A damping control system combining sensing technology and intelligent algorithm

Abstract

The present invention discloses a damping control system that combines sensing technology with an intelligent algorithm. The present invention relates to the field of damping control technology and solves the problem of not numerically confirming the influence caused by the oil movement or aging of the damper. The present invention confirms multiple combinations in sequence, compares the standard ratio of the reverse force to the damping force under different combinations, and selects the damping force corresponding to the best combination to ensure that the buffering and shock absorption performance of the suspension system can be optimized under various driving conditions, effectively improve driving comfort, and reduce the bumpy feeling of the vehicle; the damping calibration center intelligently calibrates the damping force according to the high and low trends of the vibration amplitude, and the calibration process is not a simple one-time adjustment, but through rigorous error value calculation and change value analysis, the damping force is gradually optimized to ensure that the damper always maintains good performance under long-term use or complex working conditions, further improving the stability and reliability of the driving experience.

Description

Technical Field

[0001] The present invention relates to the field of damping control technology, and in particular to a damping control system combining sensing technology with intelligent algorithms. Background Art

[0002] Its damping control is mainly achieved by suppressing the vibration of the vehicle during driving; for example, in the vehicle suspension system, the damping force is like a "regulator". When the wheels encounter bumps or potholes on the road, or when the vehicle accelerates, brakes, turns, etc., it will produce varying degrees of vibration and impact, and the damping device will intervene; it uses internal mechanical structures, hydraulic or pneumatic systems, and electromagnetic effects to generate resistance in the opposite direction of vibration, that is, damping force, to slow down the vibration amplitude and prevent excessive shaking and bumps.

[0003] The application with publication number CN105082920B discloses a coordinated control system and method for an interconnected air suspension with adjustable damping and vehicle height, including a sensor module, a road roughness identification module, a driver command acquisition module, a coordination controller, an interconnected state controller, an interconnected state control actuator, a damping controller, a damping control actuator, a vehicle height controller and a vehicle height control actuator. First, interconnected state control, vehicle height control and damping control strategies are formulated; then a coordination controller is established to allocate the working order of each controller according to the current driving conditions, and specific control statements are corrected. The vehicle height control is corrected according to the interconnected state and damping coefficient, and the interconnected state control and damping control are corrected according to the correction coefficient provided by the coordination controller; the present invention can effectively coordinate the operation of the interconnected state control system, the vehicle height control system and the damping control system, and significantly improve the comprehensive performance of the interconnected air suspension with adjustable damping and vehicle height.

[0004] During the damping control process of the vehicle body, precise damping control is generally performed based on the amplitude changes of the vehicle body itself, so that the vehicle body can be effectively cushioned. However, in the actual control process, the impact of the oil movement or aging of the damper is not numerically confirmed, resulting in a specific difference between the controlled damping force and the damping force actually required by the vehicle body. Summary of the Invention

[0005] In response to the deficiencies of the prior art, the present invention provides a damping control system that combines sensing technology and intelligent algorithms, which solves the problem of not numerically confirming the impact of the damper's oil movement or aging.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a damping control system combining sensing technology and intelligent algorithms, comprising:

[0007] The instantaneous speed monitoring end monitors the instantaneous bounce speed and instantaneous displacement vector of the wheel, and transmits the monitored instantaneous bounce speed to the instantaneous elastic force confirmation end;

[0008] The instantaneous elastic force confirmation end confirms the instantaneous elastic force generated by the current wheel based on the monitored instantaneous spring speed and instantaneous displacement vector, and transmits the confirmed instantaneous elastic force to the damping force locking end in the following manner:

[0009] Based on the monitored instantaneous bounce speed, the instantaneous acceleration in the corresponding unit is determined. There are two sets of instantaneous bounce speeds. The determined instantaneous acceleration is calibrated as A, where A = |the difference between the two sets of instantaneous bounce speeds| ÷ the time difference between the two sets of instantaneous bounce speeds. Based on the instantaneous acceleration A and the vehicle mass m, where m is a preset value, the characteristic force is determined, where characteristic force = m×A;

[0010] Based on the confirmed instantaneous displacement vector, determine the angle JJ between the instantaneous displacement vector and the vertical direction, and use: instantaneous elastic force = characteristic force × CosJJ to determine the instantaneous elastic force generated by the wheel at the current moment;

