Suspension system, vehicle, and suspension control method

Abstract

The invention relates to a suspension system, a vehicle and a suspension control method.The suspension system comprises a motor assembly and an elastic part, the motor assembly comprises an outer stator, an inner stator and a mover, the mover is movably arranged between the outer stator and the inner stator and used for being connected with a vehicle body, and the outer stator and the inner stator are matched with the mover so as to provide damping force for the vehicle body; the elastic piece is used for being connected with a vehicle body to apply damping force to the vehicle body, and the elastic constant of the elastic piece is adjustable. According to the suspension system, the vehicle and the suspension control method, active adjustment of damping force and rigidity of the suspension system is achieved, the overall structure is simpler, and vibration energy of the suspension system can be recycled through the energy feedback circuit.

Description

Technical Field

[0001] The present application relates to the field of suspension technology, and in particular to a suspension system, a vehicle and a suspension control method. Background Art

[0002] Suspension is an important part of a vehicle. Suspension in related technologies is mainly realized based on hydraulic vibration reduction, and its damping force, stiffness and other parameters are generally fixed and cannot be adjusted, and the structure is relatively complex. Summary of the invention

[0003] An embodiment of the present application provides a suspension system that realizes active adjustment of damping force and stiffness, so as to at least partially solve the above-mentioned technical problems.

[0004] In order to achieve the above object, according to a first aspect of the present application, a suspension system is provided, comprising:

[0005] A motor assembly, the motor assembly comprising an outer stator, an inner stator and a mover, the mover being movably disposed between the outer stator and the inner stator, the mover being used to be connected to a vehicle body, the outer stator and the inner stator respectively cooperating with the mover to provide a damping force to the vehicle body;

[0006] The elastic member is used to be connected to the vehicle body to apply a damping force to the vehicle body, and the elastic constant of the elastic member is adjustable.

[0007] Optionally, the outer stator includes an outer shell and a first magnetic steel group, the first magnetic steel group is arranged on a wall of the outer shell facing the mover, and the first magnetic steel group is located between the mover and the outer shell, so that the outer stator and the mover form an electromagnetic circuit.

[0008] Optionally, the inner stator includes a stator body and a second magnetic steel group, a plurality of the second magnetic steel groups are arranged on the wall of the stator body facing the mover, and the second magnetic steel group is located between the mover and the stator body, so that the inner stator and the mover form an electromagnetic circuit.

[0009] Optionally, the mover comprises a core shaft, an outer winding and an inner winding, wherein the core shaft is arranged between the inner stator and the outer stator.

[0010] The outer winding is arranged on the outer side of the core shaft, and the outer winding and the outer stator form an electromagnetic circuit;

[0011] The inner winding is arranged on the inner side of the core shaft, and the inner winding and the inner stator form an electromagnetic loop.

[0012] Optionally, a plurality of first magnetic sheets are disposed on the outer side of the core shaft, the outer winding includes a plurality of turns of first coils, the plurality of first magnetic sheets correspond one-to-one to the plurality of turns of the first coils, and the first coils are disposed on the first magnetic sheets;

[0013] A plurality of second magnetic sheets are disposed on the inner side of the core shaft, the inner winding comprises a plurality of turns of a second coil, the plurality of second magnetic sheets correspond one to one with the plurality of turns of the second coil, and the second coil is disposed on the second magnetic sheet.

[0014] Optionally, the suspension system further comprises a temperature sensor, wherein the temperature sensor is disposed on the mover and is used to detect the temperature of the mover.

[0015] Optionally, the core shaft is formed with a wiring channel, and the suspension system includes a power cord, an electrical connection line and a controller, one end of the power cord is electrically connected to the mover, and the other end of the power cord is passed through the wiring channel and electrically connected to the controller, one end of the electrical connection line is electrically connected to the temperature sensor, and the other end of the electrical connection line is passed through the wiring channel and electrically connected to the controller.

[0016] Optionally, the suspension system further comprises a first guide member, wherein the first guide member is arranged between the outer stator and the mover so that the mover can move relative to the outer stator; and / or,

[0017] The inner stator forms a first cavity, and the suspension system also includes a second guide member and a guide rod, one end of the guide rod is fixedly connected to the mover, and the other end of the guide rod is inserted into the first cavity, and the second guide member is located between the guide rod and the side wall surface of the first cavity so that the guide rod can move relative to the inner stator.

[0018] Optionally, the elastic member comprises an air spring, and the internal air pressure of the air spring is adjustable.

