Linear electromagnetic pump drive-by-wire suspension actuator and control method

Abstract

The invention belongs to the technical field of vehicle suspensions, and particularly relates to a linear electromagnetic pump drive-by-wire suspension actuator and a control method. The linear electromagnetic pump drive-by-wire suspension actuator comprises an actuator cylinder body, an electromagnetic linear module, a double-acting linear reciprocating pump and a three-position four-way reversing valve. The actuator cylinder body comprises an inner cylinder barrel, an outer cylinder barrel, a piston, a piston rod, a guide device, a rod cavity connector, a rodless cavity connector and a bottom valve body. The electromagnetic linear module, the double-acting linear reciprocating pump and the three-position four-way reversing valve are mounted outside the outer cylinder barrel; compared with a traditional drive-by-wire suspension, the drive-by-wire suspension actuator driven by the linear electromagnetic pump has the advantages that the response speed is higher, the accuracy is higher, and the accuracy and the response speed are better; the suspension intelligent control system realizes a somatosensory entertainment mode in a vehicle parking state; compared with a traditional suspension, the active vibration reduction performance is improved, and the entertainment function of an automobile in a cab based on the active suspension is enriched.

Description

Technical Field

[0001] The invention belongs to the technical field of vehicle suspension, and in particular relates to a linear electromagnetic pump driven wire-controlled suspension actuator and a control method. Background Art

[0002] At present, the wire-controlled suspension can be adjusted in real time with the random changes of the road surface and the driving conditions of the car by virtue of its characteristic parameters, which greatly improves the safety, smoothness and operational stability of the car during driving, and fundamentally solves the conflict between smoothness and operational stability in the traditional passive suspension. Based on the rapid development of key technologies such as sensors, intelligent control and actuators, the wire-controlled suspension technology has good development conditions. In view of the current problems of slow response speed and inaccurate accuracy of hydraulic active suspension, the development of high-performance, fast-response and reliable wire-controlled suspension technology is of great significance to the competitiveness of my country's automobile products in the international market. At the same time, facing the existing problems of fixed passability during driving, the car cannot adapt well to different road conditions. Summary of the invention

[0003] The present invention aims to solve the problems of slow response speed and inaccurate accuracy of the current hydraulic active suspension.

[0004] The present invention provides the following technical solutions: a linear electromagnetic pump driven wire-controlled suspension actuator, comprising an actuator body, an electromagnetic linear module, a double-acting linear reciprocating pump and a three-position four-way reversing valve;

[0005] The actuator body includes an inner cylinder, an outer cylinder, a piston, a piston rod, a guide device, a rod cavity interface, a rodless cavity interface and a bottom valve body; the inner cylinder is nested in the outer cylinder, the bottom cylinder mouth of the outer cylinder is closed, the top cylinder mouths of the outer cylinder and the inner cylinder are sealed by a guide device, the piston rod passes through the guide device and is connected to the piston in the inner cylinder, the piston divides the inner cylinder into a rod cavity and a rodless cavity, the rod cavity and the rodless cavity are connected through the oil hole on the piston, the bottom valve body is installed at the bottom cylinder mouth of the inner cylinder, and the rodless cavity is connected with the outer cylinder through the oil hole on the bottom valve body; the rod cavity interface passes through the outer cylinder to communicate with the rod cavity of the inner cylinder, and the rodless cavity interface passes through the outer cylinder to communicate with the rodless cavity of the inner cylinder;

[0006] The electromagnetic linear module, the double-acting linear reciprocating pump and the three-position four-way reversing valve are installed outside the outer cylinder. The double-acting linear reciprocating pump and the three-position four-way reversing valve, and the three-position four-way reversing valve and the rod cavity interface and the rodless cavity interface are connected through external pipelines; the electromagnetic linear module is used to drive the double-acting linear reciprocating pump.

[0007] Furthermore, stacked valve plates are mounted on the piston, through holes on the valve plates are staggered and communicate with each other front to back, and the through holes on the valve plates are communicated with oil holes on the piston.

[0008] A control method for a linear electromagnetic pump driven wire-controlled suspension actuator, wherein the linear electromagnetic pump driven wire-controlled suspension actuator includes an active state and a passive state;

[0009] In the active state, the electromagnetic linear module drives the double-acting linear reciprocating pump, the three-position four-way reversing valve is in the upper or lower position, and the double-acting linear reciprocating pump changes the oil pressure on both sides of the piston through the rod cavity interface and the rodless cavity interface to control the movement of the piston rod;

[0010] In the passive state, the three-position four-way reversing valve is in the middle position, there is no hydraulic oil circulation between the actuator body and the double-acting linear reciprocating pump, and the piston rod is moved by external load.

