An adaptive control method, system and suspension controller for a variable damper

Abstract

The application provides an adjustable shock absorber adaptive control method, a system and a suspension controller. The method comprises the following steps: obtaining a shock absorber motion speed and an initial target current of a current shock absorber; calculating a required damping force of the current shock absorber according to the shock absorber motion speed, the initial target current of the current shock absorber and a pre-stored standard damping force-shock absorber motion speed curve of a standard shock absorber at different current points; calculating a driving target current according to the required damping force, the shock absorber motion speed and a pre-stored damping force-shock absorber motion speed curve of the current shock absorber at different current points; and controlling an electromagnetic valve according to the driving target current, so as to control the shock absorber. The application realizes adaptive adjustment of electromagnetic driving currents of different shock absorbers according to damping force-shock absorber motion speed characteristic data, and solves the problem that different shock absorbers are difficult to guarantee consistent damping force output due to production errors.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automobile shock absorber, and particularly relates to an adjustable shock absorber adaptive control method, system and suspension controller. BACKGROUND

[0002] For a vehicle equipped with a hydraulic adjustable damping system, the damping force provided by the vehicle shock absorber can be adjusted by controlling the solenoid valve current. The suspension controller obtains the current state of the vehicle through the CAN bus and sensor information, and adjusts the solenoid valve current of the shock absorber in real time according to the state of the vehicle to adjust the damping force of the shock absorber, thereby improving the comfort and handling stability of the vehicle. When the driver performs intense operations such as acceleration and deceleration, and the turning working condition causes the vehicle to pitch and roll, the damping force output is increased in this working condition to suppress the rapid change of the vehicle posture. When the vehicle passes through a bumpy road, the damping force output is reduced at this time, thereby reducing the transmission of road excitation to the vehicle body through the shock absorber, and improving the ride comfort.

[0003] However, there is a dispersion between different shock absorber individuals. The damping force output by the shock absorber is related to the current speed of the shock absorber and the driving current of the solenoid valve. Due to the dispersion between different shock absorber individuals, the damping force output by the shock absorber is different under the same shock absorber movement speed and the same current, which affects the accuracy of the suspension control and the ride comfort and handling stability of the vehicle. SUMMARY

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

[0005] To achieve the above object and other related objects, the present application provides an adjustable shock absorber adaptive control method, comprising:

[0006] obtaining the shock absorber movement speed and the initial target current of the current shock absorber;

[0007] calculating the required damping force of the current shock absorber according to the shock absorber movement speed, the initial target current of the current shock absorber, and the pre-stored standard damping force-shock absorber movement speed curve of the shock absorber standard part at different current points;

[0008] calculating the driving target current according to the required damping force of the current shock absorber, the shock absorber movement speed, and the pre-stored damping force-shock absorber movement speed curve of the current shock absorber at different current points;

[0009] The solenoid valve is controlled according to the target driving current, thereby controlling the vibration damper.

[0010] In one embodiment of the present invention, the step of obtaining the vibration damper's motion speed includes:

[0011] Obtain the distance from the center of the vehicle wheel to the wheel arch;

[0012] The speed of movement from the wheel center to the wheel arch is calculated by differentiating from the distance.

[0013] The shock absorber's movement speed is obtained by multiplying the moving speed by the lever ratio of the wheel center to wheel arch travel distance to the shock absorber travel distance.

[0014] In one embodiment of the present invention, the step of obtaining the distance from the wheel center to the wheel arch includes:

[0015] The current angle value is obtained by a height sensor, which is mounted on the vehicle frame and connected to one end of a link via a swing arm, while the other end of the link is connected to the suspension arm.

[0016] The distance from the vehicle's wheel center to the wheel arch is obtained based on the current angle value and the pre-stored angle-distance map table.

[0017] In one embodiment of the present invention, the step of obtaining the initial target current of the current vibration damper includes:

[0018] Obtain vehicle status and road condition information;

[0019] The initial target current of the current shock absorber is calculated based on the road condition information and the vehicle status.