[0019] Optionally, the suspension system further includes a connecting portion, which is used to connect the vehicle body and the motor assembly, and the motor assembly is used to provide a damping force to the connecting portion. The elastic member is connected to the connecting portion, and the elastic member is used to apply a damping force to the connecting portion.

[0020] Optionally, the air spring includes a spring body, the outer wall surface of the motor assembly and the connecting portion are connected to the spring body, the spring body, the outer wall surface of the motor assembly and the connecting portion are arranged to form a closed space, and the air pressure in the closed space is adjustable.

[0021] Optionally, the elastic member is connected to an outer wall surface of the motor assembly, or the elastic member is spaced apart from the motor assembly.

[0022] According to a second aspect of the present application, a vehicle is also provided, comprising the suspension system as described above.

[0023] According to a third aspect of the present application, a suspension control method is also provided, comprising:

[0024] Get road information;

[0025] Based on the road information, the operation of the motor assembly is controlled and the spring constant of the elastic member is adjusted.

[0026] Optionally, the step of acquiring road information includes:

[0027] Acquire the road information through a road preview system; or,

[0028] A road surface excitation applied to the suspension system is obtained, and the road information is determined based on the road surface excitation.

[0029] Optionally, the suspension control method further includes:

[0030] The energy feedback circuit is controlled to recover the vibration energy of the suspension system.

[0031] In the suspension system of the embodiment of the present application, a motor assembly is provided to control the motor assembly to output different thrusts, and the motor assembly is connected to the vehicle body, so that the damping force provided by the motor assembly to the suspension system can be adjusted. An elastic member with an adjustable elastic constant is also provided, and the elastic constant of the elastic member is adjusted to change the stiffness of the elastic member and the damping force applied to the vehicle body, that is, the damping force and stiffness of the suspension system can be adjusted by controlling and adjusting the elastic constant of the elastic member. In other words, the present application can realize active adjustment of the damping force and stiffness of the suspension system by controlling and adjusting the linear motor and the elastic member, and the overall structure is simpler;

[0032] The reuse of the mover is realized, and both the inner stator and the outer stator can cooperate with the mover to generate corresponding damping force, which can improve the output force of the motor assembly and avoid the motor assembly from being too large.

[0033] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0035] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0036] Figure 1 is a schematic structural diagram of a suspension system provided in an exemplary embodiment of the present disclosure;

[0037] Figure 2 is a cross-sectional view of a suspension system provided in an exemplary embodiment of the present disclosure;

[0038] Figure 3 The exemplary embodiment of the present disclosure provides Figure 2 A schematic diagram of the structure of the middle section 1;

[0039] Figure 4 The exemplary embodiment of the present disclosure provides Figure 2 A schematic diagram of the structure of the middle section 2;

[0040] Figure 5 is a partial structural schematic diagram of a suspension system provided in an exemplary embodiment of the present disclosure;

[0041] Figure 6 is a flow chart of a suspension control method provided in an exemplary embodiment of the present disclosure;

[0042] Figure 7 is a flowchart of a suspension control method provided in an exemplary embodiment of the present disclosure.

[0043] Description of reference numerals:

[0044] 1. Motor assembly; 2. Elastic member; 3. First guide member; 4. Second guide member; 5. Guide rod; 6. Connecting part; 11. Outer stator; 12. Inner stator; 13. Mover; 14. Lower end cover; 21. Air spring; 111. Outer shell; 112. First magnetic steel group; 121. Stator body; 122. Second magnetic steel group; 131. Core shaft; 132. Outer winding; 133. Inner winding. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0046] According to the first aspect of this application, see Figure 1 and Figure 2The present disclosure provides a suspension system. The suspension system includes a motor assembly 1 and an elastic member 2, wherein the motor assembly 1 is used to connect with the vehicle body to provide a damping force to the vehicle body, and the elastic member 2 is used to connect with the vehicle body to apply a damping force to the vehicle body, and the elastic constant of the elastic member 2 is adjustable.

[0047] It can be understood that by providing a motor assembly 1 and controlling the motor assembly 1 to output different thrusts, and the motor assembly 1 is connected to the vehicle body, the damping force provided by the motor assembly 1 to the suspension system can be adjusted. An elastic member 2 with an adjustable elastic constant is also provided, and the elastic constant of the elastic member 2 is adjusted to change the stiffness of the elastic member 2 and the damping force applied to the vehicle body, that is, the damping force and stiffness of the suspension system can be adjusted by controlling and adjusting the elastic constant of the elastic member 2. In other words, the present application can realize active adjustment of the damping force and stiffness of the suspension system by controlling and adjusting the linear motor and the elastic member 2, and the overall structure is simpler.

