Magneto-rheological damper control method and system, electronic equipment and storage medium

Abstract

The invention relates to a magneto-rheological damper control method and system, electronic equipment and a storage medium, the method comprises the steps that preset linear fitting models are obtained, the linear fitting models comprise the first fitting model and the second fitting model, the first fitting model comprises the linear relation between the damping force of a magneto-rheological damper and the acceleration of a suspension, and the second fitting model comprises the linear relation between the damping force of the magneto-rheological damper and the acceleration of the suspension; the second fitting model comprises a linear relation between the damping force and the suspension speed; if the real-time suspension speed is larger than or equal to a preset target speed threshold value, first predicted damping force corresponding to the real-time suspension acceleration is obtained through a first fitting model; if the real-time suspension speed is smaller than the target speed threshold value, second predicted damping force corresponding to the real-time suspension speed is obtained through a second fitting model; controlling the magnetorheological damper based on the first predicted damping force or the second predicted damping force; according to the method, the damping force output by the magnetorheological damper can be continuously and accurately controlled conveniently.

Description

Technical Field

[0001] The present application relates to the field of magnetorheological technology, and in particular to a magnetorheological shock absorber control method, system, electronic equipment and storage medium. Background Art

[0002] Magnetorheological damper (MRD) is a new type of intelligent shock absorber, which is widely used in vehicle suspension, building structure and bridge fields. It has the advantages of adjustable damping force, fast response speed and high control accuracy. Its working principle is to adjust the rheological properties of magnetorheological fluid through an external magnetic field, thereby changing its output damping force. In practical applications, magnetorheological shock absorber can adjust the damping force according to the real-time input current signal, thereby effectively controlling vibration and impact and improving the comfort and stability of the system.

[0003] However, in actual use, magnetorheological shock absorbers have certain hysteresis characteristics, which is mainly manifested in that in one movement cycle of the magnetorheological shock absorber, the relationship curve between its damping force and speed deviates, resulting in a time lag between input (such as current, etc.) and output (damping force). On this basis, it is difficult to accurately control the damping force output, which in turn affects the control accuracy of the system. Summary of the invention

[0004] The present application provides a magnetorheological shock absorber control method, system, electronic device and storage medium to solve the problem in the related art that it is difficult to accurately control the damping force output by the magnetorheological shock absorber due to the response lag of the magnetorheological shock absorber.

[0005] The present application provides a magnetorheological shock absorber control method, the method comprising: obtaining a preset linear fitting model, the linear fitting model comprising: a first fitting model and a second fitting model, the first fitting model comprising a linear relationship between the damping force of the magnetorheological shock absorber and the suspension acceleration, the second fitting model comprising a linear relationship between the damping force and the suspension speed;

[0006] Acquire the current real-time suspension speed and real-time suspension acceleration of the magnetorheological shock absorber; if the real-time suspension speed is greater than or equal to a preset target speed threshold, use the first fitting model to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, use the second fitting model to obtain a second predicted damping force corresponding to the real-time suspension speed;

[0007] Based on the first predicted damping force or the second predicted damping force, magnetorheological shock absorber control is performed.

[0008] In one embodiment of the present application, the step of acquiring the first fitting model and the second fitting model includes:

[0009] Acquire multiple groups of measured data, each group of measured data includes: suspension speed, suspension acceleration, current, and corresponding damping force of the magnetorheological shock absorber;

[0010] Based on the multiple groups of measured data, linear fitting is performed to obtain the first fitting model and the second fitting model, wherein the second fitting model includes multiple target relationship models, wherein the target relationship model refers to a linear relationship model between the damping force and the suspension speed, and each target relationship model corresponds to a different current and / or suspension acceleration.

[0011] In one embodiment of the present application, linear fitting is performed based on multiple sets of measured data to obtain the first fitting model, including:

[0012] Determine the measured data in which the suspension speed is greater than or equal to the preset critical speed threshold as the first measured data; obtain a plurality of first relationship models based on the first measured data, wherein the first relationship model refers to a relationship model between the suspension speed and the damping force under a given current and a suspension acceleration, and the given currents of the plurality of first relationship models are the same and the given suspension accelerations are different;

[0013] Based on the measured data, a second relationship model is obtained, where the second relationship model refers to a relationship model between the suspension velocity and the damping force when the suspension acceleration is 0 or close to 0, and the current given by the first relationship model and the second relationship model is the same;

[0014] performing difference operations on the plurality of first relationship models and the second relationship model respectively to obtain a plurality of third relationship models, wherein the third relationship model is a relationship model between a suspension speed and a damping force difference, wherein the damping force difference refers to a difference between a damping force in the first relationship model and a damping force in the second relationship model, and each damping force difference corresponds to a different suspension acceleration and / or suspension speed;

[0015] The sum of the damping force difference and a preset standard damping force is determined as a target damping force, wherein the standard damping force refers to an ideal damping force corresponding to a currently given current, and the target damping force corresponds to the damping force difference one by one;

[0016] A linear fitting is performed according to the target damping force and the suspension acceleration corresponding to the target damping force to obtain the first fitting model.

[0017] In one embodiment of the present application, a linear fitting is performed according to the target damping force and the suspension acceleration corresponding to the target damping force to obtain the first fitting model, including:

[0018] The target damping force, and the suspension speed and the suspension acceleration corresponding to the target damping force are determined as a data point, and the data point corresponds to the target damping force one by one; if the suspension speed in the data point is greater than 0, and the suspension acceleration is greater than 0, the data point is divided into a first group;

[0019] If the suspension speed in the data point is less than 0 and the suspension acceleration is greater than 0, the data point is divided into a second group;

[0020] If the suspension speed in the data point is greater than 0, and the suspension acceleration is less than 0, the data point is divided into a third group;

[0021] If the suspension speed in the data point is less than 0, and the suspension acceleration is less than 0, the data point is divided into a fourth group;

[0022] Linear fitting is performed on the first group, the second group, the third group, and the fourth group respectively to obtain a target fitting model, wherein the target fitting model refers to a linear relationship model between the damping force and the suspension acceleration, and the first group, the second group, the third group, and the fourth group respectively correspond to one target fitting model, and all the target fitting models constitute the first fitting model.