[0020] In one embodiment of the present invention, the step of calculating the required damping force of the current vibration damper based on the vibration damper's movement speed, the initial target current, and a pre-stored standard damper component's standard damping force-vibration speed curve at different current points includes:

[0021] Depending on whether the shock absorber is currently located at the front or rear axle of the vehicle, select the standard damping force-shock absorber speed curve corresponding to the front axle or the standard damping force-shock absorber speed curve corresponding to the rear axle.

[0022] The required damping force is calculated by linear interpolation based on the current vibration damper movement speed and the initial target current.

[0023] In one embodiment of the present invention, the step of calculating the target driving current based on the required damping force of the current vibration damper, the vibration damper's movement speed, and a pre-stored damping force-vibration damper movement speed curve of the current vibration damper at different current points includes:

[0024] Obtain the required damping force and the vibration damper's movement speed at the current vibration damper;

[0025] The target driving current is calculated by linear interpolation based on the damping force-damper speed curves at different current points of the current damper.

[0026] The present invention also proposes an adaptive control system for an adjustable vibration damper, comprising:

[0027] The initial data acquisition module is used to acquire the vibration damper's movement speed and the current initial target current of the vibration damper;

[0028] The demand damping force calculation module is used to calculate the demand damping force of the current vibration damper based on the vibration damper movement speed and the initial target current, and according to the pre-stored standard damping force-vibration speed curve of the vibration damper standard component at different current points.

[0029] The drive target current control module is used to calculate the drive target current based on the required damping force of the current vibration damper, the vibration damper's movement speed, and the pre-stored damping force-vibration speed curves of the current vibration damper at different current points, and to control the solenoid valve according to the drive target current, thereby controlling the vibration damper.

[0030] In one embodiment of the present invention, the initial data acquisition module includes:

[0031] The data acquisition unit is used to acquire information such as the distance from the wheel center to the wheel arch, vehicle status, and road conditions.

[0032] The shock absorber speed calculation unit is used to calculate the moving speed from the wheel center to the wheel arch by taking the differential based on the distance, and to obtain the shock absorber movement speed by taking the moving speed and multiplying it by the lever ratio of the wheel center to wheel arch travel to the shock absorber travel.

[0033] The initial target current calculation unit is used to calculate the initial target current of the current shock absorber based on the road condition information and the vehicle status.

[0034] In one embodiment of the present invention, a storage module is further included, wherein the storage module pre-stores the standard damping force-damper speed curve of the front axle at different current points, the standard damping force-damper speed curve of the rear axle at different current points, and the damping force-damper speed curve of each damper at different current points.

[0035] The present invention also proposes a suspension controller, comprising:

[0036] The memory is used to store the control program;

[0037] The processor, when processing the control program, executes the steps of the adjustable damper adaptive control method as described in any of the above embodiments.

[0038] This invention proposes an adaptive control method, system, and suspension controller for adjustable shock absorbers. By acquiring the damping force-shock-velocity curves of each shock absorber and the standard damping force-shock-velocity curve of a standard shock absorber during production, the target damping force is calculated based on the damping force-shock-velocity characteristic data. Furthermore, the final target current for the solenoid valve drive is calculated based on the detected damping force-shock-velocity curves of each shock absorber. This achieves adaptive adjustment of the electromagnetic drive current for different shock absorbers based on the damping force-shock-velocity characteristic data, solving the problem of different shock absorber... Due to the difficulty in ensuring consistent damping force output due to manufacturing errors, this device improves the accuracy of damping force output in adaptive control of adjustable shock absorbers. It compensates for the control effect deviation caused by manufacturing errors of shock absorber parts, resulting in more stable performance in different vehicles. Furthermore, because the software adaptively corrects the deviations of different individual shock absorbers, it reduces the requirements for manufacturing variations of shock absorber assemblies or solenoid valves, thereby increasing the yield rate of shock absorber assemblies or solenoid valves, reducing the scrap rate, and ultimately lowering the production cost of shock absorber assemblies and solenoid valves. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 The diagram shown is a flowchart of an adaptive control method for an adjustable damper in one embodiment of this application.

[0041] Figure 2 The flowchart shown is a process for obtaining the vibration damper's motion speed in one embodiment of this application.