[0048] It is understandable that the vehicle suspension in the related art will only react when the vehicle is stimulated by the ground undulation, and the damping force and stiffness are fixed and cannot be adjusted, which makes it difficult to adapt to different situations. However, the present application uses the motor assembly 1 and the elastic member 2 with adjustable elastic constant as the suspension system, which can actively adjust the thrust of the motor assembly 1, realize the active adjustment of the damping force, stiffness and reaction speed and other parameters of the suspension system, realize the active control of the vehicle equipped with the suspension system, can better adapt to the vibration frequency and amplitude during the vehicle driving process, improve the smoothness of the vehicle driving, and can also actively adjust the elastic constant of the elastic member 2, change the hardness of the elastic member 2, realize the active adjustment of the damping force and hardness of the suspension system, and improve the riding comfort of the driver and passengers.

[0049] Furthermore, by actively controlling the motor assembly 1 and the elastic member 2, the vehicle body can be lifted to improve the vehicle's passability.

[0050] It is understandable that the motor assembly 1 can provide linear damping by precisely adjusting the thrust output by the motor assembly 1. The elastic member 2 can absorb vibration and impact and provide nonlinear damping.

[0051] In some examples, the motor assembly 1 can be directly connected to the vehicle body to directly provide thrust to the vehicle body. The motor assembly 1 can also be indirectly connected to the vehicle body through other components to provide thrust to the vehicle body through other components.

[0052] In some examples, the elastic member 2 may be directly connected to the vehicle body to directly provide thrust to the vehicle body. The elastic member 2 may also be indirectly connected to the vehicle body through other components to provide elastic force to the vehicle body.

[0053] In some examples, by adjusting the thrust output frequency or speed of the motor assembly 1 , the frequency or speed at which the suspension system provides the damping force to the vehicle body can be adjusted.

[0054] In some examples, one end of the suspension system is connected to the vehicle body, and the other end is connected to the vehicle chassis. For example, the motor assembly 1 is fixedly mounted on the chassis, the telescopic member (such as the mover 13) of the motor assembly 1 is connected to the vehicle body, the movable end of the elastic member 2 is connected to the vehicle body, and the fixed end of the elastic member 2 is connected to the chassis.

[0055] In some examples, the damping force includes thrust and tension, for example. When the vehicle moves closer to the suspension system, the damping force at this time may be thrust, and when the vehicle moves away from the suspension system, the damping force at this time may be tension. In other words, the damping force of the present application is used to prevent the movement of the vehicle body to improve the stability of the vehicle body.

[0056] In some embodiments, see Figure 2 The motor assembly 1 includes an outer stator 11, an inner stator 12 and a mover 13. The mover 13 is movably arranged between the outer stator 11 and the inner stator 12. The mover 13 is used to connect with the vehicle body. The outer stator 11 and the inner stator 12 respectively cooperate with the mover 13 to provide damping force to the vehicle body.

[0057] It can be understood that the outer stator 11 and the mover 13 can cooperate to output a part of the damping force, and the inner stator 12 and the mover 13 can cooperate to output another part of the damping force. That is, by providing two stators, the force output by the motor assembly 1 can be made larger, and the two stators share one mover 13, which can make full use of the structural space of the motor assembly 1 and can output a greater force with a smaller volume.

[0058] It can be understood that the outer stator 11 and the inner stator 12 are respectively arranged on the inner and outer sides of the mover 13, so that the inner and outer sides of the mover 13 are surrounded by the stator, which can effectively reduce the internal leakage magnetic field and make better use of the magnetic field to generate greater thrust.

[0059] For example, under the condition of the same volume, the dual-stator motor assembly 1 of the present application can provide a thrust that is increased by about 1 / 3 compared to the single-stator motor in the related art.

[0060] In some embodiments, see Figure 2 and Figure 3 The outer stator 11 includes an outer shell 111 and a first magnetic steel group 112. The first magnetic steel group 112 is arranged on the wall of the outer shell 111 facing the mover 13, and the first magnetic steel group 112 is located between the mover 13 and the outer shell 111, so that the outer stator 11 and the mover 13 form an electromagnetic circuit.

[0061] It is understandable that the first magnetic steel group 112 is arranged between the outer shell 111 and the mover 13. The first magnetic steel group 112 can provide a magnetic field, so that an electromagnetic circuit is formed between the outer stator 11 and the mover 13, so that the outer stator 11 and the mover 13 cooperate to generate a damping force.

