A method, device, medium and electronic equipment for protecting travel of a fully active suspension system

Abstract

This application discloses a method, device, medium, and electronic device for stroke protection of a fully active suspension system. The method includes: 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, obtaining a restoring impact force, 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; and controlling the operating parameters of the electric hydraulic pump based on 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. This application can reduce the impact force of the piston on the top of the cylinder.

Description

Technical Field

[0001] The present application relates to the technical field of fully active suspension systems, and in particular, to a travel protection method, device, medium, and electronic equipment for a fully active suspension system. 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 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, affecting 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 practice of the present application.

[0006] According to a first aspect of the present application, a method for protecting travel of a fully active suspension system is provided. The fully active suspension system includes a fully active shock absorber, the fully active shock absorber including a cylinder containing 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 to the suspension. The method includes:

[0007] Obtaining a 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 the 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, obtaining the restoring impact force includes:

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

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

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

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

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

[0016] In some embodiments, based on the above solution, 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 in a direction 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 required speed control amount 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 a preset impact force, the electric hydraulic pump is controlled to rotate in reverse according to a 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 solution, when the electric hydraulic pump rotates forward, the direction of the 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 embodiments, 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 obtaining the current stroke of the piston includes:

[0028] Obtaining a preset relationship representing a relationship between the height sensor angle and the piston stroke, and obtaining 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 includes a fully active shock absorber, the fully active shock absorber including a cylinder containing 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 to the suspension, and the device includes:

[0031] a first acquiring unit, for acquiring 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 acquiring unit, configured to acquire 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;

[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 acquiring unit, configured to acquire 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 required speed control amount 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 solution, when the electric hydraulic pump rotates forward, the direction of the forward force is the same as the restoring impact force, and the second control unit, when used 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, is configured as follows:

[0044] a fifth acquiring unit, for acquiring 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 based on 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 based on 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 to:

[0048] a sixth acquiring 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, configured to determine a current required flow rate of the electric hydraulic pump according to the current speed and the cross-sectional area;

[0050] A fourth determining 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 vehicle body height, and the first acquisition unit is configured as follows:

[0052] a seventh acquiring unit, configured to acquire a preset relationship representing a relationship between the height sensor angle and the piston stroke, and to acquire 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 a 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. 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 accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, explaining the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort. 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 fully active suspension system travel protection method according to an embodiment of the present application is shown;

[0062] Figure 3 A block diagram of a travel protection device for a fully active suspension system 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 this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts 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 so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art 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, implementations 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 separate entities. That is, these functional entities may be implemented in software, 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 for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[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 to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. 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, sensors, and an ECU controller. The sensors include a height sensor for detecting vehicle height. The height sensor consists of a sensor shaft, a disc, and a light shield. The disc is equipped with several narrow slots, and the light shield is equipped with a light-emitting diode (LED) and a photodiode (photodiode). When the vehicle height changes, the lower suspension arm rotates the sensor shaft via a connecting rod and a guide rod, which in turn rotates the disc. As the disc rotates, the narrow slots block or allow some light to reach the light shield. The LED and photodiode on the light shield detect the light reaching the light shield, thereby detecting the rotation angle of the disc and, in turn, the rotation angle of the actuator shaft and the change in vehicle height. Furthermore, the stroke of the fully active shock absorber also changes. Therefore, 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 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, and 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 It is set to the first position, and the connection position where the hydraulic oil circuit 4 connects to the restoration chamber is the second connection position. The first connection position is located between the second connection position and the electric hydraulic pump 6. A floating piston is provided in the accumulator 5. 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 restoration chamber into the compression chamber through the hydraulic oil circuit 4, driving the piston 7 to move upward, that is, toward the direction of the vehicle body 1. When the electric hydraulic pump 6 reverses, the electric hydraulic pump 6 pumps the hydraulic oil in the compression chamber into the restoration chamber through the hydraulic oil circuit 4, driving the piston 7 to move downward, that is, toward the direction of the suspension 8.

[0073] Figure 2 A flow chart showing a method for protecting the travel of a fully active suspension system according to an embodiment of the present application is shown. Figure 1 and Figure 2 , provides a travel protection method for a fully active suspension system, wherein the fully active suspension system includes a fully active shock absorber, the fully active shock absorber includes a cylinder containing hydraulic oil, a piston disposed 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, and the bottom of the cylinder is used to connect to the suspension. 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 can 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, the operating parameters of the electric hydraulic pump are controlled based on the magnitude relationship between the restoring impact force and the preset impact force, so that the electric hydraulic pump provides a reaction force in the opposite direction of the restoring impact force. The reaction force buffers the restoring impact force and reduces the abnormal noise generated by the restoring impact force. The preset impact force can be 8000N.

[0077] In some embodiments, obtaining the restoring impact force includes obtaining an unsprung mass of the fully active shock absorber and a current acceleration of the piston; and determining the restoring impact force based on the unsprung mass and the current acceleration. The unsprung mass is the mass of components not supported by the fully active shock absorber.

[0078] In some embodiments, obtaining the current acceleration of the piston includes: obtaining a unit stroke of the piston in 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 traveled by the piston in 1 second.

[0080] In some embodiments, 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 embodiments, determining the restoring impact force based on the unsprung mass and the current acceleration includes determining the restoring impact force based on 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 based on the difference between the second stroke and the first stroke.