[0011] The damping force locking end distributes the damping force and spring force based on the instantaneous elastic force confirmed at the current moment, and then confirms the reverse force based on the allocated spring force, identifies the standard ratio between the reverse force and the damping force, and confirms the standard ratios associated with different combinations through multiple combinations. The combination associated with the best standard ratio is selected, and the damping force is confirmed. The specific method is as follows:

[0012] The instantaneous elastic force confirmed at the current moment is calibrated as TL, and the damping force and spring force are randomly distributed to TL. The sum of the distributed damping force and spring force is TL, and the different distributed damping forces and spring forces are regarded as different distribution combinations;

[0013] Confirm the standard ratio of different distribution combinations: calibrate the damping force associated with this distribution combination as ZN i , the associated spring force is calibrated as DL i , where i represents different allocation combinations, using FX i =DL i ×C1 confirms the reverse force associated with this spring force, where C1 is the preset fixed coefficient factor, using: B i =FX i ÷ZN i Confirm the standard ratio B associated with the corresponding opposing force in the corresponding distribution combination i ;

[0014] Different standard ratios B associated with different allocation combinations iVerify with the set standard Y1, where Y1 is the preset value, using PD i =|B i -Y1|Determine the evaluation value, from the different evaluation values ​​PD associated with different allocation combinations i In the PD i The distribution combination associated with min is used as the execution combination, and the damping force confirmed in the execution combination is transmitted to the control center;

[0015] The control center regulates the hydraulic damping of the hydraulic system in the suspension according to the confirmed damping force, so that the hydraulic damping is adjusted to the same value as the damping force;

[0016] After the control center completes the corresponding damping force control process, it generates a control signal and transmits it to the error confirmation terminal. The error confirmation terminal confirms the vibration height of the vehicle body and confirms the first set of vibration amplitudes generated by the vehicle body based on the displacement sensor installed in the vehicle body, and then determines whether the vibration amplitude of the vehicle body meets the standard.

[0017] The damping calibration center, based on the received error signal, rechecks the determined vibration amplitude and the preset error range to determine the high and low trends of the vibration amplitude. Based on the determined high and low trends, it locks the calibration trend of the damping force and performs a preliminary calibration. Based on the amplitude changes associated with the preliminary calibration, it confirms the calibration value of this stage and transmits the confirmed calibration value to the control center. The specific method is as follows:

[0018] Based on the received error signal, determine the vibration amplitude ZD and the error interval associated with the error signal. If ZD>error interval, it means that the vibration amplitude is in a high trend; if ZD<error interval, it means that the vibration amplitude is in a low trend;

[0019] If the vibration amplitude is in a high trend, a damping high calibration is performed, the confirmed preliminary calibration value is "+1", and the error value is determined, the error value = ZD-the maximum value of the error standard interval, and the confirmed preliminary calibration value is transmitted to the control center. If the vibration amplitude is in a low trend, a damping low calibration is performed, the confirmed preliminary calibration value is "-1", and the error value is determined, the error value = the minimum value of the error standard interval - ZD, and the confirmed preliminary calibration value is transmitted to the control center;

[0020] After completing the preliminary calibration, the damping calibration center reconfirms the calibrated oscillation amplitude. The vibration amplitude and the error value between the error standards are confirmed in the same way as above. The error value determined this time is calibrated as the secondary value, and the error value associated with the previous error signal is calibrated as the primary value. The change value associated with the preliminary damping calibration is determined using the formula: primary value - secondary value = change value.

[0021] Then use: subvalue ÷ change value = G. If G is not a positive integer, round it up. If G is a positive integer, do nothing.

[0022] Confirm the calibration value G associated with this error signal, transmit the confirmed calibration value G to the control center, and then the control center adjusts the damping force ZN based on the determined calibration value G. i Adjustment is performed. If the vibration amplitude is high during the initial calibration process, the controlled damping force is adjusted to (ZN i +G), if the vibration amplitude is low during the initial calibration, the controlled damping force is adjusted to (ZN i -G).

[0023] Preferably, the instantaneous bounce speed is monitored and collected by an instantaneous sensor, and its instantaneous displacement vector is monitored and collected by a displacement sensor arranged in the wheel.

[0024] Preferably, the error confirmation terminal identifies whether the vehicle body vibration amplitude meets the standard in the following specific manner:

[0025] The first set of vibration amplitudes of the vehicle body monitored by the displacement sensor is calibrated as ZD, and the monitored vibration amplitude ZD is compared with the set error standard interval, and the error standard interval is a preset numerical interval. If If ZD∈error standard interval, an error signal is generated and transmitted to the damping calibration center; if ZD∈error standard interval, no processing is performed, and the vehicle body vibration amplitude associated with the subsequent control signal is monitored and analyzed.