[0011] Further, the linear electromagnetic pump drives the wire-controlled suspension actuator in an active state;

[0012] The control signals of the virtual game and the influence of the environment on the virtual cockpit of the virtual vehicle when the virtual vehicle moves in the virtual game scene are input into the dynamic model corresponding to the virtual vehicle and calculated to obtain the real-time motion information of the virtual cockpit, which includes the acceleration and angular velocity line at the center of mass of the virtual cockpit;

[0013] The acceleration and angular velocity at the center of mass of the virtual cockpit are converted into specific force and angular velocity fed back to the user by the vestibular system through coordinate transformation;

[0014] Through the wash-out algorithm, the specific force and angular velocity are converted into the posture signal of the real vehicle. Then, through kinematic inverse solution, the posture signal is used to calculate the elongation and execution time of each linear electromagnetic pump-driven wire-controlled suspension actuator of the real vehicle, so as to realize the motion control of the linear electromagnetic pump-driven wire-controlled suspension actuator, so that the cockpit posture of the real vehicle matches the real-time motion information of the virtual cockpit.

[0015] Furthermore, according to the result of kinematic inverse solution, the positive and negative signs of the elongation are converted into current signals and input into the three-position four-way reversing valve, and the positive and negative signs of the elongation correspond to the upper and lower positions of the three-position four-way reversing valve;

[0016] The electromagnetic linear module is a linear motor; the absolute value of the elongation is converted into a current and input to the linear motor; the control force F of the linear electromagnetic pump driving the wire-controlled suspension actuator is changed by adjusting the current i of the linear motor. d , changing the extension of the linear electromagnetic pump-driven wire-controlled suspension actuator;

[0017] Control force F of the wire-controlled suspension actuator driven by a linear electromagnetic pump d The relationship between the current i and the current of the linear motor is expressed by the following formula:

[0018]

[0019] In the formula, A is the piston cross-sectional area of ​​the double-acting linear reciprocating pump; f is the piston rod cross-sectional area of ​​the double-acting linear reciprocating pump; i′ is the number of cylinders of the double-acting linear reciprocating pump; Ke is the back electromotive force coefficient of the linear motor; g is the acceleration due to gravity; γ is the fluid density; f1 is the piston rod cross-sectional area of ​​the actuator body; A1 is the piston cross-sectional area of ​​the actuator body.

[0020] Further, the linear electromagnetic pump drives the wire-controlled suspension actuator in an active state; the initial posture of the vehicle suspension system is changed by changing the elongation of each linear electromagnetic pump-driven wire-controlled suspension actuator in the vehicle suspension system;

[0021] Through data interactive training between the reinforcement learning algorithm and the mathematical model reflecting the dynamic characteristics of the vehicle suspension system in different postures, the reinforcement learning active control strategy corresponding to the vehicle suspension system under different initial postures is obtained.

[0022] Furthermore, the reinforcement learning active control strategy receives the vehicle's driving state data, which includes the lateral and longitudinal displacements of the vehicle's sprung mass and the vehicle's center of gravity acceleration;

[0023] The reinforcement learning active control strategy performs forward operation on the vehicle's driving state data and outputs a control signal for the linear electromagnetic pump to drive the wire-controlled suspension actuator, and the control signal includes current;

[0024] The linear electromagnetic pump drives the wire-controlled suspension actuator to perform actions according to the control signal, realizing closed-loop active control of the vehicle suspension system.

[0025] Compared with the prior art, the advantages of the present invention are:

[0026] A linear electromagnetic pump driven wire-controlled suspension actuator disclosed in the present invention has a faster response speed and higher accuracy than a traditional wire-controlled suspension. Based on better accuracy and response speed, the suspension intelligent control system realizes a somatosensory entertainment mode when the vehicle is parked. Compared with traditional suspension, it not only improves the active vibration reduction performance, but also enriches and optimizes the car's in-cockpit entertainment function based on the active suspension. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A perspective view of a linear electromagnetic pump driven wire suspension actuator;

[0028] Figure 2 is a cross-sectional view of a linear electromagnetic pump driven wire suspension actuator;

[0029] Figure 3 for Figure 2 The enlarged view of point A in the middle;

[0030] Figure 4 A hydraulic diagram for a linear electromagnetic pump driven wire suspension actuator;

[0031] Figure 5 Execution flow chart for somatosensory control of linear electromagnetic pump driven wire suspension actuator;

[0032] Figure 6 Schematic diagram of the seven-degree-of-freedom model of the whole vehicle.