[0062] In some examples, the first magnetic steel group 112 includes a plurality of magnetic steels, and the plurality of magnetic steels are regularly arranged to ensure uniformity of the magnetic field generated by the outer stator 11 .

[0063] In some examples, among the outer stator 11 , the mover 13 and the inner stator 12 , the outer stator 11 is at the outermost side, and the outer shell 111 of the outer stator 11 can also be used as the outer shell of the entire motor assembly 1 , thereby realizing the reuse of the outer shell 111 , which is beneficial to the simplification of the motor assembly 1 .

[0064] In some embodiments, see Figure 2 and Figure 3 The inner stator 12 includes a stator body 121 and a second magnetic steel group 122. The second magnetic steel group 122 is arranged on the wall of the stator body 121 facing the mover 13, and the second magnetic steel group 122 is located between the mover 13 and the stator body 121, so that the inner stator 12 and the mover 13 form an electromagnetic circuit.

[0065] It is understandable that the second magnetic steel group 122 is arranged between the stator body 121 and the mover 13. The second magnetic steel group 122 can provide a magnetic field, so that an electromagnetic circuit is formed between the inner stator 12 and the mover 13, so that the inner stator 12 and the mover 13 can cooperate to generate a damping force.

[0066] In some examples, the second magnetic steel group 122 includes a plurality of magnetic steels that are regularly arranged to ensure uniformity of the magnetic field generated by the inner stator 12 .

[0067] In some embodiments, see Figure 2 and Figure 3 The mover 13 includes a core shaft 131 , an outer winding 132 and an inner winding 133 , and the core shaft 131 is arranged between the inner stator 12 and the outer stator 11 .

[0068] The outer winding 132 is disposed on the outer side of the core shaft 131 , and the outer winding 132 and the outer stator 11 form an electromagnetic circuit;

[0069] The inner winding 133 is disposed on the inner side of the core shaft 131 , and the inner winding 133 and the inner stator 12 form an electromagnetic circuit.

[0070] It can be understood that the outer winding 132 and the outer stator 11 are arranged relative to each other, so that the outer winding 132 can form an electromagnetic circuit with the outer stator 11, and the outer stator 11 and the outer winding 132 can cooperate to generate a part of the damping force. The inner winding 133 and the inner stator 12 are arranged relative to each other, so that the inner winding 133 and the inner stator 12 can form an electromagnetic circuit, and the inner stator 12 and the inner winding 133 can cooperate to generate another part of the damping force. The reuse of the mover 13 is realized, and both the inner stator 12 and the outer stator 11 can cooperate with the mover 13 to generate the corresponding damping force, which can improve the output force of the motor assembly 1 while avoiding the excessive volume of the motor assembly 1.

[0071] In some examples, the outer winding 132 and the inner winding 133 are connected in parallel in a three-phase Y-type manner, which can increase the continuous current setting, facilitate precise control of the motor, and increase the maximum speed of the motor.

[0072] In some examples, the axial dimension of the outer winding 132 is smaller than the axial dimension of the first magnetic steel group 112 , and the axial dimension of the inner winding 133 is larger than the axial dimension of the second magnetic steel group 122 .

[0073] In some embodiments, a plurality of first magnetic sheets are disposed on the outer side of the core shaft 131, the outer winding 132 includes a plurality of turns of the first coil, the plurality of first magnetic sheets correspond to the plurality of turns of the first coil one by one, and the first coil is disposed on the first magnetic sheet;

[0074] A plurality of second magnetic sheets are disposed inside the core shaft 131 . The inner winding 133 includes a plurality of turns of second coils. The plurality of second magnetic sheets correspond to the plurality of turns of second coils one by one. The second coils are disposed on the second magnetic sheets.

[0075] It can be understood that by providing a plurality of first magnetic sheets on the outside of the core shaft 131, a first coil is installed on each first magnetic sheet, and a plurality of first coils are provided on the outside of the core shaft 131 to form a first winding. By providing a plurality of second magnetic sheets on the outside of the core shaft 131, a second coil is installed on each second magnetic sheet, and a plurality of second coils are provided on the inside of the core shaft 131 to form a second winding. That is to say, in this embodiment, there is no need to use an iron core spacer, and the mover 13 can be obtained by stacking the first coil on the outside of the core shaft 131 and the second coil on the inside of the core shaft 131, and the manufacturing process is simpler and faster, and the manufacturing cost is lower.

[0076] In some examples, the magnetic sheet is, for example, a silicon steel sheet or a ferrite sheet.

[0077] In some embodiments, the suspension system further includes a temperature sensor, which is disposed on the mover 13 and is used to detect the temperature of the mover 13 .

