Full-active suspension system stroke protection method and device, medium and electronic equipment

Abstract

The invention discloses a full-active suspension system stroke protection method and device, a medium and electronic equipment.The method comprises the steps that the current stroke of a piston is obtained, and the current stroke is the distance between the piston and the bottom of a cylinder barrel; when the current stroke is larger than a preset stroke threshold value, recovery impact force is obtained, and the recovery impact force is the impact force applied to the inner top of the cylinder barrel by the piston through hydraulic oil in the cylinder barrel; and according to the magnitude relationship between the restoring impact force and a preset impact force, operating parameters of the electric hydraulic pump are controlled, so that the electric hydraulic pump provides a reverse acting force opposite to the restoring impact force in direction. The impact force of the piston on the inner top of the cylinder barrel can be reduced.

Description

Background Art

[0002] The fully active suspension system includes a fully active shock absorber, a sensor and an ECU controller. The fully active shock absorber includes a shock absorber body, an electric hydraulic pump, an accumulator, and a hydraulic oil circuit. The shock absorber body is connected to the vehicle body and the suspension. One end of the hydraulic oil circuit is connected to the compression chamber of the shock absorber body, and the other end is connected to the recovery chamber of the shock absorber body. The electric hydraulic pump is arranged on the hydraulic oil circuit, and the accumulator is connected to the hydraulic oil circuit. The connection position of the accumulator and the hydraulic oil circuit is located between the connection position of the hydraulic oil circuit and the recovery chamber and the electric hydraulic pump.

[0003] At present, when the fully active shock absorber is restored, abnormal noise is easily generated, which affects the driving comfort. Summary of the invention

[0004] The embodiments of the present application provide a method, device, medium, and electronic device for protecting the travel of a fully active suspension system, which are used to solve the technical problem that abnormal noise is easily generated when the fully active shock absorber is restored.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0006] According to a first aspect of the present application, a method for protecting the travel of a fully active suspension system is provided, wherein the fully active suspension system comprises a fully active shock absorber, wherein the fully active shock absorber comprises a cylinder having hydraulic oil, a piston disposed in the cylinder, and an electric hydraulic pump for driving the piston to move in the cylinder, wherein the bottom of the cylinder is used to connect the suspension, and the method comprises:

[0007] Obtaining the current stroke of the piston, wherein the current stroke is the distance between the piston and the bottom of the cylinder;

[0008] When the current stroke is greater than a preset stroke threshold, a restoring impact force is obtained, wherein the restoring impact force is an impact force applied by the piston to the top of the cylinder through the hydraulic oil in the cylinder;

[0009] According to the magnitude relationship between the restoring impact force and the preset impact force, the operating parameters of the electric hydraulic pump are controlled so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force.

[0010] In some embodiments, based on the above solution, the step of obtaining the restoring impact force includes:

[0011] Acquiring the unsprung mass of the fully active shock absorber and acquiring the current acceleration of the piston;

[0012] The restoring impact force is determined according to the unsprung mass and the current acceleration.

[0013] In some implementations, based on the above solution, obtaining the current acceleration of the piston includes:

[0014] Obtaining a unit stroke of the piston in unit time;

[0015] The current acceleration is determined according to the unit stroke.

[0016] In some embodiments, based on the above scheme, controlling the operating parameters of the electric hydraulic pump according to the magnitude relationship between the restoring impact force and the preset impact force so that the electric hydraulic pump provides a reverse force opposite to the restoring impact force includes:

[0017] When the restoring impact force is less than or equal to the preset impact force, determining a speed control amount required for the electric hydraulic pump, and controlling the speed and rotation direction of the electric hydraulic pump according to the speed control amount and the rotation direction of the electric hydraulic pump, so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force;

[0018] When the restoring impact force is greater than the preset impact force, the electric hydraulic pump is controlled to reverse according to the first target speed, so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force.