[0033] In the figure: 1-actuator body; 1.1-inner cylinder; 1.2-outer cylinder; 1.3-piston; 1.4-piston rod; 1.5-guide device; 1.6-rod cavity interface; 1.7-rodless cavity interface; 1.8-bottom valve body; 2-electromagnetic linear module; 3-double-acting linear reciprocating pump; 4-three-position four-way reversing valve. DETAILED DESCRIPTION

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Example 1

[0036] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown: a linear electromagnetic pump driven wire-controlled suspension actuator, comprising an actuator body 1, an electromagnetic linear module 2, a double-acting linear reciprocating pump 3 and a three-position four-way reversing valve 4;

[0037] The actuator body includes an inner cylinder 1.1, an outer cylinder 1.2, a piston 1.3, a piston rod 1.4, a guide device 1.5, a rod cavity interface 1.6, a rodless cavity interface 1.7 and a bottom valve body 1.8; the inner cylinder 1.1 is nested in the outer cylinder 1.2, the bottom cylinder mouth of the outer cylinder 1.2 is closed, the outer cylinder 1.2 and the top cylinder mouth of the inner cylinder 1.1 are sealed by the guide device 1.5, and the piston rod 1.4 passes through the guide device 1.5 and the inner cylinder 1.1. The piston 1.3 is connected, and the inner cylinder 1.1 is divided into a rod chamber and a rodless chamber by the piston 1.3. The rod chamber and the rodless chamber are connected through the oil hole on the piston 1.3. The bottom valve body 1.8 is installed at the bottom of the inner cylinder 1.1. The rodless chamber is connected with the outer cylinder 1.2 through the oil hole on the bottom valve body 1.8. The rod chamber interface 1.6 passes through the outer cylinder 1.2 to communicate with the rod chamber of the inner cylinder 1.1, and the rodless chamber interface 1.7 passes through the outer cylinder 1.2 to communicate with the rodless chamber of the inner cylinder 1.1.

[0038] The electromagnetic linear module 2, the double-acting linear reciprocating pump 3 and the three-position four-way reversing valve 4 are installed outside the outer cylinder 1.2. The double-acting linear reciprocating pump 3 and the three-position four-way reversing valve 4, and the three-position four-way reversing valve 4 and the rod chamber interface 1.6 and the rodless chamber interface 1.7 are connected through external pipelines; the electromagnetic linear module 2 is used to drive the double-acting linear reciprocating pump 3.

[0039] The linear electromagnetic pump driven wire-controlled suspension actuator has the advantages of high power density, light weight, low noise, and small size. The linear electromagnetic pump driven wire-controlled suspension actuator driven by the electromagnetic linear module 2 has a faster response speed and higher positioning accuracy.

[0040] The piston 1.3 is provided with stacked valve plates 1.9, the through holes of which are arranged in a staggered manner and communicate with each other front to back, and the through holes of the valve plates 1.9 are communicated with the oil holes of the piston 1.3. The damping effect of the piston 1.3 can be changed by configuring the number and relative positions of the valve plates 1.9 on the piston 1.3.

[0041] Example 2

[0042] A control method for a linear electromagnetic pump driven wire-controlled suspension actuator, wherein the linear electromagnetic pump driven wire-controlled suspension actuator includes an active state and a passive state;

[0043] In the active state, the electromagnetic linear module drives the double-acting linear reciprocating pump, the three-position four-way reversing valve is in the upper or lower position, and the double-acting linear reciprocating pump changes the oil pressure on both sides of the piston through the rod cavity interface and the rodless cavity interface to control the movement of the piston rod and actively change the height of the suspension;

[0044] In the passive state, the three-position four-way reversing valve is in the middle position, there is no hydraulic oil circulation between the actuator body and the double-acting linear reciprocating pump, and the piston rod is moved by the external load, which is equivalent to the shock absorber in the traditional suspension.