[0023] In one embodiment of the present application, linear fitting is performed based on multiple sets of the measured data to obtain the second fitting model, including:

[0024] Determine the measured data in which the suspension speed is less than a preset critical speed threshold as second measured data; obtain a plurality of fourth relationship models based on the second measured data, wherein the fourth relationship model refers to a linear relationship model between the suspension speed and the damping force under the same current and the same suspension acceleration;

[0025] The second fitting model is obtained by performing linear fitting on a plurality of the fourth relationship models.

[0026] In one embodiment of the present application, the second fitting model is obtained by performing linear fitting on a plurality of the fourth relationship models, including:

[0027] Determining the slope in the linear equation of the fourth relationship model as the slope to be fitted, and obtaining a linear relationship between different suspension accelerations and the slope to be fitted;

[0028] Based on the linear relationship between different suspension accelerations and the slope to be fitted, linear fitting is performed to obtain a fitting slope;

[0029] Determining the hysteresis interval width of the fourth relationship model as the target width, wherein the hysteresis interval width refers to the absolute value of the suspension velocity when the damping force is 0, and obtaining a linear relationship between different suspension accelerations and the target width;

[0030] The product of the target width and the corresponding slope to be fitted is determined as a first intercept, and the opposite of the first intercept is determined as a second intercept; based on the linear relationship between different suspension accelerations and the target width, a linear relationship between different suspension accelerations and the second intercept is obtained;

[0031] Performing linear fitting based on the linear relationship between different suspension accelerations and the second intercept to obtain a fitting intercept;

[0032] The second fitting model is obtained based on the fitting slope and the fitting intercept.

[0033] In one embodiment of the present application, the step of acquiring the first fitting model and the second fitting model further includes:

[0034] When the first fitting model and the second fitting model are obtained, the measured data of the suspension speed being within a preset speed threshold range is determined as the third measured data, and the midpoint of the speed threshold range is the critical speed threshold;

[0035] Substituting the suspension acceleration in the third measured data into the first fitting model to obtain a first damping force; and substituting the suspension velocity in the third measured data into the second fitting model to obtain a second damping force;

[0036] If the first damping force is different from the second damping force, determining the fitting damping force corresponding to the current third measured data based on the suspension acceleration and the suspension speed in the third measured data and a preset fitting connection rule, wherein the fitting connection rule refers to determining the larger value or the smaller value of the first damping force and the second damping force as the fitting damping force of the third measured data according to the suspension acceleration and the suspension speed in the third measured data;

[0037] The third measured data whose fitting damping force is the first damping force is determined as the target measured data, the suspension speed in all the target measured data is screened to obtain the minimum value of the suspension speed, and based on the minimum value, the critical speed threshold is updated to obtain the target speed threshold.

[0038] The present application also provides a magnetorheological shock absorber control system, comprising:

[0039] A linear fitting model acquisition module, used to acquire a preset linear fitting model, wherein the linear fitting model includes: a first fitting model and a second fitting model, wherein the first fitting model includes a linear relationship between the damping force of the magnetorheological shock absorber and the suspension acceleration, and the second fitting model includes a linear relationship between the damping force and the suspension speed;

[0040] a damping force prediction module, used to obtain the current real-time suspension speed and real-time suspension acceleration of the magnetorheological shock absorber; if the real-time suspension speed is greater than or equal to a preset target speed threshold, the first fitting model is used to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, the second fitting model is used to obtain a second predicted damping force corresponding to the real-time suspension speed;

[0041] A control module is used to control a magnetorheological shock absorber based on the first predicted damping force or the second predicted damping force.

[0042] The present application also provides an electronic device, comprising a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory to implement a magnetorheological shock absorber control method as provided in any of the above embodiments.

[0043] The present application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is used to enable a computer to execute the magnetorheological shock absorber control method provided in any one of the above embodiments.

[0044] Beneficial effects of the embodiments of the present application: The magnetorheological shock absorber control method, system, electronic device and storage medium provided by the embodiments of the present application, the method obtains a preset linear fitting model, the linear fitting model includes: a first fitting model and a second fitting model, the first fitting model includes a linear relationship between the damping force of the magnetorheological shock absorber and the suspension acceleration, and the second fitting model includes a linear relationship between the damping force and the suspension speed; obtains the current real-time suspension speed and real-time suspension acceleration of the magnetorheological shock absorber; if the real-time suspension speed is greater than or equal to a preset target speed threshold, the first fitting model is used to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, the second fitting model is used to obtain a second predicted damping force corresponding to the real-time suspension speed; based on the first predicted damping force or the second predicted damping force, the magnetorheological shock absorber is controlled; the method can predict the damping force according to the suspension acceleration and suspension speed of the magnetorheological shock absorber, thereby obtaining the predicted damping force, which is convenient for subsequent control of the magnetorheological shock absorber. It is understandable that due to the hysteresis characteristics of the magnetorheological shock absorber, after sending the current control signal to the magnetorheological shock absorber, the magnetorheological shock absorber needs a certain interval of time to respond, that is, to output the corresponding damping force. During this period of time, the damping force sensor of the magnetorheological shock absorber cannot detect the corresponding damping force signal, so the control end (such as the controller, etc.) cannot accurately predict and control. However, this method predicts the damping force based on the suspension speed and suspension acceleration, which facilitates the control end to adjust the control strategy in time based on the predicted damping force, so as to achieve continuous and accurate control of the damping force output by the magnetorheological shock absorber. In addition, by setting a linear fitting model, this method can fully meet the damping prediction requirements of the suspension speed high speed area (real-time suspension speed is greater than or equal to the target speed threshold) and the suspension speed low speed area (real-time suspension speed is less than the target speed threshold) data, and has high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic flow chart of a magnetorheological shock absorber control method provided in one embodiment of the present application;