[0019] In some embodiments, based on the above scheme, when the electric hydraulic pump rotates forward, the direction of its forward force is the same as the restoring impact force, and controlling the speed and rotation direction of the electric hydraulic pump according to the speed control amount and the rotation direction of the electric hydraulic pump includes:

[0020] Get the current speed and current rotation direction of the electric hydraulic pump;

[0021] When the current rotation direction is reverse, determining a second target speed according to the sum of the current speed and the speed control amount, and adjusting the speed of the electric hydraulic pump to the second target speed;

[0022] When the current rotation direction is forward, if the current speed is greater than or equal to the speed control amount, the third target speed is determined according to the difference between the current speed and the speed control amount, and the speed of the electric hydraulic pump is adjusted to the third target speed. If the current speed is less than the speed control amount, the fourth target speed is determined according to the difference between the speed control amount and the current speed, and the rotation direction of the electric hydraulic pump is adjusted to reverse and the speed is adjusted to the fourth target speed.

[0023] In some implementations, based on the above solution, determining the speed control amount required for the electric hydraulic pump includes:

[0024] Obtaining the current speed and cross-sectional area of ​​the piston, and obtaining the displacement and volumetric efficiency of the electric hydraulic pump;

[0025] determining a current required flow rate of the electric hydraulic pump according to the current speed and the cross-sectional area;

[0026] The speed control amount is determined according to the currently required flow rate, the displacement and the volumetric efficiency.

[0027] In some embodiments, based on the above solution, the fully active suspension system further includes a height sensor for detecting the height of the vehicle body, and the step of obtaining the current stroke of the piston includes:

[0028] Acquiring a preset relationship representing the relationship between the height sensor angle and the piston stroke, and acquiring a current angle of the height sensor;

[0029] The current stroke is determined according to the current angle and the preset relationship.

[0030] According to a second aspect of the present application, a travel protection device for a fully active suspension system is provided, wherein the fully active suspension system comprises a fully active shock absorber, wherein the fully active shock absorber comprises a cylinder having hydraulic oil, a piston arranged in the cylinder, and an electric hydraulic pump for driving the piston to move in the cylinder, wherein the bottom of the cylinder is used to connect the suspension, and the device comprises:

[0031] A first acquisition unit is configured to acquire a current stroke of the piston, wherein the current stroke is a distance between the piston and the bottom of the cylinder;

[0032] a second acquisition unit, when the current stroke is less than a preset stroke threshold, acquiring a restoring impact force, wherein the restoring impact force is an impact force applied by the piston to the top of the cylinder through the hydraulic oil in the cylinder;

[0033] The first control unit controls the operating parameters of the electric hydraulic pump according to the magnitude relationship between the restoring impact force and the preset impact force, so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force.

[0034] In some embodiments, based on the above solution, when the second acquisition unit is used to acquire the restoration impact force, it is configured as follows:

[0035] a third acquisition unit, for acquiring the unsprung mass of the fully active shock absorber and the current acceleration of the piston;

[0036] The first determining unit determines the restoring impact force according to the unsprung mass and the current acceleration.

[0037] In some embodiments, based on the above solution, the third acquisition unit, when used to acquire the current acceleration of the piston, is configured as follows:

[0038] A fourth obtaining unit, for obtaining a unit stroke of the piston in a unit time;

[0039] The second determining unit determines the current acceleration according to the unit stroke.

[0040] In some embodiments, based on the above solution, the first control unit is configured as follows:

[0041] a second control unit, when the restoring impact force is less than or equal to the preset impact force, determining a speed control amount required for the electric hydraulic pump, and controlling the speed and rotation direction of the electric hydraulic pump according to the speed control amount and the rotation direction of the electric hydraulic pump, so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force;

[0042] The third control unit controls the electric hydraulic pump to reverse according to a first target speed when the restoring impact force is greater than a preset impact force, so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force.

[0043] In some embodiments, based on the above scheme, when the electric hydraulic pump rotates forward, the direction of its forward force is the same as the restoring impact force, and the second control unit is configured to control the speed and rotation direction of the electric hydraulic pump according to the speed control amount and the rotation direction of the electric hydraulic pump as follows:

[0044] A fifth acquisition unit, which acquires a current rotation speed and a current rotation direction of the electric hydraulic pump;

[0045] a fourth control unit, when the current rotation direction is reverse, determining a second target speed according to a sum of the current speed and the speed control amount, and adjusting the speed of the electric hydraulic pump to the second target speed;

[0046] The fifth control unit, when the current rotation direction is forward, if the current speed is greater than or equal to the speed control amount, determines the third target speed according to the difference between the current speed and the speed control amount, and adjusts the speed of the electric hydraulic pump to the third target speed; if the current speed is less than the speed control amount, determines the fourth target speed according to the difference between the speed control amount and the current speed, adjusts the rotation direction of the electric hydraulic pump to reverse and the speed to the fourth target speed.

