0096] Step S1232: Determine the target duty cycle based on the first current value corresponding to the first duty cycle, the second current value corresponding to the second duty cycle, the target current value, and the first duty cycle.

[0097] In this embodiment of the invention, the first duty cycle can be understood as the duty cycle interval to which the target current value belongs when the target current value is not directly recorded in the first mapping table. For example, the interval is defined by two boundary values ​​[Da, Db], where the first duty cycle Da is the largest PWM duty cycle value in the interval, which is not limited here.

[0098] The second duty cycle can be understood as the smallest PWM duty cycle value within the aforementioned duty cycle range. For example, the second duty cycle can be Db.

[0099] The first current value can be understood as the current value associated with the first duty cycle in the first mapping table. The first current value is the largest of the current values ​​within the aforementioned duty cycle range, and can be represented as I. Da This is usually the duty cycle at a higher current level that the control system attempts to achieve during the calibration phase.

[0100] The second current value can be understood as the current value associated with the second duty cycle in the first mapping table. The second current value is the smallest of the current values ​​in the aforementioned duty cycle range, and can be represented as I. Db This represents the duty cycle at a lower current level that the control system attempts to achieve during the calibration phase.

[0101] Determining the duty cycle range corresponding to the target current value in the first mapping table can be understood as a set of mapping relationships between current values ​​obtained experimentally and PWM signal duty cycles. For example, the target current value can be represented as I... target By searching the set of mapping relationships, the system can determine the interval to which the target current value belongs, as well as the first and second duty cycles within that interval.

[0102] Determining the target duty cycle based on the first current value corresponding to the first duty cycle, the second current value corresponding to the second duty cycle, the target current value, and the first duty cycle can be understood as the control system using a linear interpolation algorithm to estimate the duty cycle of the PWM signal corresponding to the uncalibrated current value based on the first current value corresponding to the first duty cycle, the second current value corresponding to the second duty cycle, the target current value, and the first duty cycle.

[0103] In this embodiment of the invention, by determining the duty cycle range to which the target current value belongs in the first mapping table and determining the target duty cycle based on a linear interpolation algorithm, the control system can achieve rapid and accurate adjustment of the solenoid valve current, improve the efficiency and accuracy of damping force adjustment, simplify calibration and maintenance processes, reduce computational resource consumption, and enhance the system's adaptability and flexibility to changing driving conditions.

[0104] Optionally, in step S13, controlling the output current of at least one solenoid valve to stabilize to the target current value based on the target duty cycle and the initial duty cycle may include the following execution steps:

[0105] Step S131: Determine the difference between the target duty cycle and the initial duty cycle to obtain the difference duty cycle;

[0106] Step S132: In response to the absolute value of the difference duty cycle being greater than the preset difference, a preset pass-through strategy is adopted to adjust the duty cycle of the controller to the first preset value or the second preset value so that the output current of at least one solenoid valve is stabilized to the target current value.

[0107] In step S133, in response to the absolute value of the difference duty cycle being less than or equal to a preset difference, a preset pulse width modulation strategy is used to adjust the duty cycle of the controller to the target duty cycle so that the output current of at least one solenoid valve is stabilized to the target current value.

[0108] In this embodiment of the invention, the difference duty cycle can be understood as the difference between the target duty cycle (the duty cycle of the PWM signal that the controller needs to output in order to achieve the target current value) and the current initial duty cycle (the duty cycle of the PWM signal that the controller is currently outputting).

[0109] The preset difference can be understood as a system-preset threshold used to determine whether the absolute value of the difference duty cycle exceeds a certain range. It can be represented as Z, and there is no restriction here.

[0110] The preset pass-through strategy can be understood as a strategy that directly sets the duty cycle of the PWM signal to either fully on (100%) or fully off (0%).

[0111] The first preset value can be understood as the duty cycle value of the PWM signal output by the controller. For example, the first preset value is 100% or 0%, which is not limited here.

[0112] The second preset value can be understood as the duty cycle value of the PWM signal output by the controller. For example, the second preset value is 100% or 0%, which is not limited here.

[0113] The preset pulse width modulation strategy can be understood as a strategy that uses fine adjustment of the duty cycle of the PWM signal to make the solenoid valve current change smoothly and eventually stabilize at the target current value.