[0046] Figure 2 This is an exemplary schematic diagram of the influence of different currents on the hysteresis characteristic curve of a magnetorheological shock absorber under fixed suspension acceleration and fixed suspension speed provided in an embodiment of the present application;

[0047] Figure 3 An exemplary schematic diagram of the influence of different suspension accelerations on the hysteresis characteristic curve of a magnetorheological shock absorber under fixed suspension acceleration and fixed current provided in one embodiment of the present application;

[0048] Figure 4An exemplary diagram of the influence of different suspension accelerations on the hysteresis characteristic curve of a magnetorheological shock absorber under a fixed current provided in an embodiment of the present application Figure 1 ;

[0049] Figure 5 An exemplary diagram of the influence of different suspension accelerations on the hysteresis characteristic curve of a magnetorheological shock absorber under a fixed current provided in an embodiment of the present application Figure 2 ;

[0050] Figure 6 An exemplary schematic diagram of a first relationship model in a magnetorheological shock absorber control method provided in an embodiment of the present application;

[0051] Figure 7 An exemplary schematic diagram of a second relationship model in a magnetorheological shock absorber control method provided in an embodiment of the present application;

[0052] Figure 8 An exemplary schematic diagram of a third relationship model in a magnetorheological shock absorber control method provided in an embodiment of the present application;

[0053] Fig. 9 A schematic diagram of the relationship between the suspension speed and the target damping force after eliminating the influence of the suspension speed on the damping force output by the magnetorheological shock absorber provided in an embodiment of the present application;

[0054] Fig.10 Schematic diagram of the fitting effect of the first fitting model in the magnetorheological shock absorber control method provided in one embodiment of the present application Figure 1 ;

[0055] Fig.11 Schematic diagram of the fitting effect of the first fitting model in the magnetorheological shock absorber control method provided in one embodiment of the present application Figure 2 ;

[0056] Fig.12 An exemplary schematic diagram of a fourth relationship model in a magnetorheological shock absorber control method provided in an embodiment of the present application;

[0057] Fig.13 An exemplary schematic diagram of the linear relationship between different suspension accelerations and the slope to be fitted in the magnetorheological shock absorber control method provided in an embodiment of the present application;

[0058] Fig.14 An exemplary schematic diagram of the linear relationship between different suspension accelerations and target width in a magnetorheological shock absorber control method provided in an embodiment of the present application;

[0059] Fig.15 Schematic diagram of the fitting effect of the second fitting model in the magnetorheological shock absorber control method provided in one embodiment of the present application Figure 1 ;

[0060] Fig.16 Schematic diagram of the fitting effect of the second fitting model in the magnetorheological shock absorber control method provided in one embodiment of the present application Figure 2 ;

[0061] Fig.17 A schematic diagram of the structure of a magnetorheological shock absorber control system provided in one embodiment of the present application;

[0062] Fig.18 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0063] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0064] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0065] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0066] In order to facilitate understanding of the magnetorheological shock absorber control method, system, electronic device and storage medium provided in the present application, some technical terms involved in the present application are explained below.

[0067] Hysteresis characteristics (hysteresis effect): The generation of hysteresis effect is related to the physical properties of MR fluid. Inside the MR shock absorber, when the magnetic field changes, the viscosity of the MR fluid changes, thus affecting the fluidity of the liquid and the damping force of the MR shock absorber. However, since the rearrangement of the particles of the MR fluid in the magnetic field and the change of viscosity are gradual, this means that when changing the magnetic field or suspension speed, the response of the MR fluid is not instantaneous, but has a lag, which manifests as a hysteresis phenomenon.

[0068] Hysteresis interval: The closed loop in the input (such as suspension speed, etc.)-output (damping force) relationship of the magnetorheological shock absorber. This loop reflects the historical dependence of the shock absorption system, that is, the output depends not only on the current input, but also on the past input path.

[0069] Hysteresis area: The area in the "closed loop area" formed by the input (such as suspension speed, etc.)-output (damping force) curve. This loop area refers to the different relationship between input and output during loading (acceleration) and unloading (deceleration), which leads to differences in the curves and forms a closed loop. The hysteresis area usually reflects the energy consumed or energy loss of the system in a working cycle.

[0070] Combine the following Figures 1 to 18 , the magnetorheological shock absorber control method, system, electronic device and storage medium provided in this application are explained.

[0071] See also Figure 1 , Figure 1 A flow chart of a magnetorheological shock absorber control method provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method includes:

[0072] S110: Obtain a preset linear fitting model, wherein the linear fitting model includes: a first fitting model and a second fitting model, wherein the first fitting model includes a linear relationship between the damping force of the magnetorheological shock absorber and the suspension acceleration, and the second fitting model includes a linear relationship between the damping force and the suspension speed.

[0073] It should be noted that after many experiments, it is found that when the suspension speed of the magnetorheological shock absorber is high, its suspension acceleration has a greater impact on its damping force, while when the suspension speed is low, its suspension speed has a greater impact on its damping force. Therefore, by setting the first fitting model and the second fitting model, this embodiment can better meet the damping force prediction requirements of the magnetorheological shock absorber at different suspension speeds with high accuracy.

[0074] Figure 2 This is an exemplary schematic diagram of the influence of different currents on the hysteresis characteristic curve of the magnetorheological shock absorber under fixed suspension acceleration and fixed suspension speed provided in an embodiment of the present application. Please refer to Figure 2 Since the suspension acceleration cannot be directly controlled, the frequency of the magnetic flow shock absorber can be adjusted during the experiment to achieve the purpose of adjusting the suspension acceleration (different frequencies mean different suspension accelerations). Figure 2 Assume that the frequency is 6.67 Hz, the suspension speed is 1 m / s, and Figure 2The horizontal axis represents the suspension speed, and the vertical axis represents the damping force. Figure 2 The curves of different colors represent different currents, which represent the hysteresis characteristic curves (the relationship curve between suspension speed and damping force) corresponding to different currents (such as 0A, 0.5A, 1A...) under fixed suspension acceleration (6.67HZ) and fixed suspension speed (1m / s). Figure 2 It can be seen that under fixed frequency (suspension acceleration) and fixed suspension speed, the magnetorheological hysteresis characteristic curves corresponding to different currents are different, that is, different currents have different effects on the magnetorheological hysteresis characteristics.