[0045] The linear electromagnetic pump-driven wire-controlled suspension actuator can interact with the vehicle's somatosensory control module. The linear electromagnetic pump-driven wire-controlled suspension actuator moves according to the instructions of the somatosensory control module to restore the motion state of the virtual cockpit in the virtual game scene.

[0046] like Figure 5 Shown: The linear electromagnetic pump drives the wire-controlled suspension actuator in the active state;

[0047] The control signals of the virtual game and the influence of the environment on the virtual cockpit of the virtual vehicle when the virtual vehicle moves in the virtual game scene are input into the dynamic model corresponding to the virtual vehicle and calculated to obtain the real-time motion information of the virtual cockpit, which includes the acceleration and angular velocity line at the center of mass of the virtual cockpit;

[0048] Through coordinate transformation, the acceleration and angular velocity at the center of mass of the virtual cockpit are converted into specific force and angular velocity that are fed back to the user by the vestibular system; the user feels the real movement through the vestibular system of the head;

[0049] Through the wash-out algorithm, the specific force and angular velocity are converted into the posture signal of the real vehicle. Then, through kinematic inverse solution, the posture signal is used to calculate the elongation and execution time of each linear electromagnetic pump-driven wire-controlled suspension actuator of the real vehicle, so as to realize the motion control of the linear electromagnetic pump-driven wire-controlled suspension actuator, so that the cockpit posture of the real vehicle matches the real-time motion information of the virtual cockpit, thereby enhancing the user's virtual gaming experience.

[0050] According to the result of kinematic inverse solution, the positive and negative signs of the elongation are converted into current signals and input into the three-position four-way reversing valve 4. The positive and negative signs of the elongation correspond to the upper and lower positions of the three-position four-way reversing valve 4.

[0051] The electromagnetic linear module 2 is a linear motor; the absolute value of the elongation is converted into a current value and input to the linear motor; the control force F of the linear electromagnetic pump driving the wire-controlled suspension actuator is changed by adjusting the current i of the linear motor. d , changing the extension of the linear electromagnetic pump-driven wire-controlled suspension actuator;

[0052] Control force F of the wire-controlled suspension actuator driven by a linear electromagnetic pump d The relationship between the current i and the current of the linear motor is expressed by the following formula:

[0053]

[0054] In the formula, A is the piston cross-sectional area of ​​the double-acting linear reciprocating pump; f is the piston rod cross-sectional area of ​​the double-acting linear reciprocating pump; i′ is the number of cylinders of the double-acting linear reciprocating pump; Ke is the back electromotive force coefficient of the linear motor; g is the acceleration due to gravity; γ is the fluid density; f1 is the piston rod cross-sectional area of ​​the actuator body; A1 is the piston cross-sectional area of ​​the actuator body.

[0055] The linear electromagnetic pump drives the wire-controlled suspension actuator in an active state; the initial posture of the vehicle suspension system is changed by changing the elongation of each linear electromagnetic pump-driven wire-controlled suspension actuator in the vehicle suspension system;

[0056] Through data interactive training between the reinforcement learning algorithm and the mathematical model reflecting the dynamic characteristics of the vehicle suspension system in different postures, the reinforcement learning active control strategy corresponding to the vehicle suspension system under different initial postures is obtained.

[0057] Specifically, the reinforcement learning active control strategy is obtained in the following way: the system generates a mathematical model that reflects the dynamic characteristics of the vehicle suspension system in different postures, with the current applied to the linear electromagnetic pump-driven wire-controlled suspension actuator as the control signal, the lateral and longitudinal displacements of the vehicle's sprung mass and the vehicle's center of gravity acceleration signal as the return signal and feedback signal, and then the reinforcement learning algorithm interacts with different mathematical models for data. When the displacement return signal is minimum and the acceleration return signal is stable, the parameters and architecture of the deep learning neural network are stopped from being updated, thereby obtaining the reinforcement learning algorithm under the custom posture.