[0042] Figure 3 The diagram shown is a structural block diagram of the adaptive control system for the adjustable damper in an embodiment of this application. Detailed Implementation

[0043] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0044] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0045] Please see Figure 1 As shown, this invention proposes an adjustable shock absorber adaptive control method, system, and suspension controller to solve the problem that the damping force output by the shock absorber varies under the same shock absorber speed and current due to the dispersion between different individual shock absorbers, thereby affecting the accuracy of suspension control and the ride comfort and handling stability of the vehicle. Figure 1 The diagram shown is a flowchart of an adaptive control method for an adjustable vibration damper according to one embodiment of this application. Specifically, the adaptive control method for the adjustable vibration damper includes:

[0046] S1. Obtain the vibration damper's movement speed and the current initial target current of the vibration damper;

[0047] For details, please refer to Figure 2 As shown, Figure 2 The flowchart shown is an embodiment of this application for obtaining the motion speed of a shock absorber. The steps for obtaining the motion speed of the shock absorber include:

[0048] S11. Obtain the distance from the vehicle's wheel center to the wheel arch; wherein, the step of obtaining the distance from the vehicle's wheel center to the wheel arch includes:

[0049] S111. Obtain the current angle value based on the height sensor;

[0050] S112. Obtain the distance from the wheel center to the wheel arch based on the current angle value and the pre-stored angle-distance map table.

[0051] Please see Figure 1 As shown, in this embodiment, the height sensor is mounted on the vehicle frame and connected to one end of a connecting rod via a swing arm. The other end of the connecting rod is connected to the suspension arm. Specifically, the sensor body is fixedly mounted on the vehicle frame via a bracket and connected to one end of a connecting rod via a swing arm. The other end of the connecting rod is connected to the suspension arm. For example, the sensor is a rotary type and is equipped with a swing arm.

[0052] S12. Calculate the speed of movement from the wheel center to the wheel arch by differentiating the distance; that is, take the differential of the distance from the wheel center to the wheel arch, and the result is the speed of movement.

[0053] S13. Obtain the shock absorber's movement speed by multiplying the moving speed by the lever ratio of the wheel center to wheel arch travel to the shock absorber travel. This lever ratio is a known value for the vehicle and can be directly read from the vehicle controller. It is understood that the lever ratio of the wheel center to wheel arch travel to the shock absorber travel is different for the front and rear axles of the vehicle. The corresponding lever ratio is selected based on whether the shock absorber to be calculated is located on the front or rear axle.

[0054] Please see Figure 1 As shown, in this embodiment, the step of obtaining the initial target current of the current vibration damper includes:

[0055] Obtain vehicle status and road condition information;

[0056] The initial target current of the current shock absorber is calculated based on the road condition information and the vehicle status.

[0057] It is understood that the suspension controller calculates the initial target current of each shock absorber solenoid valve in real time based on the vehicle status and road conditions. The target current of each shock absorber is calculated through software logic operations and pre-set data, which is obtained through prior calibration based on shock absorber test components under different test road conditions. For example, in some embodiments, the vehicle status includes at least vehicle speed, lateral acceleration, and longitudinal acceleration. A base current value is obtained based on a preset calibration of the vehicle speed; a compensation current value is determined based on the vehicle speed, lateral acceleration, and longitudinal acceleration; an upper limit current value is obtained; the base current value and the compensation current value are added to obtain an intermediate current value; the minimum of the intermediate current value and the upper limit current value is selected as the output current value, which is the initial target current. The upper limit current value is the smaller of the road condition current upper limit value obtained based on road condition information, such as a road condition level preset calibration, and a road condition current upper limit value obtained based on vehicle mode setting calibration. Of course, the initial target current can also be calculated using other existing methods, which will not be elaborated in this application.

[0058] S2. Based on the current vibration damper movement speed and the initial target current, and according to the pre-stored standard damper standard component standard damping force-vibration damper movement speed curve at different current points, calculate the required damping force of the current vibration damper.