[0075] Figure 3 For an exemplary schematic diagram of the influence of different suspension accelerations on the hysteresis characteristic curve of the magnetorheological shock absorber under fixed suspension acceleration and fixed current provided in an embodiment of the present application, please refer to Figure 3 , Figure 3 Assume the frequency is 15HZ and the current is 5A (ampere). Figure 3 The curves of different colors represent the magnetorheological hysteresis characteristic curves corresponding to different suspension displacement amplitudes (such as ±0.15mm (millimeter), ±0.42mm, ±0.86mm, and ±1.79mm). Figure 3 The horizontal axis represents the suspension speed, and the vertical axis represents the damping force. It is understandable that when the suspension displacement amplitude changes, it will affect the suspension speed. Figure 3 The different curves in can show the different effects of different suspension speeds on hysteresis characteristics. Figure 3 It can be concluded that the suspension speed has a greater influence on the damping force in the low-speed zone.

[0076] Figure 4 An exemplary diagram of the influence of different suspension accelerations on the hysteresis characteristic curve of a magnetorheological shock absorber under a fixed current provided in an embodiment of the present application Figure 1 , Figure 4 It is assumed that the current is 1A, and curves of different colors represent the hysteresis characteristic curves corresponding to different frequencies (suspension acceleration), such as 5HZ, 10HZ, and 15HZ. Figure 4 The horizontal axis represents the suspension speed, and the vertical axis represents the damping force. Figure 4 It can be concluded that different frequencies (suspension acceleration) have a great influence on the hysteresis characteristics in the high-speed zone.

[0077] Figure 5 An exemplary diagram of the influence of different suspension accelerations on the hysteresis characteristic curve of a magnetorheological shock absorber under a fixed current provided in an embodiment of the present application Figure 2 , the horizontal axis is the suspension acceleration (in m / s 2 (m / s 2)), the vertical axis is the suspension speed (unit: m / s (meter / second)), and the depth axis is the damping force (unit: N (Newton)). Figure 5 Assume that the current is 3A, and change its frequency, such as 6.67HZ, 3.34HZ, 2.5HZ, etc., to obtain different hysteresis characteristic curves. Figure 5 It can be seen that different frequencies (suspension acceleration) have an impact on the hysteresis characteristics.

[0078] It should be mentioned that the suspension speed refers to the speed of the piston of the magnetorheological shock absorber relative to the cylinder when it moves, and the suspension acceleration refers to the relative acceleration of the piston of the magnetorheological shock absorber relative to the cylinder.

[0079] In addition, since the low-speed region is easily affected by the current, the second fitting model includes a linear relationship between the damping force and the suspension speed under different currents.

[0080] S120: Obtain the current real-time suspension speed and real-time suspension acceleration of the magnetorheological shock absorber; if the real-time suspension speed is greater than or equal to a preset target speed threshold, use the first fitting model to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, use the second fitting model to obtain a second predicted damping force corresponding to the real-time suspension speed.

[0081] Specifically, if the real-time suspension speed is greater than or equal to the preset target speed threshold, the real-time suspension acceleration is substituted into the first fitting model to obtain the corresponding first predicted damping force. If the real-time suspension speed is less than the target speed threshold, the real-time suspension speed is substituted into the second fitting model to obtain the corresponding second predicted damping force, which has a higher accuracy.

[0082] S130: Controlling a magnetorheological shock absorber based on the first predicted damping force or the second predicted damping force.

[0083] It should be noted that, based on the first predicted damping force or the second predicted damping force, the control end may adjust the current control strategy of the magnetorheological shock absorber accordingly, thereby realizing magnetorheological shock absorber control, etc.

[0084] In some embodiments, the step of acquiring the first fitting model and the second fitting model comprises:

[0085] 1. Obtain multiple groups of measured data, each group of measured data including: suspension speed, suspension acceleration, current, and corresponding damping force of the magnetorheological shock absorber.

[0086] 2. Based on the multiple groups of measured data, linear fitting is performed to obtain the first fitting model and the second fitting model, wherein the second fitting model includes multiple target relationship models, and the target relationship model refers to a linear relationship model between damping force and suspension speed, and each target relationship model corresponds to a different current and / or suspension acceleration.

[0087] It should be noted that, through the above steps, the fitting of the first fitting model and the second fitting model can be completed well with high accuracy.

[0088] In some embodiments, performing linear fitting based on the plurality of sets of measured data to obtain the first fitting model includes:

[0089] 1. Determine the measured data in which the suspension speed is greater than or equal to a preset critical speed threshold as the first measured data; based on the first measured data, obtain multiple first relationship models, wherein the first relationship model refers to a relationship model between the suspension speed and the damping force under given current and suspension acceleration, and the current given by the multiple first relationship models is the same, and the given suspension acceleration is different.

[0090] It should be noted that the critical speed threshold can be set according to actual conditions. By determining the measured data with a suspension speed greater than or equal to the critical speed threshold as the first measured data, it is possible to divide the measured data into low-speed areas and high-speed areas, thereby facilitating the fitting of the measured data in the low-speed area and the high-speed area, respectively, thereby improving the fitting accuracy. The number of the first relationship models depends on the number of changes in the suspension acceleration under a given current, that is, under a given current, different suspension accelerations correspond to different first relationship models.