[0058] like Figure 6 As shown: For the seven-degree-of-freedom model of the whole vehicle: it meets the constraints of ride comfort, suspension dynamic deflection constraint, tire dynamic load is less than static load, and the vehicle body acceleration and pitch angular acceleration and roll angular acceleration As small as possible; dynamic deflection of suspension at each location z bA -z wA 、z bB -z wB 、z bC -z wC 、z bD -z wD The absolute value of the tire dynamic load K is less than or equal to the maximum limit stroke; 1A (z gA -z wA ), K 1B (z gB -z wB ), K 1c (z gC -z wC ), K 10 (z gD -z wD ) is less than the corresponding static load; the control force F of the front and rear suspensions is constrained da 、F db 、F dc 、F dd Do not exceed the maximum value allowed by the actuator;

[0059] Considering the above points, a mathematical model of the dynamic characteristics of the vehicle suspension system is established:

[0060]

[0061] a t ={F da ,F db ,F dc ,F dd}

[0062] In reinforcement learning algorithms, at 、s t As a state set and an action set respectively.

[0063] The reward function is:

[0064]

[0065] The coefficients before the parameters are their weight coefficients;

[0066] The learning rate α is 0.01, the discount factor γ is 0.99, the experience pool size N is 1e06, and the sampling time, maximum training rounds, and maximum number of steps for a single training are set by yourself.

[0067] The neural network consists of an input layer, two fully connected layers, and an output layer. The input layer contains 15 neurons, the output layer contains 4 neurons, and the two middle fully connected layers have 100 neurons each. The activation function of the middle layer is ReLu, the activation function of the output layer is Linear, and the input layer has no activation function.

[0068] The reinforcement learning active control strategy receives the vehicle's driving state data, which includes the lateral and longitudinal displacements of the vehicle's sprung mass and the vehicle's center of gravity acceleration;

[0069] The reinforcement learning active control strategy performs forward operation on the vehicle's driving state data and outputs a control signal for the linear electromagnetic pump to drive the wire-controlled suspension actuator, and the control signal includes current;

[0070] The linear electromagnetic pump drives the wire-controlled suspension actuator to perform actions according to the control signal, realizing closed-loop active control of the vehicle suspension system.

[0071] The vehicle suspension system has two working modes: driving control mode when the vehicle is in motion and somatosensory entertainment mode when the vehicle is parked. Compared with traditional suspension, it not only improves the active vibration reduction performance, but also enriches and optimizes the car's in-cockpit entertainment functions based on active suspension.

[0072] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A linear electromagnetic pump driven wire suspension actuator, characterized in that: It comprises an actuator body (1), an electromagnetic linear module (2), a double-acting linear reciprocating pump (3) and a three-position four-way reversing valve (4); The actuator body comprises an inner cylinder (1.1), an outer cylinder (1.2), a piston (1.3), a piston rod (1.4), a guide device (1.5), a rod cavity interface (1.6), a rodless cavity interface (1.7) and a bottom valve body (1.8); the inner cylinder (1.1) is nested in the outer cylinder (1.2), the bottom cylinder mouth of the outer cylinder (1.2) is closed, the top cylinder mouths of the outer cylinder (1.2) and the inner cylinder (1.1) are sealed by the guide device (1.5), and the piston rod (1.4) passes through the guide device (1.5) and the inner cylinder (1.1). The piston (1.3) in the inner cylinder (1.1) is connected, the piston (1.3) divides the inner cylinder (1.1) into a rod chamber and a rodless chamber, the rod chamber and the rodless chamber are connected through the oil hole on the piston (1.3), the bottom valve body (1.8) is installed at the bottom cylinder mouth of the inner cylinder (1.1), and the rodless chamber is connected with the outer cylinder (1.2) through the oil hole on the bottom valve body (1.8); the rod chamber interface (1.6) passes through the outer cylinder (1.2) to communicate with the rod chamber of the inner cylinder (1.1), and the rodless chamber interface (1.7) passes through the outer cylinder (1.2) to communicate with the rodless chamber of the inner cylinder (1.1); The electromagnetic linear module (2), the double-acting linear reciprocating pump (3) and the three-position four-way reversing valve (4) are installed outside the outer cylinder (1.2); the double-acting linear reciprocating pump (3) and the three-position four-way reversing valve (4), and the three-position four-way reversing valve (4) and the rod chamber interface (1.6) and the rodless chamber interface (1.7) are connected via external pipes; the electromagnetic linear module (2) is used to drive the double-acting linear reciprocating pump (3).

2. The linear electromagnetic pump driven wire-controlled suspension actuator according to claim 1, characterized in that: The piston (1.3) is provided with stacked valve plates (1.9), the through holes on the valve plates (1.9) are arranged in a staggered manner and are connected front to back, and the through holes on the valve plates (1.9) are connected to the oil holes on the piston (1.3).