[0059] Understandably, the standard damping force-shock absorber speed curve characteristics of standard parts are determined by actual vehicle testing during the engineering phase. The standard damping force-shock absorber speed curve characteristics data of standard parts can be stored in the software in advance. During the software operation, the real-time electric shock absorber speed and initial target current are used as inputs, and the required damping force of the current shock absorber is obtained through Map linear interpolation.

[0060] It is also understandable that the standard damping force-damper speed curves of the standard shock absorber components for the front and rear axles of a vehicle differ at different current points. Therefore, in this embodiment, the step of calculating the required damping force of the current shock absorber based on the current shock absorber speed, the initial target current, and the pre-stored standard damping force-damper speed curves of the standard shock absorber components at different current points includes:

[0061] S21. Depending on whether the shock absorber is located at the front axle or rear axle of the vehicle, select the front axle standard damping force-shock absorber speed curve corresponding to the front axle or the rear axle standard damping force-shock absorber speed curve corresponding to the rear axle.

[0062] S22. The required damping force is calculated by linear interpolation based on the current vibration damper movement speed and the initial target current.

[0063] Understandably, in this embodiment, the vehicle's shock absorbers are divided into front axle shock absorbers located on the front axle and rear axle shock absorbers located on the rear axle. Each front axle and rear axle shock absorber corresponds to a standard damping force-shock absorber speed curve. When calculating the required damping force of a certain shock absorber, it is determined whether the shock absorber is a front axle or rear axle shock absorber. Based on the determination result, the corresponding standard damping force-shock absorber speed curve is selected, i.e., the front axle standard damping force-shock absorber speed curve or the rear axle standard damping force-shock absorber speed curve is selected. The required damping force of the shock absorber is then calculated by linear interpolation based on the current shock absorber speed and the initial target current, so that each shock absorber in the vehicle can independently calculate its required damping force, thereby improving the accuracy of damping force output in the adaptive control of adjustable shock absorbers.

[0064] S3. Calculate the target driving current based on the required damping force of the current damper, the movement speed of the damper, and the pre-stored damping force-damper movement speed curves of the current damper at different current points.

[0065] Understandably, due to the dispersion between different individual vibration dampers, in this embodiment, for each individual vibration damper, the damping force-vibration damper velocity curves at different current points are pre-stored. For a given vibration damper, the target driving current can be calculated based on the required damping force calculated in step S2, the vibration damper velocity calculated in step S1, and the pre-stored damping force-vibration damper velocity curves at different current points. Specifically, the characteristic data of the damping force-vibration damper velocity curves at different current points for each vibration damper are pre-stored in the software. During software operation, the real-time required damping force and vibration damper velocity are used as inputs, and the final target driving current of the solenoid valve is obtained through Map linear interpolation.

[0066] Specifically, the step of calculating the target driving current based on the required damping force of the current vibration damper, the vibration damper's movement speed, and the pre-stored damping force-vibration damper movement speed curves of the current vibration damper at different current points includes:

[0067] S31. Obtain the required damping force and the vibration damper's movement speed at the current vibration damper;

[0068] S32. The target driving current is calculated by linear interpolation under the damping force-vibration speed curve at different current points of the current damper.

[0069] S4. Control the solenoid valve according to the target driving current, thereby controlling the vibration damper.

[0070] It is understood that the shock absorber movement speed in this application refers to the movement speed of the shock absorber piston rod relative to the cylinder. This application can calculate the drive control current of each individual shock absorber separately to enable independent control of each shock absorber, thereby providing more precise vehicle dynamic control. By independently controlling each shock absorber of the vehicle, the system can more accurately adjust the vehicle's suspension system to adapt to different driving conditions and road condition changes, improving vehicle performance and ride comfort.

[0071] It is understood that, in this embodiment, the standard damping force-velocity curve of the standard damper component and the damping force-velocity curve of each individual damper can be obtained through offline testing under different current conditions and pre-stored in the controller. Different current points are selected between the minimum and maximum drive current of the damper, and these points include at least a current test point close to the minimum drive current, a current test point close to the maximum drive current, and one or more current test points in between. Preferably, the current test points are evenly distributed between the minimum and maximum drive currents.