[0114] Determining the difference between the target duty cycle and the initial duty cycle, the resulting difference duty cycle can be understood as the difference between the target duty cycle and the initial duty cycle. For example, the calculation formula is ΔD = D. target -D initial Among them, D targetIt is the target duty cycle, D initial It is the initial duty cycle, and ΔD is the difference duty cycle, which is used to quantify the magnitude and direction of the control action. It is not restricted here.

[0115] In response to the absolute value of the difference duty cycle being greater than a preset difference, a preset pass-through strategy is adopted to adjust the controller's duty cycle to a first preset value or a second preset value, so that the output current of at least one solenoid valve stabilizes to the target current value. This can be understood as follows: when the detected absolute value of the difference duty cycle (|ΔD|) exceeds the preset difference (Z, a system preset threshold), it indicates that the current state of the solenoid valve is significantly different from the target current value, requiring rapid adjustment. In order to quickly narrow the gap between the current state of the solenoid valve and the target current value, the control system adopts a preset pass-through strategy to allow the duty cycle of the controller's output PWM signal to jump directly to the first preset value or the second preset value, aiming to enable the output current of at least one solenoid valve to approach the target value as quickly as possible.

[0116] In response to the absolute value of the difference duty cycle being less than or equal to a preset difference, a preset pulse width modulation strategy is used to adjust the controller's duty cycle to the target duty cycle, so that the output current of at least one solenoid valve stabilizes to the target current value. This can be understood as follows: if |ΔD| is less than or equal to the preset difference (Z), it indicates that the difference between the current state of the solenoid valve and the target current value is within a controllable range, and the controller will adjust the duty cycle according to the target duty cycle D. target Adjust the duty cycle of its PWM signal output to achieve the target current value I. target .

[0117] In this embodiment of the invention, by detecting the duty cycle of the difference and selecting an appropriate control strategy based on its absolute value, the control system can intelligently select the control strategy most suitable for the current situation, which ensures both rapid response when there are large current changes and high precision and smooth transition when there are small current adjustments, effectively improving system performance.

[0118] Optionally, in step S132, adjusting the controller's duty cycle to a first preset value or a second preset value using a preset pass-through strategy may include the following execution steps:

[0119] Step S1321: In response to the difference duty cycle being greater than zero, adjust the duty cycle of the controller to the second preset value;

[0120] Step S1322: In response to the difference duty cycle being less than or equal to zero, the duty cycle of the controller is adjusted to the first preset value.

[0121] In this embodiment of the invention, adjusting the duty cycle of the controller to the second preset value in response to the difference duty cycle being greater than zero can be understood as adjusting the duty cycle of the controller's PWM signal to the maximum second preset value (100%) when the target current value is greater than the current value.

[0122] In response to a difference duty cycle less than or equal to zero, adjusting the controller's duty cycle to the first preset value can be understood as adjusting the controller's PWM signal duty cycle to the first preset value (0%) when the target current value is less than or equal to the current current value.

[0123] In this embodiment of the invention, the control system can quickly adjust the duty cycle of the controller's PWM signal to a preset value according to the sign of the difference duty cycle, which can significantly improve the efficiency, response speed and accuracy of the solenoid valve current control, while optimizing energy consumption, reducing costs and enhancing the stability and reliability of the system.

[0124] Optionally, the solenoid valve current control method further includes:

[0125] The output current of at least one solenoid valve is controlled by a second proportional-integral-derivative control strategy.

[0126] In this embodiment of the invention, the second proportional-integral-derivative control strategy can be understood as a strategy that dynamically adjusts the output of the controller by calculating the difference between the process variable and the target value, using three control parameters: proportional (P), integral (I), and derivative (D), in order to achieve stable control of the process.

[0127] Using a second proportional-integral-derivative (PID) control strategy to control the output current of at least one solenoid valve can be understood as using a PID control algorithm to finely adjust the current output of the solenoid valve at a certain stage or under specific conditions in the control process, so as to achieve and maintain the target current value.

[0128] In this embodiment of the invention, by utilizing PID regulation to control the continuous current of the valve body, not only can precise and stable current control be provided, but also dynamic response can be optimized, different working conditions can be adapted, energy consumption can be managed efficiently, and system robustness can be enhanced.

