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

Abstract

The present application belongs to the technical field of vehicle suspension, and particularly relates to a linear electromagnetic pump driving drive-by-wire suspension actuator and a control method; the linear electromagnetic pump driving 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, 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 electromagnetic linear module, the double-acting linear reciprocating pump and the three-position four-way reversing valve are installed outside the outer cylinder; the linear electromagnetic pump driving drive-by-wire suspension actuator disclosed in the present application has a faster response speed and higher accuracy compared with a conventional drive-by-wire suspension; the suspension intelligent control system realizes a somatosensory entertainment mode in a vehicle parking state; compared with the conventional suspension, the suspension not only improves the active damping performance, but also enriches the entertainment function in the cockpit of the vehicle based on the active suspension.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicle suspension, and particularly relates to a linear electromagnetic pump driven drive-by-wire suspension actuator and a control method. BACKGROUND

[0002] At present, the drive-by-wire suspension can greatly improve the safety, smoothness and operation stability of the vehicle during driving by virtue of its characteristic parameters that can be adjusted in real time according to the random changes of the road surface and the driving conditions of the vehicle, and fundamentally solves the conflict between the smoothness and the operation stability in the traditional passive suspension. Based on the rapid development of key technologies such as sensors, intelligent control and actuators, the drive-by-wire suspension technology has good development conditions. In view of the problems of slow response speed and inaccurate accuracy of the current hydraulic active suspension, the development of high-performance, fast-response and reliable drive-by-wire suspension technology is of great significance to the competitiveness of China's automobile products in the international market, and at the same time, it can overcome the deficiency that the existing vehicle cannot well adapt to different road conditions during driving. SUMMARY

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

[0004] The present application provides the following technical scheme: a linear electromagnetic pump driven drive-by-wire suspension actuator, comprising an actuator cylinder body, an electromagnetic linear module, a double-acting linear reciprocating pump and a three-position four-way reversing valve.

[0005] The actuator cylinder body comprises 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 port of the outer cylinder is closed, the top cylinder ports of the outer cylinder and the inner cylinder are sealed through the guide device, the piston rod passes through the guide device and is connected with 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 communicated through the oil hole on the piston, and the bottom valve body is installed at the bottom cylinder port of the inner cylinder. The rodless cavity is communicated with the outer cylinder through the oil hole on the bottom valve body; the rod cavity interface passes through the outer cylinder and communicates with the rod cavity of the inner cylinder, and the rodless cavity interface passes through the outer cylinder and communicates 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 are connected through an external pipeline, and the three-position four-way reversing valve and the rod cavity interface and the rodless cavity interface are connected through an external pipeline; the electromagnetic linear module is used for driving the double-acting linear reciprocating pump.

[0007] Further, a valve plate arranged in layers is installed on the piston, the through holes on the valve plate are arranged in a staggered manner and communicate with each other, and the through holes on the valve plate are communicated with the oil hole on the piston.

[0008] A control method of a linear electromagnetic pump driving line control suspension actuator, the linear electromagnetic pump driving line control suspension actuator comprising an active state and a passive state;

[0009] In the active state, the electromagnetic linear module drives the double-acting linear reciprocating pump, and the three-position four-way reversing valve is in the upper position or the lower position, 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, and controls the action of the piston rod;

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

[0011] Further, in the active state, the linear electromagnetic pump driving line control suspension actuator;

[0012] The manipulation signal of the virtual game and the influence of the environment on the virtual cockpit when the virtual vehicle moves in the virtual game scene are input to the corresponding dynamic model of the virtual vehicle and calculated to obtain real-time motion information of the virtual cockpit, the real-time motion information including acceleration and angular velocity lines at the centroid of the virtual cockpit;

[0013] The acceleration and angular velocity at the centroid 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] The specific force and angular velocity are converted into the pose signal of the real vehicle through the washout algorithm, and then the elongation and execution time of each linear electromagnetic pump driving line control suspension actuator of the real vehicle are calculated by using the pose signal through kinematic back analysis, so as to realize the motion control of the linear electromagnetic pump driving line control suspension actuator and match the cockpit pose of the real vehicle with the real-time motion information of the virtual cockpit.

[0015] Further, according to the result of the kinematic back analysis, the positive and negative signs of the elongation are converted into current signals input to the three-position four-way reversing valve, 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;

[0016] The electromagnetic linear module is a linear motor; the absolute value of the elongation is converted into the current size input to the linear motor; and the control force F d of the linear electromagnetic pump driving line control suspension actuator is changed by adjusting the current i of the linear motor to change the elongation of the linear electromagnetic pump driving line control suspension actuator;

[0017] The control force F d of the linear electromagnetic pump driving line control suspension actuator is related to the current i of the current of the linear motor, and is represented 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 cylinder number of the double-acting linear reciprocating pump; Ke is the back electromotive coefficient of the linear motor; g is the acceleration of gravity; gamma is the fluid specific weight; f1 is the piston rod cross-sectional area of the actuator cylinder body; and A1 is the piston cross-sectional area of the actuator cylinder body.