[0047] In some embodiments, based on the above solution, the second control unit is configured as follows when used to determine the speed control amount required for the electric hydraulic pump:

[0048] a sixth acquisition unit, for acquiring a current speed and a cross-sectional area of ​​the piston, and a displacement and a volumetric efficiency of the electric hydraulic pump;

[0049] a third determining unit, determining a current required flow rate of the electric hydraulic pump according to the current speed and the cross-sectional area;

[0050] A fourth determination unit determines the speed control amount according to the currently required flow rate, the displacement and the volumetric efficiency.

[0051] In some embodiments, based on the above solution, the fully active suspension system further includes a height sensor for detecting the height of the vehicle body, and the first acquisition unit is configured as follows:

[0052] a seventh acquisition unit, which acquires a preset relationship representing a relationship between the height sensor angle and the piston stroke, and acquires a current angle of the height sensor;

[0053] A fifth determining unit determines the current stroke according to the current angle and the preset relationship.

[0054] According to the third aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. The computer program includes executable instructions. When the executable instructions are executed by a processor, the method described in any embodiment of the first aspect of the present application is implemented.

[0055] According to the fourth aspect of the present application, an electronic device is provided, comprising: one or more processors; and a memory for storing executable instructions of the processors, wherein when the executable instructions are executed by the one or more processors, the one or more processors implement the method described in any embodiment of the first aspect of the present application.

[0056] The beneficial effects of this application are as follows:

[0057] When the current stroke is greater than the preset stroke threshold, the restoring impact force is obtained, and according to the magnitude of the restoring impact force, the operating parameters of the electric hydraulic pump are controlled so that the electric hydraulic pump provides a reverse force in the opposite direction of the restoring impact force, thereby reducing the impact force of the piston on the top of the cylinder.

[0058] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0060] Figure 1 A schematic diagram of a fully active shock absorber in an embodiment of the present application is shown;

[0061] Figure 2 A flow chart of a travel protection method for a fully active suspension system in an embodiment of the present application is shown;

[0062] Figure 3 A block diagram of a fully active suspension system travel protection device in an embodiment of the present application is shown;

[0063] Figure 4 A schematic diagram showing a computer-readable storage medium in an embodiment of the present application is shown;

[0064] Figure 5 A schematic diagram showing the system structure of an electronic device in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0066] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0067] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0068] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0069] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0070] The fully active suspension system includes a fully active shock absorber, a sensor and an ECU controller, wherein the sensor includes a height sensor for detecting the height of the vehicle body, the height sensor includes a sensor shaft, a disc and a shutter, the disc is provided with a number of narrow slots, and the shutter is provided with a light-emitting diode and a photosensitive diode. When the height of the vehicle body changes, on the one hand, the lower arm of the suspension drives the sensor shaft to rotate through the connecting rod and the guide rod, and the sensor shaft drives the disc to rotate. When the disc rotates, the narrow slot blocks or allows part of the light to reach the shutter, and the light-emitting diode and the photosensitive diode on the shutter are used to detect the light reaching the shutter, thereby detecting the rotation angle of the disc, and then reflecting the rotation angle of the transmission shaft and the change in the height of the vehicle body; on the other hand, the stroke of the fully active shock absorber also changes. It can be seen that the angle of the height sensor corresponds to the stroke of the fully active shock absorber, the angular velocity of the height sensor corresponds to the velocity of the fully active shock absorber, and the angular acceleration of the height sensor corresponds to the acceleration of the fully active shock absorber.

[0071] Figure 1 A schematic diagram of a fully active shock absorber in an embodiment of the present application is shown. Figure 1 In the figure, 1 is the body, 2 is the piston rod, 3 is the cylinder, 4 is the hydraulic oil circuit, 5 is the accumulator, 6 is the electric hydraulic pump, 7 is the piston, and 8 is the suspension. Figure 1 , the structure of the fully active shock absorber is explained:

[0072] The fully active shock absorber includes a shock absorber body, an electric hydraulic pump 6, a hydraulic oil circuit 4 and an accumulator 5. The shock absorber body includes a cylinder 3, a piston 7 and a piston rod 2. The lower end of the cylinder 3 is connected to the suspension 8, that is, the bottom of the cylinder 3 is connected to the suspension 8. There is hydraulic oil in the cylinder 3. The piston 7 is arranged in the cylinder 3. The piston 7 divides the cylinder 3 into a recovery chamber and a compression chamber. The chamber above the piston 7 is the recovery chamber, and the chamber at the lower end of the piston 7 is the compression chamber. The upper end of the piston rod 2 is connected to the vehicle body 1, and the lower end passes through the top of the cylinder 3 and extends into the cylinder 3 to connect with the piston 7. The electric hydraulic pump 6 is arranged on the hydraulic oil circuit 4. One end of the hydraulic oil circuit 4 is connected to the recovery chamber, and the other end is connected to the compression chamber. The accumulator 5 is connected to the hydraulic oil circuit 4. The connection position of the accumulator 5 to the hydraulic oil circuit 4 The accumulator 5 is provided with a floating piston, and the floating piston divides the accumulator into a high-pressure gas chamber and a liquid chamber. The liquid chamber is connected to the hydraulic oil circuit 4. The electric hydraulic pump 6 is used to drive the piston 7 to move in the cylinder 3. When the electric hydraulic pump 6 rotates forward, the electric hydraulic pump 6 pumps the hydraulic oil in the restoring chamber into the compression chamber through the hydraulic oil circuit 4, and drives the piston 7 to move upward, that is, to move in the direction of the vehicle body 1. When the electric hydraulic pump 6 is reversed, the electric hydraulic pump 6 pumps the hydraulic oil in the compression chamber into the restoring chamber through the hydraulic oil circuit 4, and drives the piston 7 to move downward, that is, to move in the direction of the suspension 8.

[0073] Figure 2 A flow chart of a fully active suspension system travel protection method in an embodiment of the present application is shown, see Figure 1 and Figure 2 , provides a travel protection method for a fully active suspension system, the fully active suspension system comprising a fully active shock absorber, the fully active shock absorber comprising a cylinder with hydraulic oil, a piston arranged in the cylinder, and an electric hydraulic pump for driving the piston to move in the cylinder, see Figure 1 , the electric hydraulic pump drives the piston to move in the up and down directions, the bottom of the cylinder is used to connect the suspension, and the method is described in detail as follows:

[0074] In step S1, the current stroke of the piston is obtained, wherein the current stroke is the distance between the piston and the bottom of the cylinder. The current stroke can be understood as the shock absorber stroke. The current stroke can be the distance between the piston and the inner bottom of the cylinder, or the distance between the piston and the outer bottom of the cylinder, see Figure 1 The current stroke may be the distance between the piston and the upper end of the bottom of the cylinder, or the distance between the piston and the lower end of the bottom of the piston.

[0075] In step S2, when the current stroke is greater than a preset stroke threshold, a restoring impact force is obtained, wherein the restoring impact force is the impact force applied by the piston to the top of the cylinder through the hydraulic oil in the cylinder. Figure 1 The restoring impact force is an upward impact force applied by the piston through the hydraulic oil in the cylinder, that is, an impact force applied by the piston to the top of the cylinder through the hydraulic oil in the restoring chamber.

[0076] In step S3, according to the magnitude relationship between the restoring impact force and the preset impact force, the operating parameters of the electric hydraulic pump are controlled so that the electric hydraulic pump provides a reverse force in the opposite direction to the restoring impact force. The reverse force buffers the restoring impact force and reduces the abnormal sound generated by the restoring impact force. The preset impact force can be 8000N.

[0077] In some embodiments, obtaining the restoring impact force includes: obtaining the unsprung mass of the fully active shock absorber and obtaining the current acceleration of the piston; and determining the restoring impact force according to the unsprung mass and the current acceleration. The unsprung mass is the mass of the component not supported by the fully active shock absorber.

[0078] In some implementations, obtaining the current acceleration of the piston includes: obtaining a unit stroke of the piston in a unit time; and determining the current acceleration based on the unit stroke.

[0079] Exemplarily, the unit time is 1 second, and the unit stroke is the stroke that the piston travels within 1 second.

[0080] In some implementations, determining the current acceleration based on the unit stroke includes: performing a second-order derivative on the unit stroke to obtain the current acceleration.