[0026] The present invention provides a damping control system that combines sensing technology and intelligent algorithms. Compared with existing technologies, it has the following advantages:

[0027] The instantaneous spring force is accurately calculated by using a transient sensor and a displacement sensor to accurately measure the wheel's instantaneous spring velocity and displacement vector. This method significantly improves the accuracy of instantaneous spring force determination compared to traditional methods that rely solely on a single characteristic force estimate, laying a solid foundation for subsequent precise damping control.

[0028] By sequentially confirming multiple combinations and comparing the standard ratios of reaction force to damping force under different combinations, the damping force corresponding to the best combination is selected to ensure that the suspension system's cushioning and shock absorption performance is optimized under various driving conditions, effectively improving driving comfort and reducing vehicle bumps.

[0029] The Damping Calibration Center intelligently calibrates the damping force based on the high and low trends of the vibration amplitude. The calibration process is not a simple one-time adjustment. Instead, it gradually optimizes the damping force through rigorous error value calculation and change value analysis to ensure that the damper always maintains good performance under long-term use or complex working conditions, further improving the stability and reliability of the driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the principle framework of the present invention;

[0031] Figure 2 Schematic diagram of the angle between the instantaneous displacement vector and the vertical direction of the present invention. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] First embodiment

[0034] See also Figure 1 The present application provides a damping control system that combines sensing technology and intelligent algorithms, including an instantaneous speed monitoring terminal, an instantaneous elastic force confirmation terminal, a damping force locking terminal, a control center, an error confirmation terminal, and a damping calibration center, wherein the instantaneous speed monitoring terminal is electrically connected to an input node of the instantaneous elastic force confirmation terminal, and the instantaneous elastic force confirmation terminal is electrically connected to an input node of the damping force locking terminal, and the damping force locking terminal is electrically connected to an input node of the control center, and the control center, the error confirmation terminal, and the damping calibration center are electrically connected in sequence from the output node to the input node;

[0035] The instantaneous speed monitoring end monitors the instantaneous bounce speed and instantaneous displacement vector of the wheel and transmits the monitored instantaneous bounce speed to the instantaneous elastic force confirmation end. The instantaneous bounce speed is monitored and collected by the instantaneous sensor, and the instantaneous displacement vector is monitored and collected by the displacement sensor set in the wheel. Specifically, based on the monitored instantaneous bounce speed, the corresponding instantaneous acceleration can be locked. At the same time, based on the corresponding displacement vector, the direction of the corresponding resistance is determined, thereby locking the corresponding instantaneous elastic force.

[0036] The instantaneous elastic force confirmation end confirms the instantaneous elastic force generated by the current wheel based on the monitored instantaneous spring velocity and instantaneous displacement vector, and transmits the confirmed instantaneous elastic force to the damping force locking end. The specific method of confirming the instantaneous elastic force is:

[0037] Based on the monitored instantaneous bounce speed, the instantaneous acceleration within the corresponding unit is confirmed. There are two sets of instantaneous bounce speeds. The confirmed instantaneous acceleration is calibrated as A, where A = |the difference between the two sets of instantaneous bounce speeds| ÷ the time difference between the two sets of instantaneous bounce speeds. Based on this instantaneous acceleration A and the vehicle mass m, where m is a preset value, which is prepared in advance by relevant operators based on experience, the characteristic force is confirmed, where characteristic force = m×A;

[0038] Combine Figure 2 Based on the confirmed instantaneous displacement vector, determine the angle JJ between the instantaneous displacement vector and the vertical direction, and use: instantaneous elastic force = characteristic force × CosJJ (based on trigonometric functions, confirm the elastic force in the vertical direction) to determine the instantaneous elastic force generated by the wheel at the current moment;

[0039] Specifically, this method of adding displacement confirmation can make the confirmed instantaneous elastic force more accurate. In the existing technology, the confirmed characteristic force is generally used as the instantaneous elastic force, but this confirmation method will have a certain force deviation. Using this method, the determined force value can be effectively made more accurate and the precision is higher.

[0040] The damping force locking end allocates the damping force and the spring force based on the instantaneous elastic force confirmed at the current moment, then determines the reverse force based on the allocated spring force, identifies the standard ratio between the reverse force and the damping force, determines the standard ratios associated with different combinations through multiple combinations, selects the combination associated with the best standard ratio, determines the damping force, and transmits the determined damping force to the control center.