[0072] For example, when each shock absorber is off the production line, the damping force-shock absorber speed curves corresponding to four current test points (400mA, 800mA, 1200mA, and 1600mA) can be tested and uploaded to the cloud, or downloaded from the cloud to the OEM's host computer. When assembling the suspension controller, the identifier of each shock absorber can be identified by scanning the equipment to download the damping force-shock absorber speed curve data at four current points (400mA, 800mA, 1200mA, and 1600mA) for the four shock absorbers (left front, right front, left rear, and right rear) from the cloud or host computer.

[0073] It is understood that, in this embodiment, the above method can be used for electrically adjustable vibration dampers, as well as for vibration damper current control in similar hydraulically adjustable vibration damper systems, such as compression-tension dual-valve hydraulically adjustable vibration dampers.

[0074] Please see Figure 3 As shown, Figure 3 The diagram shown is a structural block diagram of the adjustable damper adaptive control system in this embodiment. In this embodiment, an adjustable damper adaptive control system is provided, which corresponds one-to-one with the adjustable damper adaptive control method in the above embodiments. Specifically, the adjustable damper adaptive control system 100 includes an initial data acquisition module 10, a demand damping force calculation module 20, and a drive target current control module 30. Detailed descriptions of each functional module are as follows:

[0075] The initial data acquisition module 10 is used to acquire the vibration damper's movement speed and the current initial target current of the vibration damper;

[0076] The demand damping force calculation module 20 is used to calculate the demand damping force of the current damper based on the damper movement speed and the initial target current, and according to the pre-stored standard damper standard component standard damping force-damper movement speed curve at different current points.

[0077] The drive target current control module 30 is used to calculate the drive target current based on the required damping force of the current vibration damper, the vibration damper movement speed, and the pre-stored damping force-vibration speed curve of the current vibration damper at different current points, and control the solenoid valve according to the drive target current, thereby controlling the vibration damper.

[0078] Please see Figure 3 As shown, in this embodiment, the initial data acquisition module 10 includes: a data acquisition unit 11, a damper speed calculation unit 12, and an initial target current calculation unit 13. Detailed descriptions of each functional module are as follows:

[0079] Data acquisition unit 11 is used to acquire the distance from the wheel center to the wheel arch, vehicle status, and road condition information.

[0080] The shock absorber speed calculation unit 12 is used to calculate the moving speed from the wheel center to the wheel arch by taking the differential based on the distance, and to obtain the shock absorber movement speed by taking the moving speed and multiplying it by the lever ratio of the wheel center to wheel arch travel to the shock absorber travel.

[0081] The initial target current calculation unit 13 is used to calculate the initial target current of the current shock absorber based on the road condition information and the vehicle status.

[0082] Please see Figure 2 As shown, the adjustable damper adaptive control system 100 also includes a storage module 40, which pre-stores the standard damping force-damper speed curves of the front axle at different current points, the standard damping force-damper speed curves of the rear axle at different current points, and the damping force-damper speed curves of each damper at different current points.

[0083] Specific limitations regarding the adaptive control system for adjustable dampers can be found in the limitations of the adaptive control method for adjustable dampers described above, and will not be repeated here. Each module in the aforementioned adaptive control system for adjustable dampers can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0084] Please see Figure 1 As shown, the present invention also proposes a suspension controller, comprising: a memory for storing a control program; and a processor, which, when processing the control program, executes the steps of the adjustable damper adaptive control method described in the above embodiments. Specifically, the following steps are performed:

[0085] Obtain the vibration damper's velocity and the current initial target current of the vibration damper;

[0086] The required damping force of the current vibration damper is calculated based on the vibration damper's movement speed, the initial target current, and the pre-stored standard damper component's standard damping force-vibration speed curve at different current points.

[0087] The target driving current is calculated based on the required damping force of the current vibration damper, the vibration damper's movement speed, and the pre-stored damping force-vibration damper movement speed curves of the current vibration damper at different current points.

[0088] The vibration damper is controlled according to the target driving current.