[0129] Figure 2 This is a flowchart of current calibration under isothermal conditions according to one embodiment of the present invention, such as... Figure 2 As shown, when starting current calibration under constant temperature conditions, first input a series of commonly used current values ​​I1 to In, then use PID control to make the target current I1 stable and record the corresponding duty cycle D1. Repeat the above steps until the target current In reaches stability, record the corresponding duty cycle Dn, and then store the current-duty cycle mapping table. At this point, the calibration process ends.

[0130] Figure 3This is a flowchart of calculating the target duty cycle according to one embodiment of the present invention, such as... Figure 3 As shown, the system first receives the target damping command and then uses the damping-current mapping to find the corresponding target current value I. target Then determine the target current I. target If a precise match cannot be found in the calibrated current-duty cycle mapping table, then the target current must be determined within the current-duty cycle MAP interval [Da, Db]. Next, linear interpolation is used to calculate and obtain the target duty cycle D. target At this point, the process of calculating the target duty cycle ends, and the control strategy is ready to be executed.

[0131] Figure 4 This is a flowchart of the constant current PID feedback control according to one embodiment of the present invention, such as... Figure 4 As shown, first determine the target duty cycle D. target Calculate the current duty cycle D initial Duty cycle D target The difference between the two values ​​is ΔD. Then, it is determined whether ΔD is greater than the preset value Z. If ΔD is less than or equal to the preset value Z, it is considered a hot start, and constant current PID feedback control is initiated. If ΔD is greater than the preset value Z, it is considered a cold start. Further, it is determined whether ΔD is greater than 0. If ΔD>0, the PWM duty cycle is set to 0% to rapidly increase the solenoid valve current. If ΔD≤0, the PWM duty cycle is set to 100% to rapidly decrease the solenoid valve current. Next, the solenoid valve loop current is detected, and it is determined whether the detected solenoid valve loop current reaches the target value. If it does, the PWM duty cycle is adjusted to D. target And the process ends. If it is not achieved, return to the step of detecting the solenoid valve loop current, continue to detect and adjust until the current stabilizes at the target value.

[0132] In this embodiment of the invention, for the solenoid valve, the equivalent model can be replaced by a simple inductor + resistor, which means that the parameter differences for the same model of solenoid valve are controllable. For the controller, due to the large number and complexity of discrete components, the corresponding equivalent model cannot be simply represented, and the accuracy is uncontrollable. Therefore, a separate calibration process is required to unify the differences between each controller. After calibration, the controller eliminates errors and does not need to perform a PID adjustment process every time it receives a damping adjustment command from the system layer. It only needs to directly take the value from the calibrated current-duty cycle correspondence table for output, reducing the load on the control unit and improving the response speed. In this embodiment of the invention, it is mainly divided into two stages: the controller production stage and the vehicle application stage. (1) Calibration process: The current-duty cycle mapping table of each controller is obtained by controlling the same solenoid valve to achieve the target current. The purpose of this is to eliminate the differences in individual controller parameters and ensure the accuracy of the output current. The current value during calibration can be any value. The best choice is to calibrate according to the current value frequently requested by the solenoid valve during vehicle road test and adjustment to maximize the matching degree during later vehicle installation. (2) Vehicle application: After receiving the damping adjustment requirement of the system layer, the corresponding target current value is found through the damping-current mapping table. The target current value I is then used to determine the target current value. target The system searches the current calibration library for an exact match. If no exact match is found, a linear match is used to determine the target duty cycle (based on actual measurements, the current value and the duty cycle are linearly related). After obtaining the target duty cycle, it is compared with the current output state (e.g., when the system is stationary or the current suddenly changes from maximum to minimum). If the change exceeds a certain value Z, it is determined to be a cold start mode, and a direct-through mode is used to quickly reach the target current (the PWM output is not controlled; the valve body current is quickly increased / decreased by directly turning on / off the power). If the change is small, the output duty cycle is directly adjusted to the target duty cycle. After the current stabilizes, the PID control is used to maintain the valve body current.

[0133] In this embodiment of the invention, during controller calibration, the target current is directly valued using an equal-value interval division method, and an approximate equation is fitted. During vehicle installation, the target duty cycle is directly calculated by substituting the required current value. The controller in this embodiment of the invention incorporates a constant-temperature calibration step, integrated into a high-temperature aging test environment, thereby reducing individual errors. By rapidly responding to system-level adjustment demands, the controller execution time is reduced, the CDC response control cycle is improved, and the process of determining initial values ​​for PID regulation is reduced, lowering the computational load on the control system and thus improving the robustness of the multi-valve simultaneous control system.