[0081] In some implementations, determining the restoring impact force according to the unsprung mass and the current acceleration includes: determining the restoring impact force according to a product of the unsprung mass and the current acceleration.

[0082] In some embodiments, obtaining the unit stroke of the piston in unit time includes: obtaining a first stroke of the piston at a first moment and a second stroke of the piston at a second moment, wherein the moment reached after the first moment passes through the unit time is the second moment; and determining the unit stroke according to the difference between the second stroke and the first stroke.

[0083] It should be noted that obtaining the current stroke of the piston may be understood as obtaining the stroke of the piston at the current moment.

[0084] In some embodiments, the operating parameters of the electric hydraulic pump are controlled according to the magnitude relationship between the restoring impact force and the preset impact force, so that the electric hydraulic pump provides a reverse force in the opposite direction to the restoring impact force, including: when the restoring impact force is less than or equal to the preset impact force, determining the speed control amount required for the electric hydraulic pump, and controlling the speed and rotation direction of the electric hydraulic pump according to the speed control amount and the rotation direction of the electric hydraulic pump, so that the electric hydraulic pump provides a reverse force in the opposite direction to the restoring impact force; when the restoring impact force is greater than the preset impact force, controlling the electric hydraulic pump to reverse according to a first target speed, so that the electric hydraulic pump provides a reverse force in the opposite direction to the restoring impact force. The first target speed can be the maximum speed of the electric hydraulic pump to provide the maximum reverse force, or it can be a speed close to the maximum speed of the electric hydraulic pump.

[0085] In some embodiments, when the electric hydraulic pump rotates forward, the direction of its forward force is the same as the restoring impact force, and controlling the speed and rotation direction of the electric hydraulic pump according to the speed control amount and the rotation direction of the electric hydraulic pump includes: obtaining the current speed and current rotation direction of the electric hydraulic pump; when the current rotation direction is reverse, determining the second target speed according to the sum of the current speed and the speed control amount, and adjusting the speed of the electric hydraulic pump to the second target speed; when the current rotation direction is forward, if the current speed is greater than or equal to the speed control amount, determining the third target speed according to the difference between the current speed and the speed control amount, and adjusting the speed of the electric hydraulic pump to the third target speed; if the current speed is less than the speed control amount, determining the fourth target speed according to the difference between the speed control amount and the current speed, adjusting the rotation direction of the electric hydraulic pump to reverse and the speed to the fourth target speed.

[0086] When the current speed is greater than or equal to the speed control amount, the forward force provided by the electric hydraulic pump is greater than or equal to the restoring impact force, and the speed of the electric hydraulic pump is controlled to be the speed difference, that is, the speed of the electric hydraulic pump is reduced from the current speed to the third target speed, and the reverse force is provided by reducing the forward force; when the current speed is less than the speed control amount, the forward force provided by the electric hydraulic pump is less than the restoring impact force, and the rotation direction of the electric hydraulic pump is controlled to be reverse, and the speed of the electric hydraulic pump is controlled to be the fourth target speed, that is, the rotation direction of the electric hydraulic pump is changed from forward to reverse, the speed becomes the fourth target speed, and the reverse force is provided by stopping applying the forward force and providing part of the reverse force.

[0087] For example, see Figure 1 , when the rotation direction of the electric hydraulic pump is forward, a first positive force is provided to drive the piston to move upward. If the current speed is greater than or equal to the speed control amount, the speed is reduced to the third target speed, and a second positive force is provided to drive the piston to move upward. The second force is less than the first positive force, that is, the force driving the piston to move upward is reduced from the first force to the second force. If the current speed is less than the speed control amount, the rotation direction of the electric hydraulic pump is changed from forward to reverse, and the speed becomes the fourth target speed, and a first reverse force is provided to drive the piston to move downward, that is, the first positive force is stopped, and then the first reverse force is provided.

[0088] In some embodiments, the determining the speed control amount required by the electric hydraulic pump includes: obtaining the current speed and cross-sectional area of ​​the piston, and obtaining the displacement and volumetric efficiency of the electric hydraulic pump; determining the current required flow of the electric hydraulic pump according to the current speed and the cross-sectional area; determining the speed control amount according to the current required flow, the displacement and the volumetric efficiency. The cross-sectional area is the cross-sectional area of ​​the piston, which is used to characterize the effective working area inside the fully active shock absorber.