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

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

[0022] Further, the reinforcement learning active control strategy receives vehicle driving state data, and the vehicle driving state data includes lateral and longitudinal displacements of the vehicle sprung mass and the vehicle gravity center acceleration.

[0023] The reinforcement learning active control strategy outputs a control signal for the linear electromagnetic pump driving-by-wire suspension actuator after forward operation of the vehicle driving state data, and the control signal includes a current.

[0024] The linear electromagnetic pump driving-by-wire suspension actuator performs an action according to the control signal, so as to realize closed-loop active control of the vehicle suspension system.

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

[0026] The linear electromagnetic pump driving-by-wire suspension actuator disclosed in the present application has faster response speed and higher accuracy than the conventional driving-by-wire suspension, and is based on better accuracy and response speed; the suspension intelligent control system realizes a somatosensory entertainment mode in a vehicle parking state; compared with the conventional suspension, the active damping performance is improved, and the entertainment function in the driver's cabin based on the active suspension is enriched and optimized. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a perspective view of a linear electromagnetic pump driving-by-wire suspension actuator;

[0028] Figure 2 It is a sectional view of a linear electromagnetic pump driving-by-wire suspension actuator;

[0029] Figure 3 It is Figure 2 It is an enlarged view of A in the figure;

[0030] Figure 4 It is a hydraulic diagram of a linear electromagnetic pump driving-by-wire suspension actuator;

[0031] Figure 5 The flow chart for the body sensation control execution of the linear electromagnetic pump driving line control suspension actuator;

[0032] Figure 6 The 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-linear electromagnetic module; 3-double-acting linear reciprocating pump; 4-three-position four-way reversing valve. DETAILED DESCRIPTION

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0035] Embodiment 1

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

[0037] 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 port of the outer cylinder 1.2 is closed, the top cylinder ports of the outer cylinder 1.2 and the inner cylinder 1.1 are sealed by the guide device 1.5, the piston rod 1.4 passes through the guide device 1.5 and is connected with the piston 1.3 in the inner cylinder 1.1, the piston 1.3 divides the inner cylinder 1.1 into a rod cavity and a rodless cavity, the rod cavity and the rodless cavity are communicated through the oil hole on the piston 1.3, and the bottom valve body 1.8 is installed at the bottom cylinder port of the inner cylinder 1.1; the rodless cavity is communicated with the outer cylinder 1.2 through the oil hole on the bottom valve body 1.8; the rod cavity interface 1.6 passes through the outer cylinder 1.2 and communicates with the rod cavity of the inner cylinder 1.1, and the rodless cavity interface 1.7 passes through the outer cylinder 1.2 and communicates with the rodless cavity 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, and the double-acting linear reciprocating pump 3 and the three-position four-way reversing valve 4 are connected through external pipelines between the three-position four-way reversing valve 4 and the rod cavity interface 1.6 and the rodless cavity interface 1.7; the electromagnetic linear module 2 is used for driving the double-acting linear reciprocating pump 3.

[0039] The linear electromagnetic pump driving line control suspension actuator has the advantages of high power density, light weight, low noise and small size, and the linear electromagnetic pump driving line control suspension actuator driven by the electromagnetic linear module 2 has faster reaction speed and higher positioning accuracy.

[0040] The valve pieces 1.9 are arranged in a stack on the piston 1.3, the through holes on the valve pieces 1.9 are arranged in a staggered manner and are communicated front and back, the through holes on the valve pieces 1.9 are communicated with the oil holes on the piston 1.3, and the damping effect of the piston 1.3 is changed by configuring the number and relative position of the valve pieces 1.9 on the piston 1.3.

[0041] Embodiment 2

[0042] A control method of a linear electromagnetic pump driving line control suspension actuator, the linear electromagnetic pump driving line control 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, and the three-position four-way reversing valve is in the upper position or the lower position, 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, controls the action of the piston rod, and can 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 flow between the actuator body and the double-acting linear reciprocating pump, and the piston rod is acted on by an external load. At this time, it is equivalent to a shock absorber in a traditional suspension.

[0045] The linear electromagnetic pump driving line control suspension actuator can interact with a body sensation control module of a vehicle, and the linear electromagnetic pump driving line control suspension actuator restores the motion state of a virtual cockpit in a virtual game scene according to an instruction of the body sensation control module.

[0046] As shown in Figure 5 the active state of the linear electromagnetic pump driving line control suspension actuator;

[0047] The manipulation signal 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 to a corresponding dynamic model of the virtual vehicle and calculated to obtain real-time motion information of the virtual cockpit, and the real-time motion information includes an acceleration and an angular velocity line at a center of mass of the virtual cockpit.