[0041] The instantaneous elastic force confirmed at the current moment is calibrated as TL, and the damping force and spring elastic force are randomly distributed to TL. The total value of the distributed damping force and spring force is TL. The different distributed damping forces and spring forces are used as different distribution combinations (the damping force is used to buffer the force first, and the remaining force after buffering is then buffered by the spring elastic force, so the corresponding spring elastic force value can be confirmed);

[0042] Confirm the standard ratio of different distribution combinations: calibrate the damping force associated with this distribution combination as ZN i , the associated spring force is calibrated as DL i , where i represents different allocation combinations, using FX i =DL i ×C1 confirms the reverse force associated with this spring force (the so-called reverse force is that the damping spring will rebound after being compressed, and this reverse force is the elastic force generated during the rebound). C1 is a preset fixed coefficient factor, and its specific value is determined by the operator based on experience. The following is used: B i =FX i ÷ZN iConfirm the standard ratio B associated with the corresponding opposing force in the corresponding distribution combination i ;

[0043] Different standard ratios B associated with different allocation combinations i Verify with the set standard Y1, where Y1 is the preset value, and its specific value is determined by the relevant operators based on experience, using PD i =|B i -Y1|Determine the evaluation value, from the different evaluation values ​​PD associated with different allocation combinations i In the PD i min is used as the execution combination, and the damping force confirmed in the execution combination is transmitted to the control center.

[0044] Its control center regulates the hydraulic damping of the hydraulic system in the suspension based on the confirmed damping force, so that the hydraulic damping is adjusted to the same value as the damping force.

[0045] Specifically, this is the preliminary control process of damping. Based on the determined instantaneous elastic force, the damping force and the spring force are specifically distributed. From the specific distribution process, the different reverse forces associated with different spring forces are confirmed, and the optimal damping force is selected based on the correlation ratio between the corresponding reverse force and the corresponding damping force. The hydraulic damping is adjusted based on the selected optimal damping force, so that the current vehicle can achieve better buffering and shock absorption effect and enhance the driving experience of its drivers and passengers.

[0046] Second embodiment

[0047] In the specific implementation process, compared with the above embodiment, this embodiment mainly focuses on the secondary control process of the damping force, and the corresponding error confirmation terminal and the damping calibration center perform calibration confirmation;

[0048] After the control center completes the corresponding damping force control process, it generates a control signal and transmits it to the error confirmation terminal. The error confirmation terminal confirms the vibration height of the vehicle body. Based on the displacement sensor installed in the vehicle body, it confirms the first set of vibration amplitudes (i.e., displacement) generated by the vehicle body, and then identifies whether the vibration amplitude of the vehicle body meets the standard. The specific method of identification is as follows:

[0049] The first set of vibration amplitudes of the vehicle body monitored by the displacement sensor is calibrated as ZD, and the monitored vibration amplitude ZD is compared with the set error standard interval. The error standard interval is a preset numerical interval, which is formulated by relevant operators based on experience. If ZD∈error standard interval, no processing is performed, and the vehicle body vibration amplitude associated with the subsequent control signal is monitored and analyzed. If If the error standard is set, an error signal is generated and the generated error signal is transmitted to the damping calibration center;

[0050] When the vibration amplitude of the vehicle body falls within the corresponding error range, it means that after setting the corresponding damping force, when the vibration amplitude of the vehicle body itself is in a normal state, the vibration amplitude generated will fall within the corresponding error range. If the vibration amplitude of the vehicle body itself is not in a normal state, then the vibration amplitude generated will not fall within the corresponding error range. After the damping force is set, if the error is still too large, it means that the corresponding damper is aging, resulting in the inability to meet the corresponding damping requirements after the damping force is set. Therefore, it is necessary to use the corresponding damping calibration center to perform damping calibration to further improve the damping effect of the damper.