[0089] In some implementations, determining the current required flow rate of the electric hydraulic pump according to the current speed and the cross-sectional area includes: determining the current required flow rate of the electric hydraulic pump according to a first product of the current speed and the cross-sectional area.

[0090] In some embodiments, determining the speed control amount based on the current required flow rate, the displacement and the volumetric efficiency includes: determining a second product of the displacement and the volumetric efficiency; and determining the speed control amount based on the quotient of the current required flow rate and the second product.

[0091] Determining the speed control amount according to the current speed is equivalent to controlling the piston to move at a speed in the opposite direction of the current speed according to the speed control amount. Figure 1 , the piston moves upward at the current speed, which is equivalent to controlling the piston to move downward at the current speed according to the speed control amount.

[0092] In some embodiments, obtaining the current speed and cross-sectional area of ​​the piston includes: obtaining a unit stroke of the piston in a unit time; and determining the current speed based on the unit stroke.

[0093] In some implementations, determining the current speed based on the unit stroke includes: performing a first-order derivative on the unit stroke to obtain the current speed.

[0094] In some embodiments, the fully active suspension system also includes a height sensor for detecting the height of the vehicle body, and obtaining the current stroke of the piston includes: obtaining a preset relationship characterizing the relationship between the height sensor angle and the piston stroke, and obtaining the current angle of the height sensor; and determining the current stroke based on the current angle and the preset relationship.

[0095] In some embodiments, acquiring a preset relationship characterizing the relationship between the height sensor angle and the piston stroke includes: calibrating the height sensor angle and the piston stroke to determine the preset relationship.

[0096] In the present application, when the current stroke is greater than a preset stroke threshold, the restoring impact force is obtained, and according to the magnitude of the restoring impact force, the operating parameters of the electric hydraulic pump are controlled so that the electric hydraulic pump provides a reverse force in the opposite direction of the restoring impact force, thereby reducing the impact force of the piston on the top of the cylinder.

[0097] Figure 3 A block diagram of a fully active suspension system travel protection device in an embodiment of the present application is shown, see Figure 3 According to a second aspect of the present application, a fully active suspension system travel protection device 100 is provided, wherein the fully active shock absorber comprises a cylinder having hydraulic oil, a piston disposed in the cylinder, and an electric hydraulic pump for driving the piston to move in the cylinder, and the device comprises:

[0098] A first acquisition unit 101 acquires a current stroke of the piston, wherein the current stroke is a distance between the piston and the bottom of the cylinder;

[0099] The second acquisition unit 102 acquires a restoring impact force when the current stroke is less than a preset stroke threshold, wherein the restoring impact force is an impact force applied by the piston to the top of the cylinder through the hydraulic oil in the cylinder;

[0100] The first control unit 103 controls the operating parameters of the electric hydraulic pump according to the magnitude relationship between the restoring impact force and the preset impact force, so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force.

[0101] In some embodiments, based on the above solution, when the second acquisition unit is used to acquire the restoration impact force, it is configured as follows:

[0102] a third acquisition unit, for acquiring the unsprung mass of the fully active shock absorber and the current acceleration of the piston;

[0103] The first determining unit determines the restoring impact force according to the unsprung mass and the current acceleration.

[0104] In some embodiments, based on the above solution, the third acquisition unit, when used to acquire the current acceleration of the piston, is configured as follows:

[0105] A fourth obtaining unit, for obtaining a unit stroke of the piston in a unit time;

[0106] The second determining unit determines the current acceleration according to the unit stroke.

[0107] In some embodiments, based on the above solution, the first control unit is configured as follows:

[0108] a second control unit, when the restoring impact force is less than or equal to the preset impact force, determining a speed control amount required for the electric hydraulic pump, and controlling the speed and rotation direction of the electric hydraulic pump according to the speed control amount and the rotation direction of the electric hydraulic pump, so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force;

[0109] The third control unit controls the electric hydraulic pump to reverse according to a first target speed when the restoring impact force is greater than a preset impact force, so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force.