[0048] The acceleration and angular velocity at the virtual cockpit centroid are converted into specific force and angular velocity fed back to the user by the vestibular system through coordinate transformation; the user experiences real motion through the vestibular system of the head;

[0049] The specific force and angular velocity are converted into real vehicle pose signals by the washout algorithm; then the elongation and execution time of each linear electromagnetic pump driving line control suspension actuator of the real vehicle are calculated using the pose signals through kinematic inverse solution to realize motion control of the linear electromagnetic pump driving line control suspension actuator, so that the real vehicle cockpit pose matches the real-time motion information of the virtual cockpit, and the virtual game experience of the user is improved.

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

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

[0052] The control force F of the linear electromagnetic pump driving line control suspension actuator d is related to the current i of the linear motor and is represented by the following formula:

[0053]

[0054] In the formula, A is the cross-sectional area of the piston of the double-acting linear reciprocating pump; f is the cross-sectional area of the piston rod 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 coefficient of the linear motor; g is the acceleration of gravity; γ is the fluid specific gravity; f1 is the piston rod cross-sectional area of the actuator cylinder body; A1 is the piston cross-sectional area of the actuator cylinder body.

[0055] The linear electromagnetic pump driving line control suspension actuator is in the active state; by changing the elongation of each linear electromagnetic pump driving line control suspension actuator in the vehicle suspension system, the initial attitude of the vehicle suspension system is changed;

[0056] Through data interaction training with the mathematical model reflecting the dynamic characteristics of the vehicle suspension system in different attitudes, the corresponding reinforcement learning active control strategy of the vehicle suspension system under different initial attitudes is obtained.

[0057] Specifically, the reinforcement learning active control strategy is obtained by the following way: the system generates a mathematical model reflecting the dynamic characteristics of the vehicle suspension system in different postures, taking the current applied on the linear electromagnetic pump driven line control suspension actuator as the control signal, the lateral and longitudinal displacement of the vehicle sprung mass and the vehicle gravity acceleration signal as the reward signal and feedback signal, and then the reinforcement learning algorithm interacts with different mathematical models. When the displacement reward signal is minimum and the acceleration reward signal is stable, the parameters and architecture of the deep learning neural network are stopped updating, and the reinforcement learning algorithm in the self-defined posture is obtained.

[0058] As Figure 6 shown: for the whole vehicle seven degree of freedom model: meet the ride comfort, suspension dynamic deflection constraint, tire dynamic load less than static load and other constraint conditions, meet the vehicle body acceleration and pitch angle acceleration and roll angle acceleration as small as possible; the absolute value of each suspension dynamic deflection z bA -z wA , z bB -z wB , z bC -z wC , z bD -z wD is less than or equal to the maximum limit stroke; each tire dynamic load K 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 da , F db , F dc , F dd of the front and rear suspensions is not more than 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 the reinforcement learning algorithm, at , s t respectively as the state set and the action set.

[0063] The reward function is:

[0064]

[0065] The coefficients before the parameters are the weight coefficients of the parameters respectively;

[0066] The learning rate alpha is 0.01, the discount factor gamma is 0.99, the experience pool size N is 1e06, and the sampling time, the maximum training round and the maximum step number of single training are set by themselves.

[0067] The neural network is composed of an input layer, two fully connected layers and an output layer, the input layer contains 15 neurons, the output layer contains 4 neurons, the two fully connected layers in the middle each have 100 neurons, 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 accepts the driving state data of the vehicle, and the driving state data of the vehicle includes the lateral and longitudinal displacements of the spring mass of the vehicle and the vehicle gravity acceleration;

[0069] The reinforcement learning active control strategy outputs the control signal of the linear electromagnetic pump driving steer-by-wire suspension actuator after forward operation of the driving state data of the vehicle, and the control signal includes the current;

[0070] The linear electromagnetic pump driving steer-by-wire suspension actuator performs actions according to the control signal to realize closed-loop active control of the vehicle suspension system.

[0071] The vehicle suspension system implements two working modes, namely the driving control mode in the driving state of the vehicle and the somatosensory entertainment mode in the parking state of the vehicle; compared with the traditional suspension, the vehicle suspension system not only improves the active damping performance, but also optimizes the entertainment function in the cabin of the vehicle based on the active suspension.