[0051] The damping calibration center, based on the received error signal, rechecks the determined vibration amplitude and the preset error range to determine the high and low trends of the vibration amplitude. Based on the determined high and low trends, the damping force calibration trend is locked and a preliminary calibration is performed. Based on the amplitude change associated with the preliminary calibration, the calibration value of this stage is confirmed and transmitted to the control center. The specific method for determining the calibration value is as follows:

[0052] Based on the received error signal, determine the vibration amplitude ZD and the error interval associated with the error signal. If ZD>error interval, it means that the vibration amplitude is in a high trend; if ZD<error interval, it means that the vibration amplitude is in a low trend;

[0053] If the vibration amplitude is in a high trend, a damping high calibration is performed, and the confirmed preliminary calibration value is "+1", and the error value is determined, and the error value = ZD-the maximum value of the error standard interval, and the confirmed preliminary calibration value is transmitted to the control center. If the vibration amplitude is in a low trend, a damping low calibration is performed, and the confirmed preliminary calibration value is "-1", and the error value is determined, and the error value = the minimum value of the error standard interval - ZD, and the confirmed preliminary calibration value is transmitted to the control center. Specifically, if the damping force received by the control center in the next stage is 50, then after calibration, the control center will be directly adjusted to 51 or 49;

[0054] After completing the preliminary calibration, the damping calibration center reconfirms the calibrated oscillation amplitude. The vibration amplitude and the error value between the error standards are confirmed in the same way as above. The error value determined this time is calibrated as the secondary value, and the error value associated with the previous error signal is calibrated as the primary value. The change value associated with the preliminary damping calibration is determined using the formula: primary value - secondary value = change value.

[0055] Then use: subvalue ÷ change value = G. If G is not a positive integer, round it up. If G is a positive integer, do nothing.

[0056] Confirm the calibration value G associated with this error signal, transmit the confirmed calibration value G to the control center, and then the control center adjusts the damping force ZN based on the determined calibration value G. i Adjustment is performed. If the vibration amplitude is high during the initial calibration process, the controlled damping force is adjusted to (ZN i +G), if the vibration amplitude is low during the initial calibration, the controlled damping force is adjusted to (ZN i -G);

[0057] Each different processing stage requires the execution of a corresponding calibration process. That is, after the error signal is generated, the subsequent error signal will be generated and re-calibrated only after the damping force calibration process of this processing stage is completed. Under normal circumstances, multiple calibrations are not required, and generally do not occur in a very short period of time. Therefore, the time span of the calibration process in each stage will be very large.

[0058] Specifically, after calibrating the damping force, the corresponding control process can be effectively controlled more accurately, thereby improving the overall effect of the damping control.

[0059] Some of the data in the above formulas are dimensionless and numerically calculated. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0060] The above embodiments are only used to illustrate the technical method of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A damping control system combining sensing technology and intelligent algorithm, characterized in that: include: The instantaneous speed monitoring end monitors the instantaneous bounce speed and instantaneous displacement vector of the wheel, and transmits the monitored instantaneous bounce speed to the instantaneous elastic force confirmation end; An instantaneous elastic force confirmation end confirms the instantaneous elastic force generated by the current wheel based on the monitored instantaneous spring-up speed and instantaneous displacement vector, and transmits the confirmed instantaneous elastic force to the damping force locking end; The damping force locking end allocates the damping force and the spring force based on the instantaneous elastic force confirmed at the current moment, then determines the counterforce based on the allocated spring force, identifies the standard ratio between the counterforce and the damping force, determines the standard ratios associated with different combinations through multiple combinations, selects the combination associated with the best standard ratio, and then determines the damping force; The control center regulates the hydraulic damping of the hydraulic system in the suspension according to the confirmed damping force, so that the hydraulic damping is adjusted to the same value as the damping force; After the control center completes the corresponding damping force control process, it generates a control signal and transmits it to the error confirmation terminal. The error confirmation terminal confirms the vibration height of the vehicle body and confirms the first set of vibration amplitudes generated by the vehicle body based on the displacement sensor installed in the vehicle body, and then determines whether the vibration amplitude of the vehicle body meets the standard. Based on the received error signal, the damping calibration center rechecks the determined vibration amplitude and the preset error range to determine the high and low trends of the vibration amplitude. Based on the determined high and low trends, the calibration trend of the damping force is locked and a preliminary calibration is performed. Based on the amplitude changes associated with the preliminary calibration, the calibration value of this stage is confirmed and the confirmed calibration value is transmitted to the control center.

2. A damping control system combining sensing technology and intelligent algorithm according to claim 1, characterized in that: The instantaneous spring-up speed is monitored and collected by an instantaneous sensor, and its instantaneous displacement vector is monitored and collected by a displacement sensor arranged in the wheel.