[0110] In some embodiments, based on the above scheme, when the electric hydraulic pump rotates forward, the direction of its forward force is the same as the restoring impact force, and the second control unit is configured to control the speed and rotation direction of the electric hydraulic pump according to the speed control amount and the rotation direction of the electric hydraulic pump as follows:

[0111] A fifth acquisition unit, which acquires a current rotation speed and a current rotation direction of the electric hydraulic pump;

[0112] a fourth control unit, when the current rotation direction is reverse, determining a second target speed according to a sum of the current speed and the speed control amount, and adjusting the speed of the electric hydraulic pump to the second target speed;

[0113] The fifth control unit, when the current rotation direction is forward, if the current speed is greater than or equal to the speed control amount, determines the third target speed according to the difference between the current speed and the speed control amount, and adjusts the speed of the electric hydraulic pump to the third target speed; if the current speed is less than the speed control amount, determines the fourth target speed according to the difference between the speed control amount and the current speed, adjusts the rotation direction of the electric hydraulic pump to reverse and the speed to the fourth target speed.

[0114] In some embodiments, based on the above solution, the second control unit is configured as follows when used to determine the speed control amount required for the electric hydraulic pump:

[0115] a sixth acquisition unit, for acquiring a current speed and a cross-sectional area of ​​the piston, and a displacement and a volumetric efficiency of the electric hydraulic pump;

[0116] a third determining unit, determining a current required flow rate of the electric hydraulic pump according to the current speed and the cross-sectional area;

[0117] A fourth determination unit determines the speed control amount according to the currently required flow rate, the displacement and the volumetric efficiency.

[0118] In some embodiments, based on the above solution, the fully active suspension system further includes a height sensor for detecting the height of the vehicle body, and the first acquisition unit is configured as follows:

[0119] a seventh acquisition unit, which acquires a preset relationship representing a relationship between the height sensor angle and the piston stroke, and acquires a current angle of the height sensor;

[0120] A fifth determining unit determines the current stroke according to the current angle and the preset relationship.

[0121] Based on the same inventive concept, as a third aspect, the present application also provides a computer-readable storage medium on which is stored a program product capable of implementing the above-mentioned method for protecting the travel of a fully active suspension system in the present specification. In some possible implementations, various aspects of the present application can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps described in the above-mentioned "Exemplary Method" section of the present specification according to various exemplary implementations of the present application.

[0122] refer to Figure 4As shown, a program product 200 for implementing the above method according to an embodiment of the present application is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0123] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0124] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0125] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0126] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0127] As another aspect, the present application also provides an electronic device capable of implementing the above method.

[0128] Those skilled in the art will appreciate that various aspects of the present application may be implemented as a system, method or program product. Therefore, various aspects of the present application may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to as "circuit", "module" or "system" herein.

[0129] Refer to the following Figure 5 The electronic device 300 according to this embodiment of the present application is described. Figure 5 The electronic device 300 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0130] like Figure 5 As shown, the electronic device 300 is in the form of a general computing device. The components of the electronic device 300 may include but are not limited to: at least one processing unit 310, at least one storage unit 320, and a bus 330 connecting different system components (including the storage unit 320 and the processing unit 310).

[0131] The storage unit stores program codes, which can be executed by the processing unit 310, so that the processing unit 310 executes the steps described in the above “Example Method” section of this specification according to various exemplary implementations of the present application.

[0132] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 321 and / or a cache memory unit 322 , and may further include a read-only memory unit (ROM) 323 .

[0133] The storage unit 320 may also include a program / utility 324 having a set (at least one) of program modules 325, such program modules 325 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0134] Bus 330 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0135] The electronic device 300 may also communicate with one or more external devices 400 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 300, and / or any device that enables the electronic device 300 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed through an input / output (I / O) interface 350. Furthermore, the electronic device 300 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 360. Figure 5 As shown, the network adapter 360 communicates with other modules of the electronic device 300 via the bus 330. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0136] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.

[0137] 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. There may be other division methods in actual implementation. For example, 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.

[0138] The units described as separate components may or may not be physically separated, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed in multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0139] 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 application can be essentially or partly or all or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for 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 application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store program code.

[0140] The above description is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A travel protection method for a fully active suspension system, characterized in that: The fully active suspension system comprises a fully active shock absorber, the fully active shock absorber comprises a cylinder having hydraulic oil, a piston arranged in the cylinder, and an electric hydraulic pump for driving the piston to move in the cylinder, the bottom of the cylinder is used to connect the suspension, and the method comprises: Obtaining the current stroke of the piston, wherein the current stroke is the distance between the piston and the bottom of the cylinder; When the current stroke is greater than a preset stroke threshold, a restoring impact force is obtained, wherein the restoring impact force is an impact force applied by the piston to the top of the cylinder through the hydraulic oil in the cylinder; According to the magnitude relationship between the restoring impact force and the preset impact force, the operating parameters of the electric hydraulic pump are controlled so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force.