3. A control method for a linear electromagnetic pump driven wire-controlled suspension actuator, characterized in that: The linear electromagnetic pump driven wire suspension actuator includes active state and passive state; In the active state, the electromagnetic linear module (2) drives the double-acting linear reciprocating pump (3), the three-position four-way reversing valve (4) is in the upper position or the lower position, and the double-acting linear reciprocating pump (3) changes the oil pressure on both sides of the piston (1.3) through the rod cavity interface (1.6) and the rodless cavity interface (1.7) to control the movement of the piston rod (1.4); In the passive state, the three-position four-way reversing valve (4) is in the middle position, no hydraulic oil flows between the actuator body (1) and the double-acting linear reciprocating pump (3), and the piston rod (1.4) is moved by the external load.

4. The control method of a linear electromagnetic pump driven wire-controlled suspension actuator according to claim 3, characterized in that: The linear electromagnetic pump drives the wire-controlled suspension actuator in the active state; The control signals of the virtual game and the influence of the environment on the virtual cockpit of the virtual vehicle when the virtual vehicle moves in the virtual game scene are input into the dynamic model corresponding to the virtual vehicle and calculated to obtain the real-time motion information of the virtual cockpit, which includes the acceleration and angular velocity line at the center of mass of the virtual cockpit; The acceleration and angular velocity at the center of mass of the virtual cockpit are converted into specific force and angular velocity fed back to the user by the vestibular system through coordinate transformation; Through the wash-out algorithm, the specific force and angular velocity are converted into the posture signal of the real vehicle. Then, through kinematic inverse solution, the posture signal is used to calculate the elongation and execution time of each linear electromagnetic pump-driven wire-controlled suspension actuator of the real vehicle, so as to realize the motion control of the linear electromagnetic pump-driven wire-controlled suspension actuator, so that the cockpit posture of the real vehicle matches the real-time motion information of the virtual cockpit.

5. The control method of a linear electromagnetic pump driven wire-controlled suspension actuator according to claim 4, characterized in that: According to the result of kinematic inverse solution, the positive and negative signs of the elongation are converted into current signals and input into the three-position four-way reversing valve (4), and the positive and negative signs of the elongation correspond to the upper position and the lower position of the three-position four-way reversing valve (4); The electromagnetic linear module (2) is a linear motor; the absolute value of the elongation is converted into a current value and input to the linear motor; the control force F of the linear electromagnetic pump driving the wire-controlled suspension actuator is changed by adjusting the current i of the linear motor. d , changing the extension of the linear electromagnetic pump-driven wire-controlled suspension actuator; Control force F of the wire-controlled suspension actuator driven by a linear electromagnetic pump d The relationship between the current i and the current of the linear motor is expressed by the following formula: In the formula, A is the piston cross-sectional area of ​​the double-acting linear reciprocating pump; f is the piston rod cross-sectional area of ​​the double-acting linear reciprocating pump; i′ is the number of cylinders of the double-acting linear reciprocating pump; Ke is the back electromotive force coefficient of the linear motor; g is the acceleration due to gravity; γ is the fluid density; f1 is the piston rod cross-sectional area of ​​the actuator body; A1 is the piston cross-sectional area of ​​the actuator body.

6. The control method of a linear electromagnetic pump driven wire suspension actuator according to claim 3, characterized in that: The linear electromagnetic pump drives the wire-controlled suspension actuator in an active state; the initial posture of the vehicle suspension system is changed by changing the elongation of each linear electromagnetic pump-driven wire-controlled suspension actuator in the vehicle suspension system; Through data interactive training between the reinforcement learning algorithm and the mathematical model reflecting the dynamic characteristics of the vehicle suspension system in different postures, the reinforcement learning active control strategy corresponding to the vehicle suspension system under different initial postures is obtained.

7. The control method of a linear electromagnetic pump driven wire-controlled suspension actuator according to claim 6, characterized in that: The reinforcement learning active control strategy receives the vehicle's driving state data, which includes the lateral and longitudinal displacements of the vehicle's sprung mass and the vehicle's center of gravity acceleration; The reinforcement learning active control strategy performs forward operation on the vehicle's driving state data and outputs a control signal for the linear electromagnetic pump to drive the wire-controlled suspension actuator, and the control signal includes current; The linear electromagnetic pump drives the wire-controlled suspension actuator to perform actions according to the control signal, realizing closed-loop active control of the vehicle suspension system.

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