3. The damping control system combining sensing technology and intelligent algorithm according to claim 1 is characterized in that: The instantaneous elastic force confirmation terminal confirms the instantaneous elastic force in the following specific manners: Based on the monitored instantaneous bounce speed, the instantaneous acceleration in the corresponding unit is determined. There are two sets of instantaneous bounce speeds. The determined instantaneous acceleration is calibrated as A, where A = |the difference between the two sets of instantaneous bounce speeds| ÷ the time difference between the two sets of instantaneous bounce speeds. Based on the instantaneous acceleration A and the vehicle mass m, where m is a preset value, the characteristic force is determined, where characteristic force = m×A; Based on the confirmed instantaneous displacement vector, the angle JJ between the instantaneous displacement vector and the vertical direction is confirmed, and the instantaneous elastic force generated by the wheel at the current moment is confirmed using: instantaneous elastic force = characteristic force × CosJJ.

4. The damping control system combining sensing technology and intelligent algorithm according to claim 1 is characterized in that: The specific method of confirming the damping force at the damping force locking end is as follows: The instantaneous elastic force confirmed at the current moment is calibrated as TL, and the damping force and spring force are randomly distributed to TL. The sum of the distributed damping force and spring force is TL, and the different distributed damping forces and spring forces are regarded as different distribution combinations; Confirm the standard ratio of different distribution combinations: calibrate the damping force associated with this distribution combination as ZN i , the associated spring force is calibrated as DL i , where i represents different allocation combinations, using FX i =DL i ×C1 confirms the reverse force associated with this spring force, where C1 is the preset fixed coefficient factor, using: B i =FX i ÷ZN i Confirm the standard ratio B associated with the corresponding opposing force in the corresponding distribution combination i ; Different standard ratios B associated with different allocation combinations i Verify with the set standard Y1, where Y1 is the preset value, using PD i =|B i -Y1|Determine the evaluation value, from the different evaluation values ​​PD associated with different allocation combinations i In the PD i min is used as the execution combination, and the damping force confirmed in the execution combination is transmitted to the control center.

5. The damping control system combining sensing technology and intelligent algorithm according to claim 1 is characterized in that: The specific method for the error confirmation end to identify whether the vehicle body vibration amplitude meets the standard is: The first set of vibration amplitudes of the vehicle body monitored by the displacement sensor is calibrated as ZD, and the monitored vibration amplitude ZD is compared with the set error standard interval, and the error standard interval is a preset numerical interval. If If the error is within the standard range, an error signal is generated and the generated error signal is transmitted to the damping calibration center.

6. The damping control system combining sensing technology and intelligent algorithm according to claim 5, characterized in that: If ZD∈error standard interval, no processing is performed, and the vehicle body vibration amplitude associated with the subsequent control signal is monitored and analyzed.

7. The damping control system combining sensing technology and intelligent algorithm according to claim 1, characterized in that: The damping calibration center confirms the calibration value at this stage in the following specific ways: Based on the received error signal, determine the vibration amplitude ZD and the error interval associated with the error signal. If ZD>error interval, it means that the vibration amplitude is in a high trend; if ZD<error interval, it means that the vibration amplitude is in a low trend; If the vibration amplitude is in a high trend, a damping high calibration is performed, and the confirmed preliminary calibration value is "+1". The error value is determined, and the error value = ZD-the maximum value of the error standard interval. The confirmed preliminary calibration value is transmitted to the control center. If the vibration amplitude is in a low trend, a damping low calibration is performed, and the confirmed preliminary calibration value is "-1". The error value is determined, and the error value = the minimum value of the error standard interval - ZD. The confirmed preliminary calibration value is transmitted to the control center. After completing the preliminary calibration, the damping calibration center reconfirms the calibrated oscillation amplitude. The vibration amplitude and the error value between the error standards are confirmed in the same way as above. The error value determined this time is calibrated as the secondary value, and the error value associated with the previous error signal is calibrated as the primary value. The change value associated with the preliminary damping calibration is determined using the formula: primary value - secondary value = change value. Then use: subvalue ÷ change value = G. If G is not a positive integer, round it up. If G is a positive integer, do nothing. Confirm the calibration value G associated with this error signal, transmit the confirmed calibration value G to the control center, and then the control center adjusts the damping force ZN based on the determined calibration value G. i Adjustment is performed. If the vibration amplitude is high during the initial calibration process, the controlled damping force is adjusted to (ZN i +G), if the vibration amplitude is low during the initial calibration, the controlled damping force is adjusted to (ZN i -G).

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