[0091] Figure 6 For an exemplary schematic diagram of the first relationship model in the magnetorheological shock absorber control method provided in one embodiment of the present application, please refer to Figure 6 , Figure 6 Assuming the current is 3A, Figure 6 The curve in represents a 3A current and a hysteresis characteristic curve under a certain suspension acceleration (such as the suspension acceleration at a frequency of 6.67HZ, etc.). Figure 6 The horizontal axis represents the suspension speed, and the vertical axis represents the damping force.

[0092] 2. Based on the measured data, a second relationship model is obtained, where the second relationship model refers to a relationship model between the suspension speed and the damping force when the suspension acceleration is 0 or close to 0, and the current given by the first relationship model and the second relationship model is the same.

[0093] Figure 7For an exemplary schematic diagram of the second relationship model in the magnetorheological shock absorber control method provided in one embodiment of the present application, please refer to Figure 7 , Figure 7 In the same example, the current is assumed to be 3A. Figure 7 The curve in represents the relationship between the suspension velocity and the damping force when the suspension acceleration is 0 or close to 0.

[0094] 3. Perform difference operations on multiple first relationship models and the second relationship model respectively to obtain multiple third relationship models, wherein the third relationship model is a relationship model between suspension speed and damping force difference, and the damping force difference refers to the difference between the damping force in the first relationship model and the damping force in the second relationship model, and the suspension acceleration and / or suspension speed corresponding to each damping force difference are different.

[0095] Specifically, the damping forces with the same suspension speed in the first relational model and the second relational model are subjected to difference calculation to obtain the damping force difference corresponding to each suspension speed, thereby obtaining a third relational model. The third relational model corresponds one-to-one to the first relational model.

[0096] Understandably, Figure 6 The damping force of the curve in is affected by the suspension speed and the suspension acceleration. Figure 7 Since the suspension acceleration is 0 or close to 0, it is considered that Figure 7 The damping force in is only affected by the suspension velocity. By setting the suspension acceleration to 0 or close to 0, the effect of the suspension acceleration on the damping force can be eliminated. Figure 6 and Figure 7 Subtracting the data at the data level, the damping force difference obtained is the effect of suspension acceleration on the damping force.

[0097] Figure 8 For an exemplary schematic diagram of the third relationship model in the magnetorheological shock absorber control method provided in one embodiment of the present application, please refer to Figure 8 , Figure 8 The horizontal axis represents the suspension acceleration, the vertical axis represents the suspension speed, and the depth axis represents the damping force. By performing difference operations on the multiple first relationship models and the second relationship models, the following can be obtained: Figure 8 As can be understood, Figure 8 The suspension acceleration is introduced to express the relationship among the suspension speed, the damping force difference, and the suspension acceleration, which is equivalent to integrating multiple third relationship models.

[0098] 4. The sum of the damping force difference and a preset standard damping force is determined as a target damping force, wherein the standard damping force refers to an ideal damping force corresponding to a currently given current, and the target damping force corresponds one-to-one to the damping force difference.

[0099] 5. Perform linear fitting based on the target damping force and the suspension acceleration corresponding to the target damping force to obtain the first fitting model.

[0100] It can be understood that the target damping force is the damping force that has eliminated the influence of the suspension speed, and it is related to the suspension acceleration. Therefore, by performing linear fitting on the target damping force and the suspension acceleration corresponding to the target damping force, the first fitting model can be obtained with high accuracy.

[0101] Fig. 9 A schematic diagram of the relationship between the suspension speed and the target damping force after eliminating the influence of the suspension speed on the damping force output by the magnetorheological shock absorber provided in an embodiment of the present application, please refer to Fig. 9 , Fig. 9 The horizontal axis is the suspension speed, and the vertical axis is the target damping force. Fig. 9 The suspension speed-target damping force curve under different currents is exemplarily demonstrated in FIG.

[0102] In some embodiments, performing linear fitting according to the target damping force and the suspension acceleration corresponding to the target damping force to obtain the first fitting model includes:

[0103] 1. Determine the target damping force, and the suspension speed and suspension acceleration corresponding to the target damping force as a data point, wherein the data point corresponds to the target damping force one by one; if the suspension speed in the data point is greater than 0, and the suspension acceleration is greater than 0, the data point is divided into the first group.

[0104] 2. If the suspension speed of the data point is less than 0 and the suspension acceleration is greater than 0, the data point is divided into the second group.

[0105] 3. If the suspension speed in the data point is greater than 0 and the suspension acceleration is less than 0, the data point is divided into a third group.

[0106] 4. If the suspension speed in the data point is less than 0, and the suspension acceleration is less than 0, the data point is divided into a fourth group.

[0107] 5. Perform linear fitting on the first group, the second group, the third group, and the fourth group, respectively, to obtain a target fitting model, where the target fitting model refers to a linear relationship model between damping force and suspension acceleration, and the first group, the second group, the third group, and the fourth group respectively correspond to one target fitting model, and all the target fitting models constitute the first fitting model.

[0108] It should be noted that by performing linear fitting on the first group, the second group, the third group, and the fourth group respectively, the corresponding four target fitting models are obtained, which can better realize the fitting of different situations (different suspension accelerations, different suspension speeds), and facilitate the prediction of different situations in subsequent applications.

[0109] In some embodiments, by performing linear fitting on the first group, the mathematical expression of the target fitting model obtained is:

[0110] y=2.133*a-3.996

[0111] By performing linear fitting on the second group, the mathematical expression of the target fitting model is:

[0112] y=6.148*a-8.01

[0113] By performing linear fitting on the third group, the mathematical expression of the target fitting model is:

[0114] y=4.823*a+47.36

[0115] By performing linear fitting on the fourth group, the mathematical expression of the target fitting model is obtained as follows:

[0116] y=6.125*a+32.79

[0117] Where y represents the damping force and a represents the suspension acceleration.

[0118] After many experiments, it was found that the fitting parameters corresponding to different currents and different suspension accelerations in the high-speed area are consistent, so the above mathematical expression can be applied to the fitting scenarios of different currents and different suspension accelerations.