[0078] It is understandable that the temperature of the mover 13 can be detected by a temperature sensor, so as to judge the state of the mover 13 according to the real-time temperature of the mover 13 .

[0079] In some embodiments, the suspension system further includes a displacement sensor, which is disposed in the motor assembly 1 and is used to detect the displacement of the motor assembly 1 .

[0080] It is understandable that the displacement of the motor assembly 1 can be detected by the displacement sensor, so as to determine the working state of the motor assembly 1 according to the displacement of the motor assembly 1 .

[0081] For example, the displacement speed of the motor assembly 1 can be determined based on the displacement of the motor assembly 1 , and the magnitude of the damping force applied by the motor assembly 1 to the vehicle body can be determined based on the displacement speed.

[0082] In some embodiments, the core shaft 131 is formed with a wiring channel, and the suspension system includes a power cord, an electrical connection line and a controller, one end of the power cord is electrically connected to the mover 13, and the other end of the power cord is passed through the wiring channel and electrically connected to the controller, one end of the electrical connection line is electrically connected to the temperature sensor, and the other end of the electrical connection line is passed through the wiring channel and electrically connected to the controller.

[0083] It is understandable that the controller can control the mover 13 through the power line, and the controller can obtain the detection data of the temperature sensor through the electrical connection line, and then know the real-time temperature of the mover 13.

[0084] The mover 13 needs to be connected to the power cord, and the temperature sensor also needs to be electrically connected to the controller through the electrical connection line. The present application directly forms a wiring channel on the core shaft 131, so that the power cord and the electrical connection line can be electrically connected to the controller through the wiring channel, which facilitates the routing of the power cord and the electrical connection line.

[0085] In some examples, the mandrel 131 includes a body and a joint, the joint connects the body and the vehicle body, and the wiring channel is formed in the joint.

[0086] In some embodiments, see Figure 2 The suspension system further includes a first guide member 3 , which is disposed between the outer stator 11 and the mover 13 so that the mover 13 can move relative to the outer stator 11 .

[0087] It can be understood that the first guide member 3 can guide the movement of the mover 13 so that the mover 13 can reciprocate linearly relative to the outer stator 11 to achieve linear reciprocating motion of the motor assembly 1 .

[0088] Exemplarily, the first guide member 3 is a sliding bearing. The first guide member 3 can also be a guide groove, which is formed in one of the outer stator 11 and the mover 13, and the other of the outer stator 11 and the mover 13 is provided with a guide block, which is slidably matched with the guide groove.

[0089] In some examples, the first guide member 3 seals and connects the outer stator 11 and the mover 13 , which can seal and prevent dust from entering the motor assembly 1 .

[0090] In some embodiments, see Figure 3 , Figure 4 and Figure 5 The inner stator 12 forms a first cavity, and the suspension system also includes a second guide member 4 and a guide rod 5. One end of the guide rod 5 is fixedly connected to the mover 13, and the other end of the guide rod 5 is inserted into the first cavity. The second guide member 4 is located between the guide rod 5 and the side wall of the first cavity so that the guide rod 5 can move relative to the inner stator 12.

[0091] It can be understood that the second guide member 4 can guide the guide rod 5, so that the guide rod 5 can reciprocate linearly relative to the inner stator 12, and the guide rod 5 is fixedly connected to the mover 13, thereby achieving a guiding effect on the mover 13, so that the mover 13 can reciprocate linearly relative to the outer stator 11, thereby realizing the linear reciprocating motion of the motor assembly 1.

[0092] Exemplarily, the second guide member 4 is a sliding bearing. The second guide member 4 can also be a guide groove, which is formed in one of the outer stator 11 and the mover 13, and the other of the outer stator 11 and the mover 13 is provided with a guide block, which is slidably matched with the guide groove.

[0093] In some embodiments, see Figure 2 and Figure 3 The elastic member 2 includes an air spring 21, and the internal air pressure of the air spring 21 is adjustable.

[0094] It is understandable that the air spring 21 is connected to the vehicle body so that the air spring 21 can apply a damping force to the vehicle body. By adjusting the internal air pressure of the air spring 21 to change the stiffness of the air spring 21 and the damping force acting on the vehicle body, the damping force and hardness of the suspension system can be actively adjusted, which can effectively adapt to different vehicle driving conditions.

[0095] In some examples, the elastic member 2 may also be a magnetic spring, and the elastic constant of the magnetic spring may be changed by changing the magnetic force, thereby realizing active adjustment of the damping force and stiffness of the elastic member 2. It should be noted that the elastic member 2 may also be any other suitable elastic structural member.