[0089] In summary, this invention proposes an adaptive control method, system, and suspension controller for adjustable shock absorbers. By acquiring the damping force-shock absorber velocity curve for each shock absorber during production and the standard damping force-shock absorber velocity curve for a standard shock absorber, the target damping force is calculated using the damping force-shock absorber velocity curve. Based on the detected damping force-shock absorber velocity curve for each shock absorber, the final target current for the solenoid valve drive is calculated. This achieves adaptive adjustment of the electromagnetic drive current for different shock absorbers based on the damping force-shock absorber velocity characteristic data, solving the problem of different shock absorber speeds... Due to manufacturing errors, it is difficult to guarantee the consistency of damping force output in dampers. This invention improves the accuracy of damping force output in the adaptive control of adjustable dampers, compensates for the control effect deviation caused by manufacturing errors of damper parts, and has a more stable performance in different vehicles. Furthermore, because the software adaptively corrects the deviation of different individual dampers, it reduces the requirements for the dispersion of the damper assembly or solenoid valve, improves the yield of the damper assembly or solenoid valve, reduces the scrap rate, and thus reduces the production cost of the damper assembly and solenoid valve.

[0090] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Furthermore, any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory.

[0091] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention. In this description, numerous specific details, such as examples of components and / or methods, are provided to provide a complete understanding of the embodiments of the invention. However, those skilled in the art will recognize that embodiments of the invention can be practiced without one or more specific details or by other devices, systems, components, methods, parts, materials, components, etc. In other instances, well-known structures, materials, or operations have not been specifically shown or described in detail to avoid obscuring aspects of the embodiments of the invention.

[0093] Throughout this specification, the terms "an embodiment," "embodiment," or "specific embodiment" refer to a particular feature, structure, or characteristic described in connection with an embodiment that is included in at least one embodiment of the invention, but not necessarily in all embodiments. Therefore, the various representations of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout the specification do not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic of any specific embodiment of the invention can be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be based on the teachings herein and will be considered part of the spirit and scope of the invention.

[0094] It should also be understood that one or more of the elements shown in the figures may be implemented in a more separate or more integrated manner, or may even be removed because they are inoperable in certain circumstances or provided because they may be useful for a particular application.

[0095] Furthermore, unless otherwise expressly stated, any arrows in the accompanying drawings should be considered illustrative only and not limiting. Additionally, unless otherwise stated, the term "or" as used herein is generally intended to mean "and / or". Where a term is anticipated to provide a separation or combination capability that is unclear, a combination of components or steps will also be considered as indicated.

[0096] As used herein and throughout the claims below, unless otherwise specified, “a” and “the” include the plural references. Similarly, as used herein and throughout the claims below, unless otherwise specified, “in” means “in” and “on”.

[0097] The above description of the embodiments shown in this invention (including the content set forth in the abstract of the specification) is not intended to be an exhaustive enumeration or to limit the invention to the precise forms disclosed herein. Although specific embodiments and examples of the invention have been described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the invention, as will be recognized and understood by those skilled in the art. As indicated, these modifications can be made to the invention in accordance with the above description of the embodiments described herein, and such modifications will be within the spirit and scope of the invention.

[0098] This document has generally described the systems and methods in detail to aid in understanding the invention. Furthermore, various specific details have been set forth to provide a general understanding of embodiments of the invention. However, those skilled in the art will recognize that embodiments of the invention can be practiced without one or more specific details, or using other means, systems, accessories, methods, components, materials, parts, etc. In other instances, well-known structures, materials, and / or operations have not been specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

[0099] Therefore, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the scope of the foregoing disclosure, and it should be understood that in some cases, certain features of the invention may be adopted without departing from the scope and spirit of the invention and without corresponding use of other features. Thus, many modifications can be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terminology used in the following claims and / or the specific embodiments disclosed as the best mode for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Therefore, the scope of the invention will be defined only by the appended claims.

Claims

1. An adaptive control method for an adjustable vibration damper, characterized in that, include: Obtain the vibration damper's movement speed and the initial target current of the vibration damper's solenoid valve; The required damping force of the current vibration damper is calculated based on the vibration damper's movement speed, the initial target current, and the pre-stored standard damper component's standard damping force-vibration speed curve at different current points. The target driving current is calculated based on the required damping force of the current vibration damper, the vibration damper's movement speed, and the pre-stored damping force-vibration damper movement speed curves of the current vibration damper at different current points. The solenoid valve is controlled according to the target driving current, thereby controlling the vibration damper.