[0119] It should be mentioned that the fitting parameters in the above embodiments are only examples, and the present application does not limit the values ​​of the fitting parameters (such as 2.133, 3.996, etc.).

[0120] Fig.10 Schematic diagram of the fitting effect of the first fitting model in the magnetorheological shock absorber control method provided in one embodiment of the present application Figure 1 , Fig.11Schematic diagram of the fitting effect of the first fitting model in the magnetorheological shock absorber control method provided in one embodiment of the present application Figure 2 Please refer to Fig.10 and Fig.11 , Fig.10 and Fig.11 The horizontal axis represents the suspension speed, and the vertical axis represents the damping force. Fig.10 The suspension accelerations under multiple currents are substituted into the first fitting model to obtain the corresponding damping force estimation value, and the estimation value is compared with the corresponding measured value (damping force in the measured data). Fig.11 Taking 3A current as an example, the estimated damping force at different frequencies (suspension acceleration) is compared with the measured value. Fig.10 and Fig.11 It can be seen that the damping force estimation value obtained by using the first fitting model is basically consistent with the measured value, so the accuracy of the first fitting model is relatively high.

[0121] In some embodiments, performing linear fitting based on the plurality of sets of measured data to obtain the second fitting model includes:

[0122] 1. Determine the measured data in which the suspension speed is less than a preset critical speed threshold as the second measured data; based on the second measured data, obtain multiple fourth relationship models, and the fourth relationship model refers to a linear relationship model between the suspension speed and the damping force under the same current and the same suspension acceleration.

[0123] Fig.12 For an exemplary schematic diagram of the fourth relationship model in the magnetorheological shock absorber control method provided in one embodiment of the present application, please refer to Fig.12 , Fig.12 The green line in the figure represents the fourth relationship model. V0 represents the hysteresis interval width. The blue line is the hysteresis characteristic curve in the high-speed zone. Fig.12 Points 1, 2, 3, and 4 in the figure represent the intersection points of the hysteresis characteristic curves in the low-speed zone and the high-speed zone.

[0124] 2. Obtain the second fitting model by performing linear fitting on multiple fourth relationship models.

[0125] It should be noted that, by performing linear fitting on multiple fourth relationship models, a second fitting model with higher accuracy can be obtained.

[0126] In some embodiments, the second fitting model is obtained by performing linear fitting on a plurality of the fourth relationship models, including:

[0127] 1. Determine the slope in the linear equation of the fourth relationship model as the slope to be fitted, and obtain the linear relationship between different suspension accelerations and the slope to be fitted.

[0128] 2. Based on the linear relationship between different suspension accelerations and the slope to be fitted, a linear fit is performed to obtain a fitting slope.

[0129] It should be noted that by fitting the linear relationship, a fitting slope with higher accuracy can be obtained.

[0130] Fig.13 This is an exemplary schematic diagram of the linear relationship between different suspension accelerations and the slope to be fitted in the magnetorheological shock absorber control method provided in an embodiment of the present application. Fig.13 By performing a linear fit on the relationship curve in , the fitting slope can be obtained.

[0131] 3. Determine the hysteresis interval width of the fourth relationship model as the target width, wherein the hysteresis interval width refers to the absolute value of the suspension velocity when the damping force is 0, and obtain the linear relationship between different suspension accelerations and the target width.

[0132] Fig.14 An exemplary schematic diagram of the linear relationship between different suspension accelerations and target width in a magnetorheological shock absorber control method provided in an embodiment of the present application. Fig.14 The curve in is the line connecting the two vertices.

[0133] 4. The product of the target width and the corresponding slope to be fitted is determined as the first intercept, and the inverse of the first intercept is determined as the second intercept; based on the linear relationship between different suspension accelerations and the target width, the linear relationship between different suspension accelerations and the second intercept is obtained.

[0134] 5. Based on the linear relationship between different suspension accelerations and the second intercept, a linear fit is performed to obtain a fitting intercept.

[0135] 6. Based on the fitting slope and the fitting intercept, obtain the second fitting model.

[0136] It should be noted that, by adopting the above method, a second fitting model with higher accuracy can be obtained.

[0137] In some embodiments, the step of acquiring the first fitting model and the second fitting model further comprises:

[0138] 1. When the first fitting model and the second fitting model are obtained, the measured data of the suspension speed being within a preset speed threshold range is determined as the third measured data, and the midpoint of the speed threshold range is the critical speed threshold.

[0139] 2. Substitute the suspension acceleration in the third measured data into the first fitting model to obtain a first damping force; and substitute the suspension speed in the third measured data into the second fitting model to obtain a second damping force.

[0140] 3. If the first damping force is different from the second damping force, the fitting damping force corresponding to the current third measured data is determined based on the suspension acceleration, suspension speed in the third measured data, and a preset fitting connection rule. The fitting connection rule refers to determining the larger or smaller value of the first damping force and the second damping force as the fitting damping force of the third measured data based on the suspension acceleration and suspension speed in the third measured data.

[0141] In some embodiments, if the suspension acceleration in the third measured data is greater than 0, and the suspension speed is greater than 0, a smaller value of the first damping force and the second damping force is determined as the fitting damping force;

[0142] If the suspension acceleration in the third measured data is less than 0, and the suspension speed is greater than 0, the smaller value of the first damping force and the second damping force is determined as the fitting damping force;

[0143] If the suspension acceleration in the third measured data is greater than 0, and the suspension speed is less than 0, then determining the larger value of the first damping force and the second damping force as the fitting damping force;

[0144] If the suspension acceleration in the third measured data is less than 0, and the suspension speed is less than 0, a larger value of the first damping force and the second damping force is determined as the fitting damping force.

[0145] It should be noted that, through the above steps, the fitting connection between the high and low speed zones can be better achieved.

[0146] 4. The third measured data whose fitted damping force is the first damping force is determined as the target measured data, and the suspension speeds in all the target measured data are screened to obtain the minimum value of the suspension speed. Based on the minimum value, the critical speed threshold is updated to obtain the target speed threshold.