[0096] In some embodiments, the elastic member 2 is connected to the outer wall surface of the motor assembly 1 .

[0097] It can be understood that arranging the elastic member 2 outside the motor assembly 1 is beneficial to the heat dissipation of the elastic member 2 .

[0098] Exemplarily, when the elastic member 2 is an air spring 21 , the air spring 21 will generate heat during operation. Disposing the air spring 21 outside the motor assembly 1 is beneficial to heat dissipation of the air spring 21 .

[0099] In some embodiments, the elastic member 2 is spaced apart from the motor assembly 1 .

[0100] It can be understood that arranging the elastic member 2 outside the motor assembly 1 and spaced apart from the motor assembly 1 can effectively improve the heat dissipation capacity of the air spring 21 .

[0101] In some embodiments, see Figure 1 and Figure 2 The suspension system also includes a connecting portion 6, which is used to connect the vehicle body and the motor assembly 1, and the motor assembly 1 is used to provide thrust to the connecting portion 6. The elastic member 2 is connected to the connecting portion 6, and the elastic member 2 is used to apply elastic force to the connecting portion 6.

[0102] It can be understood that the vehicle body and the motor assembly 1 are connected together through the connecting portion 6, and the elastic member 2 is connected together with the vehicle body through the connecting portion 6, and the motor assembly 1 and the elastic member 2 can apply the damping force to the vehicle body through the connecting portion 6.

[0103] It can be understood that the mover 13 is connected to the vehicle body through the connecting portion 6 so that the mover 13 extends toward the vehicle body, which is beneficial to the protection of the motor.

[0104] In some embodiments, the air spring 21 includes a spring body, the outer wall surface of the motor assembly 1 and the connecting part 6 are connected to the spring body, the spring body, the outer wall surface of the motor assembly 1 and the connecting part 6 are arranged to form an enclosed space, and the air pressure in the enclosed space is adjustable.

[0105] It can be understood that the spring body is sealedly connected to the outer wall of the motor assembly 1, and the spring body is sealedly connected to the connecting part 6, so that the spring body, the outer wall of the motor assembly 1 and the connecting part 6 are surrounded to form a closed space to obtain the air spring 21. By adjusting the air pressure in the closed space, the damping force and stiffness of the air spring 21 can be adjusted.

[0106] In some examples, the suspension system also includes an air pumping and exhausting component, such as an integrated inflation and exhausting machine. The air pumping and exhausting component is connected to the enclosed space. The air pumping and exhausting component can deliver gas into the enclosed space, and can also extract gas from the enclosed space, thereby changing the air pressure in the enclosed space.

[0107] In some embodiments, the suspension system further includes a bracket, and the air spring 21 is mounted on the outer wall surface of the motor assembly 1 through the bracket.

[0108] In some embodiments, see Figure 1 and Figure 2 The motor assembly 1 includes a lower end cover 14, and the outer stator 11 and the inner stator 12 are both connected to the lower end cover 14. The two stators are connected into a whole through the lower end cover 14, which improves the structural stability of the motor assembly 1.

[0109] In some embodiments, a first buffer is provided between the mover 13 and the lower end cover 14 to prevent the mover 13 from colliding with the lower end cover 14 during movement.

[0110] A second buffer is provided at one end of the guide rod 5 close to the lower end cover 14 . The second buffer is located on the side of the inner stator 12 facing the lower end cover 14 . The second buffer can prevent the mover 13 from colliding with the inner stator 12 during movement.

[0111] In some examples, the mover 13 has a first end and a second end that are relatively arranged, the first end is used to connect to the vehicle body, the stator body 121 is connected to a support leg, the second end of the mover 13 is formed with a through hole, the support leg is passed through the through hole and fixedly connected to the lower end cover 14.

[0112] In some examples, the first buffer member and the second buffer member are, for example, elastic pads or rubber sheets.

[0113] According to a second aspect of the present application, the present disclosure provides a vehicle, wherein the vehicle comprises the above-mentioned suspension system.

[0114] It can be understood that by using the motor assembly 1 and the elastic part 2 with adjustable elastic constant as the suspension system, the thrust of the motor assembly 1 can be actively adjusted to achieve active adjustment of parameters such as the damping force, stiffness and reaction speed of the suspension system, thereby achieving active control of the vehicle equipped with the suspension system, and being more adaptable to the vibration frequency and amplitude of the vehicle during driving, thereby improving the smoothness of the vehicle's driving. The elastic constant of the elastic part 2 can also be actively adjusted to change the hardness of the elastic part 2, thereby achieving active adjustment of the damping force and hardness of the suspension system, thereby improving the riding comfort of the driver and passengers.