[0134] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

[0135] According to an embodiment of the present invention, a device embodiment for controlling the current of a solenoid valve is provided. It should be noted that the device can be used to execute the above-described method for controlling the current of a solenoid valve.

[0136] Figure 5 This is a structural block diagram of a solenoid valve current control device according to one embodiment of the present invention, such as... Figure 5 As shown, an example is a solenoid valve current control device 500, which includes: a calibration module 501, used to calibrate the controller based on a target current value at a preset temperature, and determine a first mapping table of the calibrated controller, wherein the first mapping table is used to represent the mapping relationship between the output current and duty cycle of the calibrated controller, and the controller is used to control the output current of at least one solenoid valve; a first determination module 502, used to determine a target current value based on a target damping value carried in a damping adjustment request received, wherein the damping adjustment request is used to adjust the damping force of the shock absorber in the vehicle suspension system; a second determination module 503, used to determine the target duty cycle corresponding to the target current value based on the target current value and the first mapping table; and a control module 504, used to control the output current of at least one solenoid valve to stabilize to the target current value based on the target duty cycle and an initial duty cycle to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle of the controller in the current output state.

[0137] Furthermore, the calibration module 501 is also used to obtain at least one calibration current value, wherein the at least one calibration current value is the current value requested by at least one solenoid valve within a preset time period; at a preset temperature, the output current of the controller is adjusted to at least one calibration current value using a first proportional-integral-derivative control strategy, and the duty cycle corresponding to at least one calibration current value is obtained; and a first mapping table is determined based on at least one calibration current value and the duty cycle corresponding to at least one calibration current value.

[0138] Furthermore, the first determining module 502 is also configured to, in response to receiving a damping adjustment request, determine a target current value based on a target damping value and a second mapping table, wherein the second mapping table is used to represent the mapping relationship between the controller's output current and the damping force.

[0139] Furthermore, the second determining module 503 is also used to determine whether the target current value is recorded in the first mapping table and obtain a determination result; in response to the determination result indicating that the target current value is recorded in the first mapping table, the target duty cycle corresponding to the target current value is found in the first mapping table; in response to the determination result indicating that the target current value is not recorded in the first mapping table, the target duty cycle is determined based on the linear matching strategy and the target current value.

[0140] Furthermore, the second determining module 503 is also used to determine the duty cycle interval to which the duty cycle corresponding to the target current value belongs in the first mapping table, wherein the maximum duty cycle within the duty cycle interval is the first duty cycle, and the minimum duty cycle within the duty cycle interval is the second duty cycle; the target duty cycle is determined based on the first current value corresponding to the first duty cycle, the second current value corresponding to the second duty cycle, the target current value, and the first duty cycle.

[0141] Furthermore, the control module 504 is also used to determine the difference between the target duty cycle and the initial duty cycle to obtain the difference duty cycle; in response to the absolute value of the difference duty cycle being greater than the preset difference, a preset pass-through strategy is used to adjust the duty cycle of the controller to a first preset value or a second preset value so that the output current of at least one solenoid valve is stabilized to the target current value; in response to the absolute value of the difference duty cycle being less than or equal to the preset difference, a preset pulse width modulation strategy is used to adjust the duty cycle of the controller to the target duty cycle so that the output current of at least one solenoid valve is stabilized to the target current value.

[0142] Furthermore, the control module 504 is also used to adjust the duty cycle of the controller to a second preset value in response to a difference duty cycle greater than zero; and to adjust the duty cycle of the controller to a first preset value in response to a difference duty cycle less than or equal to zero.

[0143] Furthermore, the control module 504 is also used to control the output current of at least one solenoid valve using a second proportional-integral-derivative control strategy.

[0144] Embodiments of this application also provide a vehicle, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0145] According to another aspect of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0146] Optionally, in this embodiment, the processor in the above-described electronic device may be configured to run a computer program to perform the following steps:

[0147] Step S10: The controller is calibrated based on the target current value at a preset temperature, and the first mapping table of the calibrated controller is determined. The first mapping table is used to represent the mapping relationship between the output current and the duty cycle of the calibrated controller. The controller is used to control the output current of at least one solenoid valve.

[0148] Step S11: In response to receiving a damping adjustment request, determine a target current value based on the target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust the damping force of the shock absorber in the vehicle suspension system.