2. The adaptive control method for adjustable vibration dampers according to claim 1, characterized in that, The step of obtaining the vibration damper's motion speed includes: Obtain the distance from the center of the vehicle wheel to the wheel arch; The speed of movement from the wheel center to the wheel arch is calculated by differentiating from the distance. The shock absorber's movement speed is obtained by multiplying the moving speed by the lever ratio of the wheel center to wheel arch travel distance to the shock absorber travel distance.

3. The adaptive control method for adjustable vibration dampers according to claim 2, characterized in that, The step of obtaining the distance from the vehicle's wheel center to the wheel arch includes: The current angle value is obtained by a height sensor, which is mounted on the vehicle frame and connected to one end of a link via a swing arm, while the other end of the link is connected to the suspension arm. The distance from the vehicle's wheel center to the wheel arch is obtained based on the current angle value and the pre-stored angle-distance map table.

4. The adaptive control method for adjustable vibration dampers according to claim 1, characterized in that, The steps to obtain the initial target current of the current vibration damper include: Obtain vehicle status and road condition information; The initial target current of the current shock absorber is calculated based on the road condition information and the vehicle status.

5. The adaptive control method for adjustable vibration dampers according to claim 1, characterized in that, The step of calculating the required damping force of the current vibration damper based on the vibration damper's movement speed, the initial target current, and according to the pre-stored standard damper component's standard damping force-vibration speed curve at different current points includes: Depending on whether the shock absorber is currently located at the front or rear axle of the vehicle, select the standard damping force-shock absorber speed curve corresponding to the front axle or the standard damping force-shock absorber speed curve corresponding to the rear axle. The required damping force is calculated by linear interpolation based on the current vibration damper movement speed and the initial target current.

6. The adaptive control method for adjustable vibration dampers according to claim 1, characterized in that, The step of calculating the target driving current based on the required damping force of the current vibration damper, the vibration damper's movement speed, and the pre-stored damping force-vibration damper movement speed curves of the current vibration damper at different current points includes: Obtain the required damping force and the vibration damper's movement speed at the current vibration damper; The target driving current is calculated by linear interpolation based on the damping force-damper speed curves at different current points of the current damper.

7. An adaptive control system for an adjustable vibration damper, characterized in that, include: The initial data acquisition module is used to acquire the vibration damper's movement speed and the current initial target current of the vibration damper; The demand damping force calculation module is used to calculate the demand damping force of the current vibration damper based on the vibration damper movement speed and the initial target current, and according to the pre-stored standard damping force-vibration speed curve of the vibration damper standard component at different current points. The drive target current control module is used to calculate the drive target current based on the required damping force of the current vibration damper, the vibration damper's movement speed, and the pre-stored damping force-vibration speed curves of the current vibration damper at different current points, and control the solenoid valve according to the drive target current, thereby controlling the vibration damper.

8. The adjustable vibration damper adaptive control system according to claim 7, characterized in that, The initial data acquisition module includes: The data acquisition unit is used to acquire the distance from the wheel center to the wheel arch, the vehicle status, and road condition information. The shock absorber speed calculation unit is used to calculate the moving speed from the wheel center to the wheel arch by taking the differential based on the distance, and to obtain the shock absorber movement speed by taking the moving speed and multiplying it by the lever ratio of the wheel center to wheel arch travel to the shock absorber travel. The initial target current calculation unit is used to calculate the initial target current of the current shock absorber based on the road condition information and the vehicle status.

9. The adjustable vibration damper adaptive control system according to claim 7, characterized in that, It also includes a storage module, which pre-stores the standard damping force-damper speed curves of the front axle at different current points, the standard damping force-damper speed curves of the rear axle at different current points, and the damping force-damper speed curves of each damper at different current points.

10. A suspension controller, characterized in that, include: The memory is used to store the control program; A processor, which, when processing the control program, performs the steps of the adaptive control method for an adjustable damper as described in any one of claims 1 to 6.

Images