[0115] According to the third aspect of this application, refer to Figure 6 The present disclosure provides a suspension control method based on the above suspension system, comprising:

[0116] Step 101: Obtain road information;

[0117] Step 102 : Based on the road information, control the operation of the motor assembly 1 and adjust the elastic constant of the elastic member 2 .

[0118] It can be understood that the road information of the current road is obtained, and the operation of the motor assembly 1 is controlled according to the road information to change the thrust output by the motor assembly 1, thereby adjusting the damping force provided by the motor assembly 1 to the suspension system. At the same time, the elastic constant of the elastic member 2 can also be controlled according to the road information to change the stiffness of the elastic member 2 and the damping force applied to the vehicle body, thereby adjusting the operation of the motor assembly 1 and the elastic constant of the elastic member 2 according to the road information, so that the damping force and stiffness of the suspension system are more in line with the current road.

[0119] In some examples, the road information may be actively acquired through components such as cameras, or may be determined through excitation from the road received by the suspension system.

[0120] In some examples, the output frequency or output speed of the motor assembly 1 may also be controlled according to the road information so that the suspension system can better adapt to the current road.

[0121] In some embodiments, the step of obtaining road information includes:

[0122] Obtain road information through the road preview system.

[0123] It is understandable that the road preview system can actively obtain the road information of the current road, and then control the operation of the motor assembly 1 and adjust the elastic constant of the elastic member 2 according to the road information to achieve active control of the suspension system.

[0124] It should be noted that the road preview system is a prior art and will not be described in detail here.

[0125] In some examples, after obtaining road information, the preview system sends the information to the control module. The control module calculates the target actuating force through model predictive control (MPC) and sends the target actuating force to the suspension system. The suspension system converts the target actuating force into a current signal, sends an actuation instruction to the motor assembly 1, and adjusts the elastic constant of the elastic member 2, so that the suspension system makes displacement adjustment and damping force output at the corresponding speed.

[0126] In some embodiments, the step of obtaining road information includes:

[0127] The road surface excitation received by the suspension system is obtained, and the road information is determined based on the road surface excitation.

[0128] It can be understood that the road information is determined according to the road surface excitation received by the suspension system, and then the operation of the motor assembly 1 is controlled and the elastic constant of the elastic member 2 is adjusted based on the road information, so that the suspension system can be adaptively adjusted according to the road information.

[0129] In some examples, when the suspension system is excited by the road surface, the suspension system feeds back the current road surface information to the system's neural network model. The neural network model obtains the current road surface information through analysis and learning and transmits the information to the multi-damping mode controller. The controller matches the corresponding damping mode to the suspension system according to the current road surface grade, thereby achieving adaptive control.

[0130] In some embodiments, after the steps of controlling the operation of the motor assembly 1 and adjusting the elastic constant of the elastic member 2, the method further comprises:

[0131] Obtain the actual force information of the suspension system;

[0132] Based on the actual force information, the suspension system is controlled.

[0133] It is understandable that the actual actuating force of the suspension system may be different from the target actuating force, so after controlling the operation of the motor assembly 1 and adjusting the elastic constant of the elastic member 2, the actual actuating force of the suspension system can be obtained, and the operation of the suspension system can be controlled again according to the actual force, thereby realizing closed-loop feedback control.

[0134] In some examples, the operation of the suspension system may be controlled again according to the difference between the actual actuating force and the target actuating force, so that the actuating force of the suspension system is equal to the target actuating force.

[0135] In some examples, the operation of the suspension system can be controlled according to the actual actuating force and the latest road information, that is, the operation of the motor assembly 1 can be re-controlled and the elastic constant of the elastic member 2 can be re-adjusted.

[0136] In some embodiments, see Figure 7 , the suspension control method further includes:

[0137] The energy feedback circuit is controlled to recover the vibration energy of the suspension system.

[0138] It is understandable that, depending on the road conditions and the actuation frequency of the suspension system, the energy recovery circuit can be used to recover the vibration of the suspension system.

[0139] In some examples, the energy feeding voltage signal is sent to an energy storage device (such as a battery) through rectification and boosting of the energy feeding circuit to charge the energy storage device, thereby increasing the energy endurance of the entire vehicle.