[0147] Specifically, the minimum value is determined as a new value of the critical speed threshold, and the fitting can be re-performed according to the new value to further improve the accuracy of the linear fitting model in the above embodiment. Moreover, through the above steps, a target speed threshold with high accuracy can be obtained.

[0148] Fig.15 and Fig.16 The fitting effect of the second fitting model is demonstrated exemplarily. Fig.15 The horizontal axis represents the suspension speed, and the vertical axis represents the damping force. Fig.16The horizontal axis represents the suspension acceleration, the vertical axis represents the suspension speed, and the depth axis represents the damping force. Fig.15 and Fig.16 From the difference between the estimated value of the damping force under different conditions and the measured value, it can be seen that the difference between the estimated value of the damping force of the second fitting model in the above embodiment and the measured value is small, and the fitting accuracy is high.

[0149] The magnetorheological shock absorber control system provided in the present application is described below. The magnetorheological shock absorber control system described below and the magnetorheological shock absorber control method described above can be referenced to each other.

[0150] Please refer to Fig.17 The magnetorheological shock absorber control system provided in this embodiment includes:

[0151] A linear fitting model acquisition module 1710 is used to acquire a preset linear fitting model, wherein the linear fitting model includes: a first fitting model and a second fitting model, wherein the first fitting model includes a linear relationship between the damping force of the magnetorheological shock absorber and the suspension acceleration, and the second fitting model includes a linear relationship between the damping force and the suspension speed;

[0152] The damping force prediction module 1720 is used to obtain the current real-time suspension speed and real-time suspension acceleration of the magnetorheological shock absorber; if the real-time suspension speed is greater than or equal to a preset target speed threshold, the first fitting model is used to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, the second fitting model is used to obtain a second predicted damping force corresponding to the real-time suspension speed;

[0153] The control module 1730 is used to control the magnetorheological shock absorber based on the first predicted damping force or the second predicted damping force. The magnetorheological shock absorber control system in this embodiment can achieve the technical effect achieved by the magnetorheological shock absorber control method described above, which will not be repeated here.

[0154] It should be noted that the magnetorheological shock absorber control method and the magnetorheological shock absorber control system provided in the above embodiment belong to the same concept, and the specific manner in which each module performs the operation has been described in detail in the method embodiment, which will not be repeated here. In practical applications, the magnetorheological shock absorber control system provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0155] In some embodiments, an electronic device is also provided, which may be a server, and its internal structure is shown in FIG. Fig.18As shown. The electronic device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile and / or volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external client via a network connection. When the computer program is executed by the processor, the functions or steps on the server side of the above method are implemented.

[0156] In some embodiments, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program: obtaining a preset linear fitting model, the linear fitting model comprising: a first fitting model and a second fitting model, the first fitting model comprising a linear relationship between the damping force of the magnetorheological shock absorber and the suspension acceleration, and the second fitting model comprising a linear relationship between the damping force and the suspension speed; obtaining the current real-time suspension speed and real-time suspension acceleration of the magnetorheological shock absorber; if the real-time suspension speed is greater than or equal to a preset target speed threshold, using the first fitting model to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, using the second fitting model to obtain a second predicted damping force corresponding to the real-time suspension speed; and controlling the magnetorheological shock absorber based on the first predicted damping force or the second predicted damping force.

[0157] In some embodiments, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: obtaining a preset linear fitting model, the linear fitting model including: a first fitting model and a second fitting model, the first fitting model including a linear relationship between the damping force of the magnetorheological shock absorber and the suspension acceleration, and the second fitting model including a linear relationship between the damping force and the suspension speed; obtaining the current real-time suspension speed and real-time suspension acceleration of the magnetorheological shock absorber; if the real-time suspension speed is greater than or equal to a preset target speed threshold, using the first fitting model to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, using the second fitting model to obtain a second predicted damping force corresponding to the real-time suspension speed; and controlling the magnetorheological shock absorber based on the first predicted damping force or the second predicted damping force.

[0158] It should be noted that the above functions or steps that can be implemented by the computer-readable storage medium or electronic device can refer to the relevant descriptions on the server side and the client side in the aforementioned method embodiment. To avoid repetition, they will not be described one by one here.

[0159] The flow chart and block diagram in the accompanying drawings illustrate the possible implementation architecture, function and operation of the method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0160] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A magnetorheological shock absorber control method, characterized in that: include: Acquire a preset linear fitting model, wherein the linear fitting model includes: a first fitting model and a second fitting model, wherein the first fitting model includes a linear relationship between the damping force of the magnetorheological shock absorber and the suspension acceleration, and the second fitting model includes a linear relationship between the damping force and the suspension speed; Acquire the current real-time suspension speed and real-time suspension acceleration of the magnetorheological shock absorber; if the real-time suspension speed is greater than or equal to a preset target speed threshold, use the first fitting model to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, use the second fitting model to obtain a second predicted damping force corresponding to the real-time suspension speed; Based on the first predicted damping force or the second predicted damping force, magnetorheological shock absorber control is performed.

2. The magnetorheological shock absorber control method according to claim 1, characterized in that: The steps of acquiring the first fitting model and the second fitting model include: Acquire multiple groups of measured data, each group of measured data includes: suspension speed, suspension acceleration, current, and corresponding damping force of the magnetorheological shock absorber; Based on the multiple groups of measured data, linear fitting is performed to obtain the first fitting model and the second fitting model, wherein the second fitting model includes multiple target relationship models, wherein the target relationship model refers to a linear relationship model between the damping force and the suspension speed, and each target relationship model corresponds to a different current and / or suspension acceleration.