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

[0084] In some embodiments, controlling the operating parameters of the electric hydraulic pump based on 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 includes: determining a required speed control amount for the electric hydraulic pump when the restoring impact force is less than or equal to the preset impact force; and controlling the speed and rotation direction of the electric hydraulic pump based on 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; and 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 a direction opposite to the restoring impact force. The first target speed may be the maximum speed of the electric hydraulic pump to provide the maximum reverse force, or may 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 the speed and 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: 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 a 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 a 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 forward 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 forward force is provided to drive the piston to move upward. The second force is less than the first forward 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 application of the first forward force is stopped, and then the first reverse force is provided.

[0088] In some embodiments, determining the speed control variable required for the electric hydraulic pump includes: obtaining a current speed and cross-sectional area of ​​the piston, and obtaining a displacement and volumetric efficiency of the electric hydraulic pump; determining a current required flow rate of the electric hydraulic pump based on the current speed and cross-sectional area; and determining the speed control variable based on the current required flow rate, the displacement, and the volumetric efficiency. The cross-sectional area is the cross-sectional area of ​​the piston and is used to represent the effective working area within the fully active shock absorber.

[0089] In some embodiments, determining the current required flow rate of the electric hydraulic pump based on the current speed and the cross-sectional area includes: determining the current required flow rate of the electric hydraulic pump based on 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 unit time; and determining the current speed based on the unit stroke.

[0093] In some embodiments, 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 representing 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 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.

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

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

[0099] The second acquiring 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 acquiring unit, configured to acquire 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 required speed control amount 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 solution, when the electric hydraulic pump rotates forward, the direction of the forward force is the same as the restoring impact force, and the second control unit, when used 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, is configured as follows:

[0111] a fifth acquiring unit, for acquiring 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 based on 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 based on 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 to:

[0115] a sixth acquiring 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, configured to determine a current required flow rate of the electric hydraulic pump according to the current speed and the cross-sectional area;

[0117] A fourth determining 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 vehicle body height, and the first acquisition unit is configured as follows:

[0119] a seventh acquiring unit, configured to acquire a preset relationship representing a relationship between the height sensor angle and the piston stroke, and to acquire 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, this application also provides a computer-readable storage medium storing a program product capable of implementing the aforementioned method for protecting the travel of a fully active suspension system. In some possible implementations, various aspects of this application may also be implemented in the form of a program product comprising program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps described in the "Exemplary Methods" section above according to the various exemplary embodiments of this application.

[0122] refer to Figure 4 As shown, a program product 200 for implementing the above method according to an embodiment of the present application is described. The program product 200 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may 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 may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0123] The program product may be implemented in 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 component, or any combination thereof. More specific examples (a 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 thereof.

[0124] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer 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, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0126] The program code for performing the operations of the present application can 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 can 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 can 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 can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[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 can be implemented as systems, methods, or program products. Therefore, various aspects of the present application can be specifically implemented in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation that combines hardware and software aspects, which may be collectively referred to herein as a "circuit," "module," or "system."

[0129] Refer to the following Figure 5 hereinafter, an 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 limit the functions and scope of use of the embodiments of the present application.

[0130] like Figure 5As shown, electronic device 300 is implemented as a general-purpose computing device. Components of electronic device 300 may include, but are not limited to, the aforementioned at least one processing unit 310, the aforementioned at least one storage unit 320, and a bus 330 connecting various system components (including storage unit 320 and processing unit 310).

[0131] The storage unit stores program code, which can be executed by the processing unit 310, so that the processing unit 310 performs the steps described in the above "Example Method" section of this specification according to various exemplary embodiments 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 bus or memory 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 may 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 or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of this 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, hardwiring, or a combination of any of these. Furthermore, the functional units may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[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 exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0138] The units described as separate components may or may not be physically separate, 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 across 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, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0140] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within 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 includes a fully active shock absorber, which includes a cylinder containing 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 to the suspension, and the method includes: Obtaining a 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 the 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, including: When the restoring impact force is less than or equal to the preset impact force, determining a required speed control amount of 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, including: obtaining a current speed and a 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, determining a 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 a 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 adjusting the speed to the fourth target speed; 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 the opposite direction to the restoring impact force. When the electric hydraulic pump rotates forward, the direction of its forward force is the same as the restoring impact force.

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

3. The method for protecting the travel of a fully active suspension system according to claim 2, characterized in that: The obtaining of the current acceleration of the piston includes: Obtaining a unit stroke of the piston per 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, wherein: Determining the speed control amount required for 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 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.

5. 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 obtaining the current stroke of the piston includes: Obtaining a preset relationship representing a relationship between the height sensor angle and the piston stroke, and obtaining a current angle of the height sensor; The current stroke is determined according to the current angle and the preset relationship.

6. A fully active suspension system travel protection device, characterized in that: The fully active suspension system includes a fully active shock absorber, which includes a cylinder containing hydraulic oil, a piston disposed 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 to the suspension. The device includes: a first acquiring unit, for acquiring a current stroke of the piston, wherein the current stroke is a distance between the piston and the bottom of the cylinder; a second acquiring unit, configured to acquire 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; 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, including: When the restoring impact force is less than or equal to the preset impact force, determining a required speed control amount of 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, including: obtaining a current speed and a 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, determining a 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 a 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 adjusting the speed to the fourth target speed; 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 the opposite direction to the restoring impact force. When the electric hydraulic pump rotates forward, the direction of its forward force is the same as the restoring impact force.

7. 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 according to any one of claims 1 to 5 is implemented.

8. 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 5.

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