[0149] Step S12: Determine the target duty cycle corresponding to the target current value based on the target current value and the first mapping table;

[0150] Step S13: Based on the target duty cycle and the initial duty cycle, control the output current of at least one solenoid valve to stabilize to the target current value in order to adjust the damping force of the shock absorber. The initial duty cycle is used to represent the duty cycle of the controller in the current output state.

[0151] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0152] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0153] Step S10: The controller is calibrated based on the target current value at a preset temperature, and the first mapping table of the calibrated controller is determined. The first mapping table is used to represent the mapping relationship between the output current and the duty cycle of the calibrated controller. The controller is used to control the output current of at least one solenoid valve.

[0154] Step S11: In response to receiving a damping adjustment request, determine a target current value based on the target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust the damping force of the shock absorber in the vehicle suspension system.

[0155] Step S12: Determine the target duty cycle corresponding to the target current value based on the target current value and the first mapping table;

[0156] Step S13: Based on the target duty cycle and the initial duty cycle, control the output current of at least one solenoid valve to stabilize to the target current value in order to adjust the damping force of the shock absorber. The initial duty cycle is used to represent the duty cycle of the controller in the current output state.

[0157] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0158] Optionally, in this embodiment, the computer program in the above-described computer program product can be configured to perform the following steps when executed by a processor:

[0159] Step S10: The controller is calibrated based on the target current value at a preset temperature, and the first mapping table of the calibrated controller is determined. The first mapping table is used to represent the mapping relationship between the output current and the duty cycle of the calibrated controller. The controller is used to control the output current of at least one solenoid valve.

[0160] Step S11: In response to receiving a damping adjustment request, determine a target current value based on the target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust the damping force of the shock absorber in the vehicle suspension system.

[0161] Step S12: Determine the target duty cycle corresponding to the target current value based on the target current value and the first mapping table;

[0162] Step S13: Based on the target duty cycle and the initial duty cycle, control the output current of at least one solenoid valve to stabilize to the target current value in order to adjust the damping force of the shock absorber. The initial duty cycle is used to represent the duty cycle of the controller in the current output state.

[0163] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of the present invention.

[0164] Optionally, in this embodiment, the computer program in the above-described computer program product can be configured to perform the following steps when executed by a processor:

[0165] Step S10: The controller is calibrated based on the target current value at a preset temperature, and the first mapping table of the calibrated controller is determined. The first mapping table is used to represent the mapping relationship between the output current and the duty cycle of the calibrated controller. The controller is used to control the output current of at least one solenoid valve.

[0166] Step S11: In response to receiving a damping adjustment request, determine a target current value based on the target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust the damping force of the shock absorber in the vehicle suspension system.

[0167] Step S12: Determine the target duty cycle corresponding to the target current value based on the target current value and the first mapping table;

[0168] Step S13: Based on the target duty cycle and the initial duty cycle, control the output current of at least one solenoid valve to stabilize to the target current value in order to adjust the damping force of the shock absorber. The initial duty cycle is used to represent the duty cycle of the controller in the current output state.

[0169] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of the present invention.

[0170] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0171] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0172] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0173] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0174] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0175] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling the current of a solenoid valve, characterized in that, include: The controller is calibrated based on the target current value at a preset temperature, and a first mapping table of the calibrated controller is determined. The first mapping table is used to represent the mapping relationship between the output current and the duty cycle of the calibrated controller. The controller is used to control the output current of at least one solenoid valve. In response to receiving a damping adjustment request, a target current value is determined based on the target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust the damping force of the shock absorber in the vehicle suspension system; The target duty cycle corresponding to the target current value is determined based on the target current value and the first mapping table; Based on the target duty cycle and the initial duty cycle, the output current of at least one solenoid valve is controlled to stabilize to the target current value in order to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle of the controller in the current output state; The step of controlling the output current of at least one solenoid valve to stabilize to the target current value based on the target duty cycle and the initial duty cycle includes: determining the difference between the target duty cycle and the initial duty cycle to obtain a difference duty cycle; responding to the absolute value of the difference duty cycle being greater than a preset difference, adjusting the duty cycle of the controller to a first preset value or a second preset value using a preset pass-through strategy to stabilize the output current of at least one solenoid valve to the target current value; and responding to the absolute value of the difference duty cycle being less than or equal to the preset difference, adjusting the duty cycle of the controller to the target duty cycle using a preset pulse width modulation strategy to stabilize the output current of at least one solenoid valve to the target current value.