[0140] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0141] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0142] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0143] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A suspension system, characterized in that: include: A motor assembly, the motor assembly comprising an outer stator, an inner stator and a mover, the mover being movably disposed between the outer stator and the inner stator, the mover being used to be connected to a vehicle body, the outer stator and the inner stator respectively cooperating with the mover to provide a damping force to the vehicle body; The elastic member is used to be connected to the vehicle body to apply a damping force to the vehicle body, and the elastic constant of the elastic member is adjustable.

2. The suspension system according to claim 1, characterized in that: The outer stator comprises an outer shell and a first magnetic steel group, wherein the first magnetic steel group is arranged on a wall surface of the outer shell facing the mover, and the first magnetic steel group is located between the mover and the outer shell, so that the outer stator and the mover form an electromagnetic circuit.

3. The suspension system according to claim 1, characterized in that: The inner stator includes a stator body and a second magnetic steel group, wherein the second magnetic steel group is arranged on a wall of the stator body facing the mover, and the second magnetic steel group is located between the mover and the stator body, so that the inner stator and the mover form an electromagnetic circuit.

4. The suspension system according to claim 1, characterized in that: The mover comprises a core shaft, an outer winding and an inner winding, wherein the core shaft is arranged between the inner stator and the outer stator. The outer winding is arranged on the outer side of the core shaft, and the outer winding and the outer stator form an electromagnetic circuit; The inner winding is arranged on the inner side of the core shaft, and the inner winding and the inner stator form an electromagnetic loop.

5. The suspension system according to claim 4, characterized in that: A plurality of first magnetic sheets are disposed on the outer side of the core shaft, the outer winding includes a plurality of turns of first coils, the plurality of first magnetic sheets correspond to the plurality of turns of the first coils one by one, and the first coils are disposed on the first magnetic sheets; A plurality of second magnetic sheets are disposed on the inner side of the core shaft, the inner winding comprises a plurality of turns of a second coil, the plurality of second magnetic sheets correspond one to one with the plurality of turns of the second coil, and the second coil is disposed on the second magnetic sheet.

6. The suspension system according to any one of claims 1 to 5, characterized in that: The suspension system further includes a temperature sensor, which is disposed on the mover and is used to detect the temperature of the mover.

7. The suspension system according to claim 6, characterized in that: The core shaft is formed with a wiring channel, and the suspension system includes a power cord, an electrical connection line and a controller, one end of the power cord is electrically connected to the mover, the other end of the power cord is passed through the wiring channel and is electrically connected to the controller, one end of the electrical connection line is electrically connected to the temperature sensor, and the other end of the electrical connection line is passed through the wiring channel and is electrically connected to the controller.

8. The suspension system according to any one of claims 1 to 5, characterized in that: The suspension system further comprises a first guide member, wherein the first guide member is disposed between the outer stator and the mover so that the mover can move relative to the outer stator; and / or, The inner stator forms a first cavity, and the suspension system also includes a second guide member and a guide rod, one end of the guide rod is fixedly connected to the mover, and the other end of the guide rod is inserted into the first cavity, and the second guide member is located between the guide rod and the side wall surface of the first cavity so that the guide rod can move relative to the inner stator.

9. The suspension system according to any one of claims 1 to 5, characterized in that: The elastic member comprises an air spring, and the internal air pressure of the air spring is adjustable.

10. The suspension system according to claim 9, characterized in that The suspension system further includes a connecting portion, which is used to connect the vehicle body and the motor assembly, and the motor assembly is used to provide a damping force to the connecting portion. The elastic member is connected to the connecting portion, and the elastic member is used to apply a damping force to the connecting portion.

11. The suspension system according to claim 10, characterized in that The air spring comprises a spring body, the outer wall surface of the motor assembly and the connecting portion are both connected to the spring body, the spring body, the outer wall surface of the motor assembly and the connecting portion are arranged to form a closed space, and the air pressure in the closed space is adjustable.

12. The suspension system according to any one of claims 1 to 5, characterized in that: The elastic member is connected to the outer wall surface of the motor component, or the elastic member and the motor component are spaced apart.

13. A vehicle, characterized in that: Comprising a suspension system as claimed in any one of claims 1 to 12.

14. A suspension control method based on the suspension system according to any one of claims 1 to 12, characterized in that: include: Get road information; Based on the road information, the operation of the motor assembly is controlled and the spring constant of the elastic member is adjusted.

15. The suspension control method according to claim 14, characterized in that: The step of obtaining road information includes: Acquire the road information through a road preview system; or, A road surface excitation applied to the suspension system is obtained, and the road information is determined based on the road surface excitation.

16. The suspension control method according to claim 14, characterized in that: The suspension control method further includes: The energy feedback circuit is controlled to recover the vibration energy of the suspension system.

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