3. The magnetorheological shock absorber control method according to claim 2, characterized in that: Based on the multiple groups of measured data, linear fitting is performed to obtain the first fitting model, including: Determine the measured data in which the suspension speed is greater than or equal to the preset critical speed threshold as the first measured data; obtain a plurality of first relationship models based on the first measured data, wherein the first relationship model refers to a relationship model between the suspension speed and the damping force under a given current and a suspension acceleration, and the given currents of the plurality of first relationship models are the same and the given suspension accelerations are different; Based on the measured data, a second relationship model is obtained, where the second relationship model refers to a relationship model between the suspension velocity and the damping force when the suspension acceleration is 0 or close to 0, and the current given by the first relationship model and the second relationship model is the same; performing difference operations on the plurality of first relationship models and the second relationship model respectively to obtain a plurality of third relationship models, wherein the third relationship model is a relationship model between a suspension speed and a damping force difference, wherein the damping force difference refers to a difference between a damping force in the first relationship model and a damping force in the second relationship model, and each damping force difference corresponds to a different suspension acceleration and / or suspension speed; The sum of the damping force difference and a preset standard damping force is determined as a target damping force, wherein the standard damping force refers to an ideal damping force corresponding to a currently given current, and the target damping force corresponds to the damping force difference one by one; A linear fitting is performed according to the target damping force and the suspension acceleration corresponding to the target damping force to obtain the first fitting model.

4. The magnetorheological shock absorber control method according to claim 3, characterized in that: According to the target damping force and the suspension acceleration corresponding to the target damping force, linear fitting is performed to obtain the first fitting model, including: The target damping force, and the suspension speed and the suspension acceleration corresponding to the target damping force are determined as a data point, and the data point corresponds to the target damping force one by one; if the suspension speed in the data point is greater than 0, and the suspension acceleration is greater than 0, the data point is divided into a first group; If the suspension speed in the data point is less than 0 and the suspension acceleration is greater than 0, the data point is divided into a second group; If the suspension speed in the data point is greater than 0, and the suspension acceleration is less than 0, the data point is divided into a third group; If the suspension speed in the data point is less than 0, and the suspension acceleration is less than 0, the data point is divided into a fourth group; Linear fitting is performed on the first group, the second group, the third group, and the fourth group respectively to obtain a target fitting model, wherein the target fitting model refers to a linear relationship model between the damping force and the suspension acceleration, and the first group, the second group, the third group, and the fourth group respectively correspond to one target fitting model, and all the target fitting models constitute the first fitting model.

5. The magnetorheological shock absorber control method according to claim 2, characterized in that: Based on the multiple groups of measured data, linear fitting is performed to obtain the second fitting model, including: Determine the measured data in which the suspension speed is less than a preset critical speed threshold as second measured data; obtain a plurality of fourth relationship models based on the second measured data, wherein the fourth relationship model refers to a linear relationship model between the suspension speed and the damping force under the same current and the same suspension acceleration; The second fitting model is obtained by performing linear fitting on a plurality of the fourth relationship models.

6. The magnetorheological shock absorber control method according to claim 5, characterized in that: The second fitting model is obtained by performing linear fitting on a plurality of the fourth relationship models, including: Determining the slope in the linear equation of the fourth relationship model as the slope to be fitted, and obtaining a linear relationship between different suspension accelerations and the slope to be fitted; Based on the linear relationship between different suspension accelerations and the slope to be fitted, linear fitting is performed to obtain a fitting slope; Determining the hysteresis interval width of the fourth relationship model as the target width, wherein the hysteresis interval width refers to the absolute value of the suspension velocity when the damping force is 0, and obtaining a linear relationship between different suspension accelerations and the target width; The product of the target width and the corresponding slope to be fitted is determined as a first intercept, and the opposite of the first intercept is determined as a second intercept; based on the linear relationship between different suspension accelerations and the target width, a linear relationship between different suspension accelerations and the second intercept is obtained; Performing linear fitting based on the linear relationship between different suspension accelerations and the second intercept to obtain a fitting intercept; The second fitting model is obtained based on the fitting slope and the fitting intercept.

7. The magnetorheological shock absorber control method according to claim 3, characterized in that: The step of acquiring the first fitting model and the second fitting model further includes: When the first fitting model and the second fitting model are obtained, the measured data of the suspension speed being within a preset speed threshold range is determined as the third measured data, and the midpoint of the speed threshold range is the critical speed threshold; Substituting the suspension acceleration in the third measured data into the first fitting model to obtain a first damping force; and substituting the suspension velocity in the third measured data into the second fitting model to obtain a second damping force; If the first damping force is different from the second damping force, determining the fitting damping force corresponding to the current third measured data based on the suspension acceleration and the suspension speed in the third measured data and a preset fitting connection rule, wherein the fitting connection rule refers to determining the larger value or the smaller value of the first damping force and the second damping force as the fitting damping force of the third measured data according to the suspension acceleration and the suspension speed in the third measured data; The third measured data whose fitting damping force is the first damping force is determined as the target measured data, the suspension speed in all the target measured data is screened to obtain the minimum value of the suspension speed, and based on the minimum value, the critical speed threshold is updated to obtain the target speed threshold.

8. A magnetorheological shock absorber control system, characterized in that: include: A linear fitting model acquisition module, used to acquire a preset linear fitting model, wherein the linear fitting model includes: a first fitting model and a second fitting model, wherein the first fitting model includes a linear relationship between the damping force of the magnetorheological shock absorber and the suspension acceleration, and the second fitting model includes a linear relationship between the damping force and the suspension speed; a damping force prediction module, used to obtain the current real-time suspension speed and real-time suspension acceleration of the magnetorheological shock absorber; if the real-time suspension speed is greater than or equal to a preset target speed threshold, the first fitting model is used to obtain a first predicted damping force corresponding to the real-time suspension acceleration; if the real-time suspension speed is less than the target speed threshold, the second fitting model is used to obtain a second predicted damping force corresponding to the real-time suspension speed; A control module is used to control a magnetorheological shock absorber based on the first predicted damping force or the second predicted damping force.

9. An electronic device, characterized in that: It comprises a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory to implement the magnetorheological shock absorber control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is used to enable a computer to execute the magnetorheological shock absorber control method according to any one of claims 1 to 7.

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