2. The method according to claim 1, characterized in that, The step of calibrating the controller based on a target current value at a preset temperature and determining the first mapping table of the calibrated controller includes: Obtain at least one calibration current value, wherein the at least one calibration current value is the current value requested by the at least one solenoid valve within a preset time period; At the preset temperature, the output current of the controller is adjusted to at least one calibrated current value using a first proportional-integral-derivative control strategy, and the duty cycle corresponding to the at least one calibrated current value is obtained. The first mapping table is determined based on the at least one calibrated current value and the duty cycle corresponding to the at least one calibrated current value.

3. The method according to claim 1, characterized in that, The step of determining the target current value based on the target damping value carried in the damping adjustment request in response to receiving the damping adjustment request includes: In response to receiving the damping adjustment request, the target current value is determined based on the target damping value and a second mapping table, wherein the second mapping table is used to represent the mapping relationship between the controller's output current and the damping force.

4. The method according to claim 1, characterized in that, Determining the target duty cycle corresponding to the target current value based on the target current value and the first mapping table includes: Determine whether the target current value is recorded in the first mapping table to obtain the determination result; In response to the determination result indicating that the target current value is recorded in the first mapping table, the target duty cycle corresponding to the target current value is found in the first mapping table; In response to the determination result indicating that the target current value is not recorded in the first mapping table, the target duty cycle is determined based on the linear matching strategy and the target current value.

5. The method according to claim 4, characterized in that, Determining the target duty cycle based on the linear matching strategy and the target current value includes: Determine the duty cycle interval to which the duty cycle corresponding to the target current value belongs in the first mapping table, wherein the maximum duty cycle within the duty cycle interval is the first duty cycle, and the minimum duty cycle within the duty cycle interval is the second duty cycle; The target duty cycle is determined based on the first current value corresponding to the first duty cycle, the second current value corresponding to the second duty cycle, the target current value, and the first duty cycle.

6. The method according to claim 1, characterized in that, The step of adjusting the duty cycle of the controller to a first preset value or a second preset value using a preset pass-through strategy includes: In response to the difference duty cycle being greater than zero, the duty cycle of the controller is adjusted to the second preset value; In response to the difference duty cycle being less than or equal to zero, the duty cycle of the controller is adjusted to the first preset value.

7. The method according to claim 1, characterized in that, The method further includes: The output current of at least one solenoid valve is controlled by a second proportional-integral-derivative control strategy.

8. A solenoid valve current control device, applied to the solenoid valve current control method according to any one of claims 1 to 7, characterized in that, include: A calibration module is used to calibrate the controller based on a target current value at a preset temperature, and to determine a first mapping table of the calibrated controller. The first mapping table is used to represent the mapping relationship between the output current and the duty cycle of the calibrated controller. The controller is used to control the output current of at least one solenoid valve. The first determining module is configured to, in response to receiving a damping adjustment request, determine a target current value based on the target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust the damping force of the shock absorber in the vehicle suspension system; The second determining module is used to determine the target duty cycle corresponding to the target current value based on the target current value and the first mapping table; A control module is used to control the output current of at least one solenoid valve to stabilize to the target current value based on the target duty cycle and the initial duty cycle, so as to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle of the controller in the current output state; The control module is further configured to determine the difference between the target duty cycle and the initial duty cycle to obtain a difference duty cycle; in response to the absolute value of the difference duty cycle being greater than a preset difference, a preset pass-through strategy is used to adjust the duty cycle of the controller to a first preset value or a second preset value so that the output current of the at least one solenoid valve is stabilized to the target current value; in response to the absolute value of the difference duty cycle being less than or equal to the preset difference, a preset pulse width modulation strategy is used to adjust the duty cycle of the controller to the target duty cycle so that the output current of the at least one solenoid valve is stabilized to the target current value.

9. A vehicle, characterized in that, The vehicle is used to perform the solenoid valve current control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the solenoid valve current control method according to any one of claims 1 to 7 when run on a computer or processor.

11. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the electromagnetic valve current control method according to any one of claims 1 to 7.

12. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the electromagnetic valve current control method according to any one of claims 1 to 7.

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