2. A travel protection method for a fully active suspension system according to claim 1, characterized in that: The step of obtaining the restoring impact force comprises: Acquiring the unsprung mass of the fully active shock absorber and acquiring the current acceleration of the piston; The restoring impact force is determined according to the unsprung mass and the current acceleration.

3. A travel protection method for a fully active suspension system according to claim 2, characterized in that: The obtaining of the current acceleration of the piston comprises: Obtaining a unit stroke of the piston in unit time; The current acceleration is determined according to the unit stroke.

4. The method for protecting the travel of a fully active suspension system according to claim 1, characterized in that: The controlling of the operating parameters of the electric hydraulic pump according to the magnitude relationship between the restoring impact force and the preset impact force so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force comprises: When the restoring impact force is less than or equal to the preset impact force, determining a speed control amount required for the electric hydraulic pump, and controlling the speed and rotation direction of the electric hydraulic pump according to the speed control amount and the rotation direction of the electric hydraulic pump, so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force; When the restoring impact force is greater than the preset impact force, the electric hydraulic pump is controlled to reverse according to the first target speed, so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force.

5. A travel protection method for a fully active suspension system according to claim 4, characterized in that: When the electric hydraulic pump rotates forward, the direction of the forward force is the same as the restoring impact force, and the speed and the rotation direction of the electric hydraulic pump are controlled according to the speed control amount and the rotation direction of the electric hydraulic pump, including: Get the current speed and current rotation direction of the electric hydraulic pump; When the current rotation direction is reverse, determining a second target speed according to the sum of the current speed and the speed control amount, and adjusting the speed of the electric hydraulic pump to the second target speed; When the current rotation direction is forward, if the current speed is greater than or equal to the speed control amount, the third target speed is determined according to the difference between the current speed and the speed control amount, and the speed of the electric hydraulic pump is adjusted to the third target speed. If the current speed is less than the speed control amount, the fourth target speed is determined according to the difference between the speed control amount and the current speed, and the rotation direction of the electric hydraulic pump is adjusted to reverse and the speed is adjusted to the fourth target speed.

6. A travel protection method for a fully active suspension system according to claim 4, characterized in that: The step of determining the speed control amount required by the electric hydraulic pump comprises: Obtaining the current speed and cross-sectional area of ​​the piston, and obtaining the displacement and volumetric efficiency of the electric hydraulic pump; determining a current required flow rate of the electric hydraulic pump according to the current speed and the cross-sectional area; The speed control amount is determined according to the currently required flow rate, the displacement and the volumetric efficiency.

7. The method for protecting the travel of a fully active suspension system according to claim 1, characterized in that: The fully active suspension system further includes a height sensor for detecting the height of the vehicle body, and the obtaining of the current stroke of the piston includes: Acquiring a preset relationship representing the relationship between the height sensor angle and the piston stroke, and acquiring a current angle of the height sensor; The current stroke is determined according to the current angle and the preset relationship.

8. A fully active suspension system travel protection device, characterized in that: The fully active suspension system comprises a fully active shock absorber, the fully active shock absorber comprises a cylinder with hydraulic oil, a piston arranged in the cylinder and an electric hydraulic pump for driving the piston to move in the cylinder, the bottom of the cylinder is used to connect the suspension, and the device comprises: A first acquisition unit is configured to acquire a current stroke of the piston, wherein the current stroke is a distance between the piston and the bottom of the cylinder; a second acquisition unit, when the current stroke is less than a preset stroke threshold, acquiring a restoring impact force, wherein the restoring impact force is an impact force applied by the piston to the top of the cylinder through the hydraulic oil in the cylinder; The first control unit controls the operating parameters of the electric hydraulic pump according to the magnitude relationship between the restoring impact force and the preset impact force, so that the electric hydraulic pump provides a reverse force in a direction opposite to the restoring impact force.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program includes executable instructions, and when the executable instructions are executed by a processor, the method described in any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: one or more processors; A memory for storing executable instructions of the processor, wherein when the executable instructions are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

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