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

Claims

1. A control method of a linear electromagnetic pump drive-by-wire suspension actuator, characterized by: The linear electromagnetic pump driving line control suspension actuator comprises an actuator cylinder 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 cylinder 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 opening of the outer cylinder (1.2) is closed, the top cylinder opening between the outer cylinder (1.2) and the inner cylinder (1.1) is sealed through the guide device (1.5), the piston rod (1.4) is connected with the piston (1.3) in the inner cylinder (1.1) through the guide device (1.5), the piston (1.3) divides the inner cylinder (1.1) into a rod cavity and a rodless cavity, the rod cavity and the rodless cavity are communicated through the oil hole on the piston (1.3), the bottom valve body (1.8) is installed at the bottom cylinder opening of the inner cylinder (1.1), and the rodless cavity is communicated with the outer cylinder (1.2) through the oil hole on the bottom valve body (1.8); the rod cavity interface (1.6) penetrates through the outer cylinder (1.2) and communicates with the rod cavity of the inner cylinder (1.1), and the rodless cavity interface (1.7) penetrates through the outer cylinder (1.2) and communicates with the rodless cavity 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) is connected with the three-position four-way reversing valve (4), and the three-position four-way reversing valve (4) is connected with the rod cavity interface (1.6) and the rodless cavity interface (1.7) through external pipelines; the electromagnetic linear module (2) is used for driving the double-acting linear reciprocating pump (3); The linear electromagnetic pump driving line control suspension actuator comprises an active state and a 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, 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), and controls the action of the piston rod (1.4); In the passive state, the three-position four-way reversing valve (4) is in the middle position, there is no hydraulic oil flow between the actuator cylinder body (1) and the double-acting linear reciprocating pump (3), and the piston rod (1.4) is acted on by an external load; The linear electromagnetic pump driving line control suspension actuator is in the active state; The manipulation signal of the virtual game and the influence of the environment on the virtual cockpit when the virtual vehicle moves in the virtual game scene are input into the corresponding dynamic model of the virtual vehicle and are calculated to obtain real-time motion information of the virtual cockpit, the real-time motion information including acceleration and angular velocity lines 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 forces and angular velocities fed back to the user by the vestibular system through coordinate transformation. The specific force and angular velocity are converted into the pose signal of the real vehicle through the washing algorithm; then, through inverse kinematics, the extension and execution time of each linear electromagnetic pump driven steerable suspension actuator of the real vehicle are calculated using the pose signal, so as to realize the motion control of the linear electromagnetic pump driven steerable suspension actuator and match the cockpit pose of the real vehicle with the real motion information of the virtual cockpit. Based on the results of the inverse kinematics solution, the positive and negative signs of the elongation are converted into current signals and input to the three-position four-way directional valve (4). The positive and negative signs of the elongation correspond to the upper and lower positions of the three-position four-way directional valve (4). The electromagnetic linear module (2) is a linear motor; the absolute value of the elongation is converted into a current size input to the linear motor; the control force of the linear electromagnetic pump driving the suspension actuator is changed by adjusting the current of the linear motor The control force of the linear electromagnetic pump driving the suspension actuator is changed The elongation of the linear electromagnetic pump driving the suspension actuator is changed Control force of linear electromagnetic pump driving a steer-by-wire suspension actuator The relationship between the current of the linear motor and the current of the electric motor is expressed by the following equation: I = I0 + K * V ； wherein A is the cross-sectional area of the piston of the double-acting linear reciprocating pump; A is the cross-sectional area of the piston rod of the double-acting linear reciprocating pump; N is the number of cylinders of the double-acting linear reciprocating pump; K is the inverse electromotive coefficient of the linear motor; g is the acceleration due to gravity; p is the fluid density; A is the cross-sectional area of the piston rod of the actuator cylinder body; A is the cross-sectional area of the piston of the actuator cylinder body.

2. The control method of a linear electromagnetic pump driving a suspension actuator according to claim 1, characterized by: In active mode, the linear electromagnetic pump drives the steerable suspension actuator; by changing the extension of each linear electromagnetic pump-driven steerable suspension actuator in the vehicle suspension system, the initial attitude of the vehicle suspension system is changed. By training a reinforcement learning algorithm with a mathematical model that reflects the dynamic characteristics of a vehicle suspension system in different postures, the reinforcement learning active control strategy corresponding to the vehicle suspension system under different initial postures is obtained.

3. The control method for a linear electromagnetic pump-driven wire-controlled suspension actuator according to claim 2, characterized in that: The reinforcement learning active control strategy accepts vehicle driving status data, which includes the lateral and longitudinal displacement of the vehicle's sprung mass and the acceleration of the vehicle's center of gravity. The reinforcement learning active control strategy performs forward calculations on the vehicle's driving status data and outputs control signals for the linear electromagnetic pump-driven steerable suspension actuator. The control signals include current. A linear electromagnetic pump drives a drive-by-wire suspension actuator to perform actions according to control signals, thereby achieving closed-loop active control of the vehicle suspension system.

4. The control method of a linear electromagnetic pump driving a suspension actuator according to claim 1, characterized by: The piston (1.3) is equipped with stacked valve plates (1.9), the through holes on the valve plates (1.9) are staggered and connected front and back, and the through holes on the valve plates (1.9) are connected to the oil holes on the piston (1.3).

Images